Continuum manipulator structure integrating laser focusing and ultrasound feedback functions

Abstract

The present application relates to the technical field of medical devices, and provides a continuum mechanical arm structure integrated with laser focusing and ultrasonic feedback functions, comprising a distal continuum module, a proximal continuum module, a first driving tendon and a second driving tendon, the first driving tendon being used for controlling movement of the distal continuum module, and the second driving tendon being used for controlling movement of the proximal continuum module; a pose detection module and a laser optical module are sequentially arranged at the front end of the distal continuum module, the pose detection module is used for acquiring relative pose information of a target lesion, and the laser optical module is used for projecting laser energy to treat the target lesion; an endoscope vision module is arranged on the side wall of the distal continuum module, and the endoscope vision module is used for acquiring image information. The present application not only can improve the flexibility and adaptability of surgery, but also can realize precise treatment, improve treatment effect, avoid damage to surrounding healthy tissues, reduce surgical risk, and meet the requirements of flexibility and accuracy of orthopedic treatment.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions. Background Technology

[0002] In orthopedic surgery, the removal of bone tumors and bone lesions typically relies on surgical bone drills. While surgical bone drills possess excellent force transmission characteristics, their linear nature necessitates maintaining an absolutely straight alignment between the insertion path and the treatment target, limiting their effectiveness in handling complex anatomical structures and hindering flexible debridement. Some bendable bone drills can adapt to specific anatomical structures, allowing for deviations between the insertion line and the target position; however, the lack of adjustable bend angles further limits their flexibility in anatomical settings. While flexible bendable bone drills with adjustable angles have been reported, their poor structural rigidity leads to operational instability, increasing the risk of drill slippage and deviation from the target site, resulting in additional damage. Laser treatment, as a non-contact therapy, offers advantages such as high precision and low risk.

[0003] In related technologies, continuous robotic arms that mimic the flexible structures of biological organisms are used for minimally invasive surgery, especially in intracavitary interventions and minimally invasive organ surgeries. Compared to traditional rigid surgical instruments, continuous robotic arms offer significant advantages due to their small, compact structure, high flexibility, and ease of control. They can effectively reduce contact and collision with internal organs and tissues, minimizing harm to the body and precisely locating lesions. However, most current continuous robotic arms are limited to natural orifice surgeries or laparoscopic surgeries. Their structural characteristics, curvature, and integrated ablation lasers do not meet the needs of laser orthopedic surgery. Summary of the Invention

[0004] This invention provides a continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions to overcome the aforementioned technical deficiencies in the prior art. It not only improves the flexibility and adaptability of surgery, but also enables precise treatment, improves treatment effects, avoids damage to surrounding healthy tissues, reduces surgical risks, and can meet the requirements of orthopedic treatment for flexibility and precision.

[0005] This invention provides a continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions, including a distal continuous module, a proximal continuous module, a first driving tendon, and a second driving tendon. The first driving tendon passes through the distal continuous module and the proximal continuous module to control the movement of the distal continuous module, and the second driving tendon passes through the proximal continuous module to control the movement of the proximal continuous module. The distal continuum module has a pose detection module and a laser optics module sequentially arranged at its front end. The pose detection module is used to acquire the relative pose information of the target lesion, and the laser optics module is used to project laser energy to treat the target lesion. The side wall of the distal continuum module has an endoscope vision module, which is used to acquire image information.

[0006] According to the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided by the present invention, the laser optical module includes a lens module and an optical fiber module, wherein the lens module and the optical fiber module are mutually positioned and engaged. The fiber optic module is used to project laser energy to treat the target lesion, and the lens module is located on the projection path of the fiber optic module to focus the laser.

[0007] According to the continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided by the present invention, the lens module includes a lens holder and an optical lens. The lens holder is provided with a mounting hole, and the optical lens is disposed in the mounting hole. The optical lens is used to focus the laser. The fiber optic module includes a fiber optic fixator and a laser fiber. The laser fiber is fixed inside the fiber optic fixator and is used to project laser energy to treat the target lesion.

[0008] According to the continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided by the present invention, the pose detection module includes a circuit board and a piezoelectric ultrasonic transducer. The piezoelectric ultrasonic transducer is disposed on the circuit board and is used to acquire the relative pose information of the target lesion. Signal shielding leads are led out from the circuit board.

[0009] According to the continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided by the present invention, the endoscope vision module includes an endoscope fixator and an endoscope module. The endoscope fixator is disposed at the distal continuous module and has a fixing hole. The endoscope module is disposed at the fixing hole for acquiring image information.

[0010] According to the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided by the present invention, the distal continuous module includes a distal fixation base and multiple ball-and-socket joints, wherein the first driving tendon is fixed to the distal fixation base and sequentially passes through each of the ball-and-socket joints; The distal fixation base and each of the ball joints are internally constructed with interconnected first instrument channels, which are used to pass through the cables of the pose detection module and the laser optics module.

[0011] According to the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided by the present invention, each ball joint has a limiting part on its contact end face so that the bending angle between two adjacent ball joints is less than or equal to 15°.

[0012] According to the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided by the present invention, the proximal continuous module includes a proximal fixation base and multiple joint modules. The proximal fixation base and the adjacent joint modules, as well as two adjacent joint modules, are all limited to each other. The second driving tendon is fixed to the proximal fixation base and passes through each of the joint modules in sequence. The proximal fixation base and each of the joint modules are internally constructed with interconnected second instrument channels, which are used to pass through the cables of the pose detection module and the laser optics module.

[0013] According to the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided by the present invention, each joint module includes a first joint and a second joint arranged opposite to each other, and both the first joint and the second joint include a joint body and a connecting part that are connected to each other. The joint body of either the first joint or the second joint is provided with a first limiting tooth, which extends radially along the corresponding joint body; the joint body of the other joint is provided with a second limiting tooth, which meshes with the first limiting tooth. The proximal fixation seat and the connection portion of the adjacent joint, as well as the connection portion of two adjacent joints, are all limited to each other, and the first driving tendon and the second driving tendon pass through the connection portion of each joint.

[0014] According to the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided by the present invention, the proximal continuous module further includes a reinforcing rib, which is fixed to the proximal fixing seat and sequentially passes through each of the joint modules. The reinforcing rib is arranged parallel to the first driving tendon and the second driving tendon, and the reinforcing rib is located in the neutral layer of each of the joint modules.

[0015] This invention provides a continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions. By mounting a pose detection module, an endoscopic vision module, and a laser optics module on the distal continuous module of the robotic arm, the laser optics module projects a high-energy laser beam and precisely cuts or ablates the target lesion. The pose detection module uses ultrasonic positioning to monitor the relative position and orientation of the lesion, ensuring that the laser energy accurately reaches the lesion area and avoids damage to surrounding healthy tissue. The endoscopic vision module is integrated into the distal side of the continuous robotic arm, capturing high-definition images of the surgical process. This realistic view aids in judgment, improving operational intuitiveness and accuracy. This not only enhances the flexibility and adaptability of surgery but also enables precise treatment, improving treatment outcomes while avoiding damage to surrounding healthy tissue and reducing surgical risks. It can meet the requirements of orthopedic treatment for flexibility and precision. Attached Figure Description

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

[0017] Figure 1 This is a schematic diagram of the structure of the continuous robotic arm with integrated laser focusing and ultrasonic feedback functions provided in the embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the laser optics module in the continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions, as provided in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the lens module in the continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions, provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the endoscope vision module in the continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions provided in the embodiment of the present invention.

[0021] Figure 5 This is a partial structural schematic diagram of the continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided in an embodiment of the present invention.

[0022] Figure 6 yes Figure 5 A schematic diagram of the middle ball-and-socket joint.

[0023] Figure 7 yes Figure 6 The cross-sectional view of the ball-and-socket joint shown.

[0024] Figure 8 yes Figure 5 A schematic diagram of the bending structure of the ball-and-socket joint.

[0025] Figure 9 This is a schematic diagram of the proximal continuum module in the continuum robotic arm structure that integrates laser focusing and ultrasonic feedback functions provided in the embodiments of the present invention.

[0026] Figure 10 yes Figure 9 The cross-sectional view of the proximal continuum module shown.

[0027] Figure 11 This is one of the structural schematic diagrams of the joint module in the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided in the embodiments of the present invention.

[0028] Figure 12 This is the second schematic diagram of the joint module in the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided in the embodiments of the present invention.

[0029] Figure label: 10. Distal continuum module; 11. Distal fixation base; 12. Ball-and-socket joint; 13. First instrument channel; 20. Proximal continuum module; 21. Proximal fixation base; 22. Joint module; 221. First joint; 222. Second joint; 223. Joint body; 224. Connecting part; 225. First limiting tooth; 226. Second limiting tooth; 23. Second instrument channel; 30. First driving tendon; 40. Second driving tendon; 50. Pose detection module; 51. Circuit board; 52. Piezoelectric ultrasonic transducer; 53. Signal shielding lead; 60. Laser optics module; 61. Lens module; 611. Lens holder; 612. Optical lens; 613. Mounting hole; 62. Fiber optic module; 621. Fiber optic holder; 622. Laser fiber; 70. Endoscope vision module; 71. Endoscope holder; 72. Endoscope module; 73. Fixing hole; 80. Reinforcing rib. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0031] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0032] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0034] Figure 1 This is a schematic diagram of the structure of the continuous robotic arm with integrated laser focusing and ultrasonic feedback functions provided in the embodiment of the present invention.

[0035] See Figure 1 This invention provides a continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions. It not only combines laser ablation technology and precise ultrasonic navigation, but also has soft and flexible operating characteristics, which can meet the requirements of orthopedic treatment for flexibility and precision.

[0036] The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions includes a distal continuous module 10, a proximal continuous module 20, a first driving tendon 30, and a second driving tendon 40. The first driving tendon 30 passes through the distal continuous module 10 and the proximal continuous module 20 to control the movement of the distal continuous module 10, and the second driving tendon 40 passes through the proximal continuous module 20 to control the movement of the proximal continuous module 20. The distal continuous module 10 and the proximal continuous module 20 are limited by fitting limiting grooves. A pose detection module 50 and a laser optics module 60 are sequentially arranged at the front end of the distal continuous module 10. The pose detection module 50 is used to acquire the relative pose information of the target lesion, and the laser optics module 60 is used to project laser energy to ablate the target lesion. An endoscope vision module 70 is located on the side wall of the distal continuous module 10, and the endoscope vision module 70 is used to acquire image information.

[0037] Essentially, the distal continuum module 10, located at the tip of the robotic arm, houses structures such as medical tools, a pose detection module 50, an endoscopic vision module 70, and a laser optics module 60, enabling laser ablation technology and precise ultrasound navigation. The proximal continuum module 20 serves as a base, providing support for the robotic arm. The first drive tendon 30 and the second drive tendon 40, similar to human tendons, regulate the independent movement of the distal continuum module 10 and the proximal continuum module 20. Through the cooperation of the first drive tendon 30 and the second drive tendon 40, the continuum robotic arm can simulate the flexibility of snake movement, adapting to complex anatomical structures within confined spaces.

[0038] The proximal continuum module 20 can provide two degrees of freedom of motion, and the distal continuum module 10 can provide one degree of freedom of motion. This allows for flexible operation of the entire continuum while avoiding excessive flexibility that could damage the tissues or organs surrounding the lesion.

[0039] The laser optics module 60 is mounted on the distal end of the continuous robotic arm. This module projects a high-energy laser beam and precisely cuts or ablates the target lesion. The pose detection module 50 uses ultrasonic positioning to monitor the relative position and orientation of the lesion, ensuring that the laser energy accurately reaches the lesion area and avoids damaging surrounding healthy tissue. The endoscopic vision module 70 is integrated into the distal side of the continuous robotic arm, capturing high-definition images of the surgical process. This realistic view aids in judgment, improving operational intuitiveness and accuracy.

[0040] It is understood that the continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided in this embodiment of the invention, by mounting a pose detection module 50, an endoscope vision module 70, and a laser optics module 60 on the distal continuous module 10 of the continuous robotic arm, allows the laser optics module 60 to project a high-energy laser beam and precisely cut or ablate the target lesion. The pose detection module 50 uses ultrasonic positioning to monitor the relative position and posture of the lesion, ensuring that the laser energy accurately reaches the lesion area and avoids damage to surrounding healthy tissue. The endoscope vision module 70 is integrated into the distal side of the continuous robotic arm, capturing high-definition images of the surgical process and using the real view to assist in judgment, improving operational intuition and accuracy. This not only enhances the flexibility and adaptability of surgery but also enables precise treatment, improves treatment effects, avoids damage to surrounding healthy tissue, and reduces surgical risks, thus meeting the requirements of orthopedic treatment for flexibility and precision.

[0041] Figure 2 This is a schematic diagram of the laser optics module in the continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions, as provided in an embodiment of the present invention.

[0042] See Figure 2 In some embodiments of the present invention, the laser optical module 60 includes a lens module 61 and an optical fiber module 62. The lens module 61 and the optical fiber module 62 are positioned in a limiting fit. Specifically, a protrusion and a slot can be provided on the lens module 61, and another slot and a protrusion that engage with the protrusion can be provided on the optical fiber module 62. The lens module 61 and the optical fiber module 62 are positioned relative to each other by the protrusion and the slot, preventing relative displacement and ensuring a stable positioning relationship between them, thus guaranteeing efficient light transmission and accurate focusing. The optical fiber module 62 is used to project laser energy to ablate target lesions, and the lens module 61 is located on the projection path of the optical fiber module 62 to focus the laser energy.

[0043] Essentially, lens module 61 is located at the end of fiber optic module 62. Lens module 61 has a precise curvature design to focus the laser to enhance the intensity of the laser spot. Fiber optic module 62 conducts laser energy, guiding the distant laser source to the target lesion.

[0044] This invention focuses laser energy onto the target lesion, minimizing damage to surrounding healthy tissue. The laser power and irradiation time can be adjusted according to the patient's condition to achieve the desired therapeutic effect. Treatment can be completed with minimal intervention, eliminating the need for large incisions and reducing treatment time and burden on patients.

[0045] Figure 3This is a schematic diagram of the lens module in the continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions, provided in an embodiment of the present invention.

[0046] See Figure 3 In some embodiments of the present invention, the lens module 61 includes a lens holder 611 and an optical lens 612. The lens holder 611 is provided with a mounting hole 613, and the optical lens 612 is provided in the mounting hole 613 to ensure the coaxiality of the lens module 61. The optical lens 612 is used to focus the laser, and the focal length of the optical lens 612 is 10mm.

[0047] Essentially, the lens holder 611 is designed to accommodate an optical lens 612 of a specific size, ensuring that the optical lens 612 can be stably fixed and avoiding focal length drift caused by vibration or displacement. The optical lens 612 is usually made of a high-refractive-index material and is precision ground to effectively concentrate laser energy, forming a high-intensity light spot that acts only on the target lesion, minimizing thermal damage to surrounding healthy tissue.

[0048] Continue reading Figure 2 The fiber optic module 62 includes a fiber optic fixator 621 and a laser fiber 622. The laser fiber 622 is fixed in the fiber optic fixator 621 with an adhesive to ensure the stable positioning of the laser fiber 622 and the accuracy of beam transmission. The laser fiber 622 is used to project laser energy to ablate the target lesion.

[0049] Essentially, the fiber optic fixator 621 provides protection and guidance, maintaining the straightness of the laser fiber 622 during transmission and reducing scattering loss. The laser fiber 622 has a core material at its center and is surrounded by a reflective layer, forming a good optical channel to ensure that laser energy is transmitted from the source to the target lesion.

[0050] In this process, a high-energy laser beam generated by a laser source is transmitted through a laser fiber 622 into a lens module 61. An optical lens 612 precisely adjusts the direction of the laser beam, concentrating it at a single point to form an energy-dense area. The focused laser then acts directly on the target lesion, utilizing its high thermal effect to achieve ablation or destruction, thereby enhancing the treatment outcome.

[0051] That is, the wavelength of the laser fiber 622 is 2790nm. A laser with a wavelength of 2790nm can be effectively absorbed by water molecules in bone tissue, facilitating precise cutting of bone tissue and ablation of bone tumors, thereby achieving precise removal of bone lesions. The beam, after being focused by the optical lens 612, forms a small spot, reducing thermal damage to surrounding tissues during lesion ablation. Specifically, the lens module 61 receives the parallel beam output from the laser fiber 622 and converges it into a narrow spot with extremely high energy density. The high-energy laser directly acts on the target lesion, causing the water in the bone tissue to vaporize, forming local micro-explosions. The gas flow generated by vaporization carries away bone debris, achieving an ablation effect.

[0052] To prevent external interference from causing the relative positions of the lens holder 611 and the fiber optic holder 621 to shift, the lens holder 611 and the fiber optic holder 621 are connected by a protrusion and a slot for limiting.

[0053] Continue reading Figure 2 In some embodiments of the present invention, the pose detection module 50 includes a circuit board 51 and a piezoelectric ultrasonic transducer 52. The piezoelectric ultrasonic transducer 52 is disposed on the circuit board 51 and is used to acquire the relative pose information of the target lesion.

[0054] To ensure data transmission is free from electromagnetic interference, eight signal shielding leads 53 are extended from circuit board 51. These leads pass through the vias on lens holder 611 and fiber optic holder 621 and are integrated with the laser fiber 622 within the first instrument channel 13 and the second instrument channel 23. This professional shielding via the signal shielding leads 53 eliminates electromagnetic interference. Each signal shielding lead 53 can consist of a signal line and a shielding layer, encapsulated by an insulating sleeve. The shielding layer is grounded, effectively isolating external electromagnetic interference and ensuring high stability of signal transmission.

[0055] Essentially, circuit board 51 serves as the core carrier, integrating a series of electronic components for signal processing and transmission. The piezoelectric ultrasonic transducer 52 is encapsulated on circuit board 51 using a flip-chip bonding process, ensuring a stable connection between itself and circuit board 51. Circuit board 51 is fixed to lens fixator 611 with medical UV adhesive, ensuring stability and safety in the surgical environment.

[0056] The piezoelectric ultrasonic transducer 52 is a key component for acquiring ultrasonic signals, enabling the capture of position and attitude information. The piezoelectric ultrasonic transducer 52 is manufactured using microelectromechanical systems (MEMS) technology. Its structure is based on an SOI (silicon-on-insulator) wafer, on which a Mo (molybdenum) substrate electrode, an AlN (aluminum nitride) piezoelectric layer, and a Mo-based top electrode are sequentially deposited. The top and bottom electrodes of the SOI wafer are patterned using photolithography and dry etching processes, and the terminals are led out using lift-off technology. A cavity is formed on the back of the SOI wafer using deep silicon etching. Finally, the piezoelectric ultrasonic transducer 52 is packaged onto a circuit board 51 using flip-chip bonding technology.

[0057] Because the piezoelectric layer of the piezoelectric ultrasonic transducer 52 is made of aluminum nitride, it can detect distances on the order of millimeters, resulting in higher detection accuracy. Signals are transmitted to the piezoelectric ultrasonic transducer 52 via signal shielding leads 53, emitting sound waves. These sound waves, upon contact with the lesion and surrounding tissue, generate echoes. The piezoelectric ultrasonic transducer 52 receives these echoes, converts them into electrical signals, and transmits them to the processor via the signal shielding leads 53 for processing, thereby obtaining the pose information between the lens and the lesion. Optionally, by employing a transmit / receive isolation design, signal interference can be avoided, improving measurement accuracy.

[0058] The lens fixator 611 and fiber fixator 621 are manufactured using photopolymerization 3D printing technology and medical-grade resin, both exhibiting high dimensional accuracy and excellent biocompatibility. This allows for the precise assembly of the laser fiber 622 and the optical lens 612.

[0059] Figure 4 This is a schematic diagram of the endoscope vision module in the continuous robotic arm structure that integrates laser focusing and ultrasonic feedback functions provided in the embodiment of the present invention.

[0060] See Figure 4 In some embodiments of the present invention, the endoscope vision module 70 includes an endoscope fixator 71 and an endoscope module 72. The endoscope fixator 71 is disposed on the distal continuum module 10 and has a fixing hole 73. The endoscope module 72 is disposed on the fixing hole 73 and is used to acquire image information.

[0061] The endoscope retainer 71 serves as part of the distal continuum module 10 of the continuous robotic arm, securely attached to the distal end of the arm to ensure the stable position of the endoscope module 72. A mounting hole 73 is provided in the endoscope retainer 71, offering a precise docking interface for the endoscope module 72. The endoscope module 72 integrates a lens, illumination, and transmission components; it is compact yet powerful, capable of reaching deep into narrow cavities to capture high-quality internal images.

[0062] The endoscope fixator 71 is manufactured using photopolymer 3D printing technology with medical-grade resin as the material. This material exhibits excellent biocompatibility and achieves extremely high dimensional accuracy, ensuring precise assembly of the endoscope module 72. The endoscope module 72 has an outer diameter of 1.8 mm and a resolution of 56W pixels. The endoscope module 72 is connected to a post-processing device via a signal cable to provide clear intraoperative images.

[0063] Figure 5 This is a partial structural schematic diagram of the continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided in an embodiment of the present invention. Figure 6 yes Figure 5 A schematic diagram of the middle ball-and-socket joint. Figure 7 yes Figure 6 The cross-sectional view of the ball-and-socket joint shown.

[0064] See Figures 5 to 7 In some embodiments of the present invention, the distal continuum module 10 includes a distal fixation base 11 and multiple ball-and-socket joints 12 (e.g., seven ball-and-socket joints 12 connected in series). There may be four first driving tendons 30, which are crimped and fixed in the tendon mounting holes of the distal fixation base 11 using stainless steel tubes and sequentially passed through each ball-and-socket joint 12. Inside the distal fixation base 11 and each ball-and-socket joint 12, interconnected first instrument channels 13 and tendon channels are constructed. The first instrument channels 13 are used to pass through the cables (laser fiber 622 and signal shielding lead 53) of the pose detection module 50 and the laser optical module 60, while the tendon channels are used to pass through the first driving tendons 30.

[0065] The distal mounting base 11 serves as the foundation of the entire module, bearing the weight of each component and providing stability to ensure smooth operation. The ball-and-socket joints 12 mimic the structure of the human hip joint, with each joint capable of rotation, enhancing the range of motion and flexibility of the robotic arm. The first drive tendon 30 passes through each ball-and-socket joint 12, controlling the module's direction and force through contraction and extension, enabling precise operation.

[0066] The first instrument channel 13 runs through the distal fixation base 11 and all ball joints 12, providing a concealed routing path for various cables (such as laser fiber 622 and signal shielded lead 53), maintaining a clean appearance and avoiding external interference.

[0067] When the first driving tendon 30 responds to the command and rotates the ball-and-socket joint 12, it can precisely move to the target position. The pose detection module 50 continuously monitors the current position, while the laser optics module 60 is ready. During treatment, laser energy is rapidly delivered to precisely target the lesion, achieving efficient treatment. For example, in tumor surgery, the flexible robotic arm can bypass organs or surrounding tissues to reach deep lesions, reducing damage to normal tissues. The precise positioning of the distal module combined with laser technology reduces surgical risks and improves the success rate of surgery.

[0068] Among them, the ball-and-socket joint 12 is made of medical-grade stainless steel by CNC machining, which has excellent biocompatibility and mechanical strength, and can meet the application requirements in the surgical environment.

[0069] Figure 8 yes Figure 5 A schematic diagram of the bending structure of the ball-and-socket joint.

[0070] See Figure 8 In some embodiments of the present invention, to prevent the optical fiber and signal line from failing due to excessive bending during bending, a joint limiter is provided on the side of the ball-and-socket joint 12 to restrict the movement angle between the joints, ensuring that the maximum bending angle does not exceed 15°. That is, a limiter is provided on the contact end face of each ball-and-socket joint 12 to ensure that the bending angle between two adjacent ball-and-socket joints 12 is less than or equal to 15°. This arrangement ensures stable energy transmission of the optical fiber and extends the module's service life. The four second drive tendons 40 can control the end of the distal continuum module to bend in two directions by up to 105° through traction.

[0071] Because the ball-and-socket joint 12 can rotate freely in multiple dimensions, the robotic arm enjoys greater degrees of freedom. However, excessive freedom can also lead to instability and safety hazards, especially in operations requiring extremely high precision. Therefore, setting reasonable angle limits becomes particularly important. By limiting the maximum bending angle, the robotic arm is prevented from suddenly losing control during operation, maintaining the balance and stability of the entire arm. In minimally invasive surgery, when approaching critical organs or fragile tissues, strict bending limits can prevent accidental collisions and reduce damage to surrounding tissues. When performing minute movements, a smaller maximum angle allows for more delicate movements, helping surgeons achieve a higher level of operational control.

[0072] Figure 9 This is a schematic diagram of the proximal continuum module in the continuum robotic arm structure that integrates laser focusing and ultrasonic feedback functions provided in the embodiments of the present invention. Figure 10 yes Figure 9 The cross-sectional view of the proximal continuum module shown.

[0073] See Figure 9 and Figure 10 In some embodiments of the present invention, the proximal continuum module 20 includes a proximal fixation seat 21 and a plurality of joint modules 22. The proximal fixation seat 21 and the adjacent joint modules 22, as well as the two adjacent joint modules 22, are mutually limited and fitted. The second driving tendon 40 is fixed to the proximal fixation seat 21 and passes through each joint module 22 in sequence.

[0074] The proximal fixation base 21 and each joint module 22 are internally constructed with interconnected second instrument channels 23. The second instrument channels 23 are used to pass through the cables (such as laser fiber 622 and signal shielding lead 53) of the pose detection module 50 and the laser optical module 60.

[0075] The proximal fixation unit 21 serves as the basic support unit, supporting the entire continuous robotic arm and ensuring its stability. The joint modules 22 consist of a series of hinge-like joints; each joint module 22 is interconnected through limiting mechanisms to restrict irregular movement and maintain structural stability. The second drive tendon 40 connects all joint modules 22, enabling precise power transmission and directional control. The second instrument channel 23 runs through the proximal fixation unit 21 and all joint modules 22, providing an unobstructed path for the cables of the pose detection module 50 and the laser optics module 60. Specifically, the second instrument channel 23 allows the laser fiber 622 and signal shielding lead 53 to pass through, ensuring smooth and stable laser and signal transmission.

[0076] In addition, tendon channels and data cable channels are designed on the proximal fixation base 21 and the joint module 22. The seven joint modules 22 are connected in series through corresponding tendon channels via the second driving tendon 40 and the first driving tendon 30. The tendon channels are used for the passage of the second driving tendon 40, the pre-tightening tendon, and the reinforcing rib 80 described below, while the data cable channels are used for transmitting video signal data through the shielded cable of the endoscope module 72.

[0077] It should be noted that the second driving tendon 40 is a medical stainless steel wire (1×7 strands) with a surface galvanized treatment and an outer diameter of 0.3mm. A stainless steel pressure head with an outer diameter of 0.8mm, an inner diameter of 0.4mm, and a length of 1.5mm is pressed to the end of the stainless steel wire by a cold pressing process. The second driving tendon 40 passes through the connection hole on the proximal fixation seat 21, leaving the pressure head on the other side of the connection hole.

[0078] The embodiment of this invention employs a stainless steel tube cold-pressing process, which avoids the plastic deformation of the stainless steel wire caused by traditional knotting processes, resulting in smoother movement of the continuous module. By pulling the second driving tendon 40, bidirectional bending motion of the distal continuous body can be driven.

[0079] It should also be noted that the proximal fixation base 21 is manufactured using high-precision photopolymer 3D printing with medical-grade resin as the material. This material is biocompatible and allows for the fabrication of precise and complex structures. The joint module 22 is made of medical-grade stainless steel using CNC machining, exhibiting excellent biocompatibility and mechanical strength to meet the application requirements in surgical environments. Similar to the ball-and-socket joint 12, joint limiters are provided on the side of the joint module 22 to restrict the angle of movement between joints, ensuring that the maximum bending angle does not exceed 15°. This prevents excessive twisting, avoids damage or jamming, and ensures long-term reliable operation. By pulling the second driving tendon 40, the distal end of the proximal continuum module 20 can be bent in a single direction by up to 105°.

[0080] The ingenious design of the joint module 22 in this embodiment of the invention retains flexibility while resisting external impacts and maintaining dimensional stability. By integrating the cables within the second instrument channel 23, internal wiring is simplified, improving operational convenience.

[0081] Figure 11 This is one of the structural schematic diagrams of the joint module in the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided in the embodiments of the present invention. Figure 12 This is the second schematic diagram of the joint module in the continuous robotic arm structure with integrated laser focusing and ultrasonic feedback functions provided in the embodiments of the present invention.

[0082] See Figure 11 and Figure 12 In some embodiments of the present invention, each joint module 22 includes a first joint 221 and a second joint 222 disposed opposite to each other, and both the first joint 221 and the second joint 222 include a joint body 223 and a connecting portion 224 connected to each other.

[0083] A first limiting tooth 225 is provided on the joint body 223 of either the first joint 221 or the second joint 222. The first limiting tooth 225 extends radially along the corresponding joint body 223. A second limiting tooth 226 is provided on the joint body 223 of the other joint 221 or the second joint 222. The second limiting tooth 226 and the first limiting tooth 225 mesh with each other to limit the movement angle between the joints, so that the maximum bending angle of the joint module does not exceed 15°, in order to prevent excessive twisting, avoid damage or jamming, and ensure long-term reliable operation.

[0084] Essentially, the joint bodies 223 of both the first joint 221 and the second joint 222 are cylindrical structures. On the joint body 223 of the first joint 221, multiple first limiting teeth 225 are evenly distributed radially. The tooth profile of the first limiting teeth 225 is designed as an involute tooth, offering advantages such as smooth transmission and high load-bearing capacity. Similarly, on the joint body 223 of the second joint 222, second limiting teeth 226 are also radially arranged. The tooth profile of the second limiting teeth 226 perfectly matches that of the first limiting teeth 225 to achieve mutual meshing.

[0085] When the robotic arm structure is operating normally, the first limiting tooth 225 and the second limiting tooth 226, which mesh with each other, play an important limiting role.

[0086] On the one hand, it limits the range of relative rotation angles between the two joints. For example, when the robotic arm needs to perform a large extension movement, the meshing of the first limiting tooth 225 and the second limiting tooth 226 can ensure that the rotation angles of the first joint 221 and the second joint 222 do not exceed the safe range, thus avoiding damage to the robotic arm structure or loss of control due to excessive rotation.

[0087] On the other hand, when the robotic arm is subjected to external impact or vibration, the meshing of the limiting teeth can enhance the connection stability between the joints. Because the limiting teeth are interlocked, they can effectively prevent relative displacement or wobbling between the two joint bodies 223, ensuring that the robotic arm can maintain precise movements and stable performance even in complex working environments.

[0088] Furthermore, the proximal fixation seat 21 and the connection portion 224 of the adjacent joint, as well as the connection portions 224 of two adjacent joints, are all limited by fitting limiting grooves, and the first driving tendon 30 and the second driving tendon 40 pass through the connection portion 224 of each joint.

[0089] It should be noted that the first joint 221 and the second joint 222 each include a joint body 223 and a connecting part 224. The first limiting tooth 225 and the second limiting tooth 226 are both designed on the joint body 223. Through precise geometric matching, relative sliding is restricted while ensuring smooth rotation and avoiding excessive deformation or damage.

[0090] In some embodiments of the present invention, the proximal continuum module 20 further includes a reinforcing rib 80, which is fixed to the proximal fixation seat 21 and sequentially passes through each joint module 22. The reinforcing rib 80 is arranged parallel to the first driving tendon 30 and the second driving tendon 40, and the reinforcing rib 80 is located in the neutral layer of each joint module 22.

[0091] The reinforcing ribs 80 are arranged parallel to the first driving tendon 30 and the second driving tendon 40, together forming the internal skeleton structure of the robotic arm to ensure that the moving parts do not deform or shift when performing complex operations. The neutral layer is located in the central part of the joint module 22. This area is where the stress is most balanced. The distribution of the reinforcing ribs 80 here can effectively disperse external forces and improve bending resistance.

[0092] The presence of the reinforcing ribs 80 helps to evenly distribute the load under external pressure or torque, preventing localized stress concentration and reducing the risk of component damage. In other words, the physical reinforcement achieved by the reinforcing ribs 80 increases the stability of the entire system, ensuring excellent performance even after prolonged operation.

[0093] Specifically, the reinforcing rib 80 is welded into the connecting hole of the proximal fixation seat 21. The reinforcing rib 80 is a medical capillary hollow nickel-titanium tube with an outer diameter of 0.43 mm and an inner diameter of 0.34 mm, which can maintain elasticity under large deformation. The reinforcing rib 80 is arranged on the neutral layer of the bending of the proximal continuum module 20, which can restrict the movement of the proximal continuum module 20 in the bending plane direction. The reinforcing rib 80 not only enhances the overall stiffness of the proximal continuum module 20, but also avoids the coupling effect between the movement of the proximal continuum module 20 and the distal continuum module 10.

[0094] It should be noted that the second driving tendon 40 and the pre-tightening tendon are made of the same material and are manufactured using the same process as the second driving tendon 40. The second driving tendon 40 is used to control the bending of the proximal continuum module 20 in a single degree of freedom direction, and the pre-tightening tendon is used to adjust the stiffness of the proximal continuum module 20.

[0095] The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions provided by this invention has the following advantages: (1) Precise cutting and ablation of bone lesions: This invention integrates an optical lens 612 with a 2790nm wavelength laser fiber 622; the 2790nm wavelength laser can be efficiently absorbed by water molecules in bone tissue and cause local micro-explosions, thus effectively ablation of bone tumors, ensuring complete removal of lesions, thereby improving the treatment effect; using a precise fiber laser focusing system, precise laser energy can be delivered inside the bone structure, thereby effectively performing ablation treatment of bone tumors and precise treatment of bone lesions.

[0096] (2) High-precision pose feedback: The ultrasonic piezoelectric transducer with aluminum nitride as the piezoelectric layer, fabricated using microelectromechanical technology, has the advantages of small size, high resolution, and high precision, and can accurately provide relative pose feedback between the target lesion and the surgical instruments. This feedback mechanism enhances the precision and safety of the surgical process and ensures the accuracy of the operation; by integrating ultrasonic feedback technology, it is possible to monitor tissue changes in real time during the surgical process, ensuring high-precision execution of laser surgery, while minimizing accidental damage to surrounding healthy tissues.

[0097] (3) Extending the lifespan of optical fibers and signal lines: By using a two-section continuous robot module and limiting the movement angle between joints, the optical fibers and signal lines are ensured to be free from excessive bending during bending, thus avoiding bending loss of the optical fibers. This effectively maintains stable energy transmission of the optical fibers and significantly extends the lifespan of the module; (4) Achieving Dexterous Motion: By embedding reinforcing ribs 80 and pre-tensioning ropes in the neutral layer of the proximal continuum module 20, the stiffness of the proximal continuum can be adjusted, and the coupling between the proximal and distal motion modules is reduced, enabling the continuum to achieve more dexterous motion. This makes surgical instruments more flexible in complex surgical environments and improves the controllability of operations. Through the multi-segment highly flexible continuum mechanical structure, the incision can be reduced, adapting to complex and ever-changing orthopedic surgical environments, and the laser fiber 622 can be precisely guided to the target lesion.

[0098] 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 the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions, characterized in that, It includes a distal continuum module, a proximal continuum module, a first driving tendon, and a second driving tendon. The first driving tendon passes through the distal continuum module and the proximal continuum module and is used to control the movement of the distal continuum module. The second driving tendon passes through the proximal continuum module and is used to control the movement of the proximal continuum module. The distal continuum module has a pose detection module and a laser optics module sequentially arranged at its front end. The pose detection module is used to acquire the relative pose information of the target lesion, and the laser optics module is used to project laser energy to treat the target lesion. The side wall of the distal continuum module has an endoscope vision module, which is used to acquire image information.

2. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 1, characterized in that, The laser optical module includes a lens module and an optical fiber module, and the lens module and the optical fiber module are positioned and engaged. The fiber optic module is used to project laser energy to treat the target lesion, and the lens module is located on the projection path of the fiber optic module to focus the laser.

3. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 2, characterized in that, The lens module includes a lens holder and an optical lens. The lens holder has a mounting hole, and the optical lens is disposed in the mounting hole. The optical lens is used to focus the laser. The fiber optic module includes a fiber optic fixator and a laser fiber. The laser fiber is fixed inside the fiber optic fixator and is used to project laser energy to treat the target lesion.

4. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 1, characterized in that, The pose detection module includes a circuit board and a piezoelectric ultrasonic transducer. The piezoelectric ultrasonic transducer is disposed on the circuit board and is used to acquire the relative pose information of the target lesion. Signal shielding leads are led out from the circuit board.

5. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 1, characterized in that, The endoscopic vision module includes an endoscope fixator and an endoscope module. The endoscope fixator is located on the distal continuum module and has a fixing hole. The endoscope module is located on the fixing hole and is used to acquire image information.

6. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to any one of claims 1 to 5, characterized in that, The distal continuum module includes a distal fixation base and multiple ball-and-socket joints. The first driving tendon is fixed to the distal fixation base and passes through each of the ball-and-socket joints in sequence. The distal fixation base and each of the ball joints are internally constructed with interconnected first instrument channels, which are used to pass through the cables of the pose detection module and the laser optics module.

7. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 6, characterized in that, Each ball-and-socket joint has a limiting portion on its contact end face so that the bending angle between two adjacent ball-and-socket joints is less than or equal to 15°.

8. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to any one of claims 1 to 5, characterized in that, The proximal continuum module includes a proximal fixation base and multiple joint modules. The proximal fixation base and the adjacent joint modules, as well as two adjacent joint modules, are all limited to each other. The second driving tendon is fixed to the proximal fixation base and passes through each joint module in sequence. The proximal fixation base and each of the joint modules are internally constructed with interconnected second instrument channels, which are used to pass through the cables of the pose detection module and the laser optics module.

9. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 8, characterized in that, Each joint module includes a first joint and a second joint arranged opposite to each other, and the first joint and the second joint each include a joint body and a connecting part that are connected to each other. The joint body of either the first joint or the second joint is provided with a first limiting tooth, which extends radially along the corresponding joint body; the joint body of the other joint is provided with a second limiting tooth, which meshes with the first limiting tooth. The proximal fixation seat and the connection portion of the adjacent joint, as well as the connection portion of two adjacent joints, are all limited to each other, and the first driving tendon and the second driving tendon pass through the connection portion of each joint.

10. The continuous robotic arm structure integrating laser focusing and ultrasonic feedback functions according to claim 8, characterized in that, The proximal continuum module further includes a reinforcing rib, which is fixed to the proximal fixation seat and sequentially passes through each of the joint modules. The reinforcing rib is arranged parallel to the first driving tendon and the second driving tendon, and is located in the neutral layer of each of the joint modules.

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