Tympanic membrane puncture surgical robot with laser guidance

Abstract

The utility model relates to the technical field of medical instruments, and provides a tympanic membrane puncture surgical robot with laser guidance, which comprises a base, a mechanical arm, a holder and a controller, the two ends of the mechanical arm are respectively a fixed end and an executing end, the fixed end is detachably fixed on the base, and the executing end is detachably fixed on the base. The execution end can move along an X axis, a Y axis, a Z axis, around the X axis, around the Y axis and around the Z axis in six degrees of freedom relative to the fixed end; the near end of the clamp holder is rotatably assembled on the execution end and has a locking state and a rotatable state, and the far end of the clamp holder is provided with two assembly positions which are respectively used for fixing a laser and a puncture guide device. The surgical robot can accurately complete tympanic membrane puncture operation under accurate guidance of an otoscope and laser, stability is high, operation is convenient, and surgical efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly to a tympanocentesis surgical robot with a laser guide. Background Art

[0002] Secretory otitis media is a disease mainly characterized by tympanic effusion and hearing loss. The main cause is the obstruction of the eustachian tube, and the secretions in the tympanic cavity cannot be drained to the pharynx, forming tympanic effusion. Tympanic effusion is mostly a mixture of transudate, exudate and secretion. Clearing tympanic effusion is the key to the treatment of secretory otitis media. Tympanocentesis is one of the main treatment methods for secretory otitis media.

[0003] Tympanocentesis is usually performed under local anesthesia, and high requirements are placed on the position stability of the patient and the operator. It is very difficult to complete smoothly only relying on the hand operation of the doctor, and it needs to be completed in cooperation with a precise and effective safety guiding and fixing device. However, such a structure is currently lacking. Therefore, there is an urgent need to design a new structure to meet the current requirements. Summary of the Utility Model

[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide a tympanocentesis surgical robot with a laser guide.

[0005] According to a tympanocentesis surgical robot with a laser guide provided by the utility model, it includes:

[0006] A base;

[0007] A robotic arm with a fixed end and an execution end at both ends. The fixed end is detachably fixed on the base, and the execution end can move in six degrees of freedom along the X-axis, Y-axis, Z-axis, around the X-axis, around the Y-axis, and around the Z-axis relative to the fixed end;

[0008] A gripper, the proximal end of which is rotatably assembled on the execution end and has a locked state and a rotatable state. The distal end has two assembly positions, and the two assembly positions are respectively used to install and fix a laser and a puncture guide. When the proximal end of the gripper is in the locked state, the laser can reach the target position by adjusting the robotic arm; a rotation motor is configured on the execution end. When the proximal end of the gripper is adjusted to the rotatable state, the rotation motor can drive the proximal end of the gripper to rotate, so that the puncture guide on the gripper can also reach and stop at the target position.

[0009] Preferably, the axes of the laser and the puncture guide located at the two assembly positions are parallel.

[0010] Preferably, the robotic arm is a multi-joint structure.

[0011] Preferably, the assembly position includes a first clamping end and a second clamping end. One end of the first clamping end is integrally connected to one end of the second clamping end. An assembly hole and a gap connected to the assembly hole are formed between the other end of the first clamping end and the other end of the second clamping end, and the size of the gap can be adjusted by a fastener so that the assembly hole becomes larger or smaller. The laser and the puncture guide are respectively assembled into an assembly hole.

[0012] Preferably, the fastener realizes the size of the gap by screwing.

[0013] Preferably, the gripper is of a T-shaped structure.

[0014] Preferably, a button is provided on the gripper, and the button is electrically connected to the controller.

[0015] Preferably, rollers are provided at the bottom of the base, and a brake plate is provided on the rollers. By adjusting the brake plate, the base can be adjusted to a fixed mode or a movable mode. In the fixed mode, the rollers are not allowed to rotate, and in the movable mode, the rollers are allowed to rotate.

[0016] Preferably, the robotic arm includes a base, a first joint, a first arm, a second joint, a second arm, a third joint, a third arm, and a swivel joint connected in sequence. The bottom of the base is detachably fixed to the base. Joint connection interfaces extend radially from both ends of the first joint, the second joint, and the third joint. The joint connection interfaces are used to connect the arms, and all three joints are structures where one end can rotate relative to the other end. Arm connection interfaces extend axially from both ends of the first arm, the second arm, and the third arm. The arm connection interfaces are connected to the joint connection interfaces, and all three arms are structures where one end can rotate relative to the other end. One end of the swivel joint is connected to the arm connection interface on the third arm, and the other end of the swivel joint is connected to the proximal end of the gripper.

[0017] Preferably, the rotation motor uses a stepper motor.

[0018] Compared with the prior art, the present utility model has the following beneficial effects:

[0019] The surgical robot designed by the present utility model can accurately complete the tympanum puncture operation under the accurate guidance of the robotic arm and the gripper, with high stability and convenient operation, greatly improving the surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present utility model will become more apparent:

[0021] Figure 1Schematic diagram of the structure of a tympanocentesis surgical robot;

[0022] Figure 2 Schematic diagram of the structure for performing puncture operation using a puncture guide under the assistance of an otoscope;

[0023] Figure 3 Schematic diagram of the structure of a fastener;

[0024] Figure 4 Schematic diagram of the side structure of the second clamping end.

[0025] As shown in the figure:

[0026] Base 1

[0027] Robot arm 2

[0028] Arm base 21

[0029] First joint 22

[0030] First arm 23

[0031] Second joint 24

[0032] Second arm 25

[0033] Third joint 26

[0034] Third arm 27

[0035] Adapter 28

[0036] Gripper 3

[0037] First clamping end 31

[0038] Second clamping end 32

[0039] Laser 4

[0040] Puncture guide 5

[0041] Fastener 6

[0042] External thread 61

[0043] Baffle 62

[0044] Button 7

[0045] Otoscope 8 Specific implementation method

[0046] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made. These all belong to the protection scope of the present utility model.

[0047] The present utility model provides a tympanocentesis surgical robot with laser guidance, including a base 1, a robotic arm 2, a gripper 3 and a controller. The two ends of the robotic arm 2 are respectively a fixed end and an execution end. The fixed end is detachably fixed on the base 1, and the execution end can move in six degrees of freedom along the X-axis, Y-axis, Z-axis, around the X-axis, around the Y-axis, and around the Z-axis relative to the fixed end; specifically, as Figure 1 shown, the robotic arm 2 is preferably a multi-joint structure. In this embodiment, the robotic arm 2 includes a base seat 21, a first joint 22, a first arm 23, a second joint 24, a second arm 25, a third joint 26, a third arm 27, and a adapter 28 connected in sequence. Among them, the bottom of the base seat 21 is detachably fixed on the base 1. The two ends of the first joint 22, the second joint 24, and the third joint 26 all extend radially out of joint connection interfaces. The joint connection interfaces are used to connect the arms, and all three joints are structures where one end can rotate relative to the other end. The two ends of the first arm 23, the second arm 25, and the third arm 27 all extend axially out of arm connection interfaces. The arm connection interfaces connect the joint connection interfaces, and all three arms are structures where one end can rotate relative to the other end. One end of the adapter 28 is connected to the arm connection interface on the third arm 27, and the other end of the adapter 28 is connected to the proximal end of the gripper 3, so that the entire robotic arm 2 can achieve the effect of six-degree-of-freedom movement.

[0048] As Figure 1 , Figure 2 shown, the proximal end of the gripper 3 is rotatably assembled on the execution end, that is, the proximal end of the gripper 3 is assembled on the other end of the adapter 28. The proximal end of the gripper 3 has a locked state and a rotatable state. The distal end has two assembly positions, which are respectively used to install and fix a laser 4 and a puncture guide 5. When the proximal end of the gripper 3 is in the locked state, the laser 4 can reach the target position by adjusting the robotic arm 2; a rotation motor is configured on the execution end, and the rotation motor is electrically connected to the controller. The controller can control the rotation of the rotation motor. The rotation motor preferably adopts a stepping motor. When the proximal end of the gripper 3 is adjusted to the rotatable state, the rotation motor can drive the proximal end of the gripper 3 to rotate, and then the puncture guide 5 on the gripper 3 can also reach and stop at the target position, so that the operation can be carried out quickly and the operation efficiency can be improved. It should be noted that the switching between the locked state and the rotatable state is mainly achieved by the controller controlling whether the stepping motor rotates.

[0049] Specifically, the gripper 3 has a T-shaped structure. The assembly positions include a first clamping end 31 and a second clamping end 32. One end of the first clamping end 31 and one end of the second clamping end 32 are integrally connected. An assembly hole and a gap connected to the assembly hole are formed between the other end of the first clamping end 31 and the other end of the second clamping end 32. The size of the gap can be adjusted by a fastener 6 so that the assembly hole becomes larger or smaller. The laser 4 and the puncture guide 5 are respectively assembled into an assembly hole. The fastener 6 realizes the size of the gap by screwing. In the natural state, the gap on the gripper 3 splits open, and the laser 4 and the puncture guide 5 can be conveniently taken out from or installed into the assembly hole. When the fastener 6 is screwed, the other end of the first clamping end 31 and the other end of the second clamping end 32 are clamped by the fastener 6, the clamping gap becomes smaller, and the aperture of the assembly hole becomes smaller, so that the laser 4 or the puncture guide 5 is fixed.

[0050] It should be noted that one end of the fastener 6 is provided with an external thread 61, and the other end has a baffle 62. As Figure 3 shown, the other end of the first clamping end 31 has an internal thread hole matching the external thread 61, and the second clamping end 32 has a stepped through hole. As Figure 4 shown, the baffle 62 can enter from one end of the stepped through hole and is limited by the other end, and the operation of clamping the two clamping ends is realized by screwing the fastener 6.

[0051] It should be noted that the axes of the laser 4 and the puncture guide 5 located at the two assembly positions are parallel. A button 7 is arranged on the gripper 3, and the button 7 is electrically connected to the controller. In a possible embodiment, when the laser 4 reaches the target position by adjusting the robotic arm 2, click the button 7, and the controller records the position and attitude of the robot and the position and attitude of the laser 4 at this time. After double-clicking the button 7, the controller controls the stepping motor to drive the gripper 3 to rotate, and the assembly position can automatically rotate to the position and attitude of the installation gripper 3 assembly position. At this time, the puncture guide 5 can be installed, so that the position and attitude can be accurately positioned. During this process, the base 1 and the robotic arm 2 do not move. In another possible embodiment, recording the position and controlling the rotation of the stepping motor can be realized by two separate buttons.

[0052] The base 1 in the present invention can be set as a non-movable structure, or the base 1 can be designed as a movable structure. For example, rollers are arranged at the bottom of the base 1, and brake plates are provided on the rollers. By adjusting the brake plates, the base 1 can be adjusted to a fixed mode or a movable mode. In the fixed mode, the rollers are not allowed to rotate, and in the movable mode, the rollers are allowed to rotate, and the movement of the base 1 can be realized by the rotation of the rollers.

[0053] The working principle of the present invention is as follows:

[0054] Medical staff first place the base 1 and the robotic arm 2 in appropriate positions. With the assistance of the otoscope 8, the laser emitted by the laser 4 on the gripper 3 can be irradiated onto the eardrum. Fine-tune the position and posture of the robotic arm 2 so that the laser spot on the laser 4 reaches the desired position on the eardrum. Click the button 7, and the controller records the position and posture of the robot and the position and posture of the laser 4 at this time. Then, double-click the button 7, and the controller controls the stepper motor to drive the gripper 3 to rotate so that the puncture guide 5 rotates to the position and posture of the laser 4 in the previous step. During this process, the base 1 does not move, and the other joints of the robotic arm 2 also do not move. This step requires ensuring that the puncture guide 5 is not installed. Install the puncture guide 5 and clamp it with the fastener 6, and then use the puncture guide 5 to perform the puncture operation. This process is assisted by the otoscope 8 to ensure the safe progress of the puncture process. After the puncture is completed, first loosen the puncture guide 5 through the fastener 6 and remove the puncture guide 5, and then remove this robot.

[0055] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0056] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present utility model. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily.

Claims

1. A laser-guided tympanic membrane puncture surgical robot, characterized in that: include: Base (1); A mechanical arm (2), wherein two ends are a fixed end and an execution end, respectively, the fixed end is detachably fixed to the base (1), and the execution end is capable of moving with six degrees of freedom along an X axis, a Y axis, a Z axis, around the X axis, around the Y axis, and around the Z axis relative to the fixed end; The proximal end of the clamp (3) is assembled on the execution end and has a locked state and a rotatable state, and the distal end has two assembly positions, the two assembly positions are used to install and fix the laser (4) and the puncture guide (5) respectively, and when the proximal end of the clamp (3) is in the locked state, the laser (4) can be adjusted by adjusting the mechanical arm (2) to reach the target position; the execution end is provided with a rotary motor, and when the proximal end of the clamp (3) is adjusted to the rotatable state, the rotary motor can drive the proximal end of the clamp (3) to rotate, thereby enabling the puncture guide (5) on the clamp (3) to reach and stop at the target position; A controller is electrically connected to the rotating motor.

2. The laser-guided tympanic membrane puncture surgery robot according to claim 1, characterized in that: The axes of the laser (4) and the puncture guide (5) located at the two assembly positions are parallel.

3. The laser-guided tympanic membrane puncture surgical robot according to claim 1, characterized in that: The mechanical arm (2) is a multi-joint structure.

4. The laser-guided tympanic membrane puncture surgery robot according to claim 1, characterized in that: The assembly position comprises a first clamping end (31) and a second clamping end (32); one end of the first clamping end (31) and one end of the second clamping end (32) are integrally connected; an assembly hole and a gap connected to the assembly hole are formed between the other end of the first clamping end (31) and the other end of the second clamping end (32); the size of the gap can be adjusted by a fastener (6) so that the assembly hole becomes larger or smaller; and the laser (4) and the puncture guide (5) are respectively assembled in one assembly hole.

5. The laser-guided tympanic membrane puncture surgical robot according to claim 4, characterized in that: The fastener (6) realizes the size of the gap by screwing.

6. The laser-guided tympanic membrane puncture surgery robot according to claim 1, characterized in that: The clamp (3) is a T-shaped structure.

7. The laser-guided tympanic membrane puncture surgery robot according to claim 1, characterized in that: The clamp (3) is provided with a button (7), and the button (7) is electrically connected to the controller.

8. The laser-guided tympanic membrane puncture surgical robot according to claim 1, characterized in that: A roller is provided at the bottom of the base (1), and a brake plate is provided on the roller. By adjusting the brake plate, the base (1) can be adjusted to a fixed mode or a movable mode. In the fixed mode, the roller is not allowed to rotate, and in the movable mode, the roller is allowed to rotate.

9. The laser-guided tympanic membrane puncture surgery robot according to claim 1, characterized in that: The mechanical arm (2) comprises an arm base (21), a first joint (22), a first arm (23), a second joint (24), a second arm (25), a third joint (26), a third arm (27), and an adapter (28) which are connected in sequence, wherein the bottom of the arm base (21) is detachably fixed to the base (1), both ends of the first joint (22), the second joint (24), and the third joint (26) extend radially to form joint connection interfaces, the joint connection interfaces are used to connect the arms, and the three joints are structures in which one end can rotate relative to the other end, both ends of the first arm (23), the second arm (25), and the third arm (27) extend axially to form arm connection interfaces, the arm connection interfaces are connected to the joint connection interfaces, and the three arms are structures in which one end can rotate relative to the other end, one end of the adapter (28) is connected to the arm connection interface on the third arm (27), and the other end of the adapter (28) is connected to the proximal end of the clamp (3).

10. The laser-guided tympanic membrane puncture surgery robot according to claim 1, characterized in that: The rotating motor is a stepping motor.

Images