Middle ear surgical robot

Abstract

The utility model discloses a middle ear surgical robot which comprises a driving mechanism and a medical operation unit, and the medical operation unit is rotationally installed on the driving mechanism. The medical operation unit comprises a balloon dilatation assembly, an image assembly and a plurality of driving assemblies, the balloon dilatation assembly comprises a guide tube, an air cylinder, a balloon dilatation catheter and a balloon, the balloon dilatation catheter is inserted into the guide tube, the balloon is installed at the first end of the balloon dilatation catheter, the second end of the balloon dilatation catheter communicates with the air cylinder, and the air cylinder communicates with the image assembly; the driving assembly pushes the air cylinder to enable the medium to flow into the balloon or flow out of the balloon, and moves and / or rotates the balloon dilatation assembly; the image assembly comprises a camera and an image processing control part, the camera is arranged at the front end of the guide tube, and the camera is electrically connected with the image processing control part. The balloon dilatation device is used for solving the problems that inconvenience is caused during manual operation of an existing Eustachian tube balloon dilatation, operation accuracy is improved, operation wounds are reduced, and fatigue of doctors is relieved.

Description

Technical Field

[0001] This utility model relates to the technical field of medical devices, and in particular to a middle ear surgery robot. Background Technology

[0002] The Eustachian tube is a passage connecting the middle ear cavity and the nasopharynx. Blockage or obstruction of the Eustachian tube can lead to various diseases of the middle ear. Eustachian tube balloon dilation is a procedure that uses a balloon dilation catheter to dilate a narrowed Eustachian tube, allowing it to better regulate the pressure within the middle ear and maintain a balance between the pressure in the middle ear and the external environment.

[0003] During clinical surgery, due to differences in patients' physiological structure and the severity of their conditions, it is difficult and time-consuming to insert the balloon dilation catheter into the pharyngeal orifice of the Eustachian tube. The surgery relies heavily on personal experience and condition, which can easily damage the balloon dilation catheter and the mucosa or soft tissue around the pharyngeal orifice. In severe cases, the guide tube may enter the Eustachian tube directly from the pharyngeal orifice, causing secondary damage to the Eustachian tube with obstruction at the tympanic membrane end of the middle ear, leading to surgical failure. Utility Model Content

[0004] The purpose of this invention is to improve the inconvenience of manual operation in existing eustachian tube balloon dilation procedures, improve surgical accuracy, reduce surgical trauma, and reduce doctor fatigue, by providing a middle ear surgical robot.

[0005] The technical solutions for achieving the above objectives include the following:

[0006] This utility model proposes a middle ear surgery robot, including a drive mechanism and a medical operating unit, wherein the medical operating unit is rotatably mounted on the drive mechanism;

[0007] The medical operating unit includes a balloon dilation assembly, an imaging assembly, and multiple driving assemblies. The balloon dilation assembly includes a guide tube, a cylinder, a balloon dilation catheter, and a balloon. The balloon dilation catheter is inserted into the guide tube, and the balloon is installed at a first end of the balloon dilation catheter. The second end of the balloon dilation catheter is connected to the cylinder. The driving assemblies push the cylinder to cause the medium to flow into or out of the balloon, and move and / or rotate the balloon dilation assembly.

[0008] The imaging component includes a camera and an image processing control unit. The camera is located at the front end of the guide tube and is electrically connected to the image processing control unit.

[0009] In one embodiment, the plurality of driving components include a first driving component, a second driving component, a third driving component, and a fourth driving component. The balloon dilation component is mounted on the first driving component, the first driving component is mounted on the second driving component, the second driving component is rotatably mounted on the third driving component, the third driving component is rotatably mounted on the fourth driving component, and the fourth driving component is rotatably mounted on the driving mechanism.

[0010] In the first direction, the first driving component and the second driving component are in sliding engagement;

[0011] In the second direction, the second drive component and the third drive component rotate in cooperation;

[0012] In the third direction, the third drive component and the fourth drive component rotate in cooperation;

[0013] The first direction is a straight line, the second direction and the third direction are clockwise or counterclockwise, and the rotation plane of the second direction intersects the rotation plane of the third direction.

[0014] In one embodiment, the first driving assembly includes a first driving member, a first support member, a first support plate, a first lead screw, a push rod, and a first moving block.

[0015] The first driving member is mounted on the first end of the first support member, the first support plate is mounted on the second end of the first support member, the first end of the first lead screw is mounted on the output end of the first driving member, and the second end of the first lead screw is rotatably mounted on the first support plate.

[0016] The first movable block is sleeved on the outside of the first lead screw and threadedly engaged with the first lead screw. In the first direction, the first movable block is slidably connected to the first support member.

[0017] The first end of the push rod is mounted on the first moving block, and the second end of the push rod is mounted on the cylinder.

[0018] In one embodiment, the second drive assembly includes a second support member, a second drive member, a second lead screw, and a second movable block. The second support member is rotatably mounted on the third drive assembly, the second drive member is mounted on the second support member, the first end of the second lead screw is mounted on the output end of the second drive member, the second movable block is sleeved on the second lead screw and threadedly engaged with the second lead screw, and in a first direction, the lower end of the second movable block is slidably connected to the second support member; the first drive assembly is mounted on the upper end of the second movable block.

[0019] The second drive assembly further includes a second support plate, the first end of which is mounted on the second support member, and the second end of which is fixed to the balloon dilation catheter.

[0020] In one embodiment, the driving mechanism includes a first rotating component, a second rotating component, and a support; the support is mounted on the output end of the first rotating component, the second rotating component is mounted on the support, the first rotating component drives the support and the second rotating component to rotate on a first surface, and the second rotating component drives the medical operating unit to rotate on a second surface, wherein the first surface and the second surface intersect.

[0021] In one embodiment, the first rotating assembly includes a connecting plate, a motor, a base, a rotating shaft, and a rotating plate. The motor is mounted on the base, the base is mounted on the connecting plate, the rotating plate is rotatably mounted on the connecting plate, a first end of the rotating shaft is mounted on the rotating plate, a second end of the rotating shaft is mounted on the output end of the motor, and a bracket is mounted on the rotating plate.

[0022] In one embodiment, a limiting pin is provided on the rotating plate, and an arc-shaped groove is provided on the connecting plate. The limiting pin is at least partially disposed in the arc-shaped groove, which extends circumferentially along the rotating shaft, and the arc of the arc-shaped groove is 120 degrees to 220 degrees.

[0023] In one embodiment, the first rotating assembly further includes a first sensing assembly, which includes a photoelectric sensor and a rotating disk. The photoelectric sensor is mounted on the connecting plate, and the rotating disk is sleeved on the outside of the rotating shaft. The rotating disk has two slots that cooperate with the photoelectric sensor, and the two slots are arranged opposite to each other.

[0024] In one embodiment, the first rotating assembly further includes a second sensing assembly, the second sensing assembly including a transmitter and a receiver, the transmitter and the receiver being mounted opposite to each other on the base and the rotating plate;

[0025] The connecting plate and the rotating plate have corresponding through holes. The transmitter is used to generate light, the through holes allow the light to pass through, and the receiver receives the light.

[0026] In one embodiment, the balloon dilation assembly further includes a pressure sensor mounted on the balloon dilation catheter for monitoring the air pressure of the balloon.

[0027] The technical solution provided by this utility model has the following advantages and effects:

[0028] By controlling the first, second, third, and fourth driving components, the guide tube and balloon dilation catheter are adjusted or moved. Under the action of the imaging component, the catheter enters the appropriate position corresponding to the pharyngeal opening in the Eustachian tube groove through the nasal cavity, and then enters the Eustachian tube. The balloon dilation component is driven by the first driving component, enabling adjustment of the balloon dilation component in three-dimensional space, as well as adjustment of the balloon dilation component to dilate or contract within the obstructed Eustachian tube. This improves the inconvenience of manual operation in existing Eustachian tube balloon dilation procedures, increases surgical accuracy, reduces surgical trauma, and reduces surgeon fatigue. Attached Figure Description

[0029] The accompanying drawings illustrate specific examples of the technical solutions described in this utility model, and together with the detailed embodiments, form part of the specification, serving to explain the technical solutions, principles, and effects of this utility model.

[0030] Unless otherwise specified or defined, the same reference numerals in different figures represent the same or similar technical features, and different reference numerals may be used to represent the same or similar technical features.

[0031] Figure 1 This is a schematic diagram of a middle ear surgery robot according to one embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the drive mechanism and the lifting mechanism in one embodiment of the present invention;

[0033] Figure 3 This is an exploded view of the first rotating component in one embodiment of the present invention;

[0034] Figure 4 This is a front view of the first rotating component in one embodiment of the present invention;

[0035] Figure 5 This is a cross-section of the first rotating component in one embodiment of the present invention. Figure 1 ;

[0036] Figure 6 This is a cross-section of the first rotating component in one embodiment of the present invention. Figure 2 ;

[0037] Figure 7 This is a schematic diagram of a medical operating unit in one embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 100. Medical operating unit,

[0040] 110. Balloon dilation assembly; 111. Cylinder; 112. Balloon dilation catheter; 113. Balloon; 114. Pressure sensor; 115. Guide tube.

[0041] 120. First drive assembly; 121. First drive component; 122. First support component; 123. First support plate; 124. First lead screw; 125. Push rod; 126. First moving block; 127. First guide rail.

[0042] 130. Second drive assembly; 131. Second drive component; 132. Second support component; 133. Second lead screw; 134. Second moving block; 135. Second guide rail; 136. Second support plate.

[0043] 140. Third drive component; 141. Third drive element; 142. Third support element.

[0044] 150. Fourth drive component; 151. Fourth drive element; 152. Fourth support element.

[0045] 161. Camera,

[0046] 200. Drive mechanism,

[0047] 210. First rotating assembly; 211. Connecting plate; 2111. Arc groove; 2112. First through hole; 212. Motor; 213. Base; 214. Rotating plate; 2141. Shaft; 2142. Coupling; 2143. Limit pin; 2144. Second through hole.

[0048] 220. Second rotating component,

[0049] 230. Bracket; 231. First support plate; 232. Second support plate; 233. Third support plate.

[0050] 240. First sensing component; 241. Photoelectric sensor; 242. Rotating disk; 2421. Slot;

[0051] 250. Second sensing component; 251. Transmitter; 252. Receiver.

[0052] 300. Lifting mechanism; 310. Lifting assembly; 320. Moving assembly; 321. Base plate; 330. Housing.

[0053] 400. Operation and control system. Detailed Implementation

[0054] To facilitate understanding of this utility model, the specific embodiments of this utility model will be described in more detail below with reference to the accompanying drawings.

[0055] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.

[0056] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0057] It should be noted that when a component is considered "fixed" to another component, it can be directly fixed to the other component or there can be an intervening component; when a component is considered "connected" to another component, it can be directly connected to the other component or there can be an intervening component; when a component is considered "mounted" on another component, it can be directly mounted on the other component or there can be an intervening component; when a component is considered "placed" on another component, it can be directly placed on the other component or there can be an intervening component.

[0058] This utility model proposes a middle ear surgery robot, such as Figure 1 As shown, the device includes: a medical operating unit 100, a drive mechanism 200, a lifting mechanism 300, and an operation control system 400. The operation control system 400 has multiple control circuits for controlling the movement of the medical operating unit 100, the drive mechanism 200, and the lifting mechanism 300. The lifting mechanism 300 is mainly used to adjust the height of the medical operating unit 100. The medical operating unit 100 is rotatably mounted on the drive mechanism 200, which drives the medical operating unit 100 to rotate in different dimensions, allowing it to face the desired direction. The medical operating unit 100 is used for dilation or contraction operations within the obstructed Eustachian tube.

[0059] Specifically, such as Figure 2 As shown, the lifting mechanism 300 includes a lifting component 310, a moving component 320, and a housing 330. The housing 330 is mounted on the moving component 320, and the lifting component 310 is at least partially disposed within the housing 330. The moving component 320 includes a base plate 321, and the bottom of the base plate 321 is provided with four silent casters for moving the lifting mechanism 300, thereby moving the position of the medical operating unit 100. The lifting component 310 is used to adjust the height of the medical operating unit 100. The specific structure of the lifting component 310 is not limited and is a conventional method in the art. For example, Chinese Patent CN115583491B discloses an information self-reading conveying device for medical device processing and feeding. The lifting principle and structure of the longitudinal lifting seat in that device can be applied to this embodiment and will not be described in detail here.

[0060] The drive mechanism 200 includes a first rotating component 210, a second rotating component 220, and a support 230. The support 230 is mounted on the output end of the first rotating component 210, the second rotating component 220 is mounted on the support 230, and a medical operating unit 100 is mounted on the output end of the second rotating component 220. The first rotating component 210 drives the second rotating component 220, the support 230, and the medical operating unit 100 to rotate in one dimension, and the second rotating component 220 drives the medical operating unit 100 to rotate in another dimension.

[0061] Specifically, such as Figure 3 As shown, the first rotating assembly 210 mainly includes a connecting plate 211, a motor 212, a base 213, and a rotating plate 214. The first end of the connecting plate 211 is mounted on the lifting assembly 310, and the second end of the connecting plate 211 is mounted on the base 213, with the motor 212 mounted on the base 213. The rotating plate 214 is mounted on the side of the second end of the connecting plate 211 opposite to the base 213. A rotating shaft 2141 is mounted on the rotating plate 214, and the rotating shaft 2141 is connected to the output end of the motor 212 via a coupling 2142. When the motor 212 is working, the output shaft of the motor 212 drives the rotating shaft 2141 to rotate via the coupling 2142, and the rotating shaft 2141 drives the rotating plate 214 to rotate around the central axis of the rotating shaft 2141. By controlling the rotation angle of the output shaft of the motor 212 (e.g., a stepper motor) through the operation control system 400, the rotation angle of the rotating plate 214 can be controlled accordingly.

[0062] like Figure 3 and Figure 4 As shown, in this embodiment, the first rotating component 210 is provided with a first sensing component 240. For example... Figure 5As shown, the first sensing component 240 includes a photoelectric sensor 241 and a rotating disk 242. The photoelectric sensor 241 is mounted on a connecting plate 211, and the rotating disk 242 is sleeved on a rotating shaft 2141 and rotates with the shaft 2141. The rotating disk 242 has two slots 2421, which are arranged opposite to each other and are used to sense and engage with the photoelectric sensor 241. Specifically, when the slots 2421 of the rotating disk 242 rotate to a position where they are off-center from the photoelectric sensor 241, the photoelectric sensor 241 emits light to the outer wall of the rotating disk 242. The rotating disk 242 receives the light and reflects it back to the photoelectric sensor 241. The photoelectric sensor 241 generates a first electrical signal based on the light reflected from the outer wall of the rotating disk 242. When the slot 2421 of the rotating disk 242 rotates to align with the photoelectric sensor 241, the light generated by the photoelectric sensor 241 enters the slot 2421 and is reflected off the bottom wall of the slot 2421. The photoelectric sensor 241 generates a second electrical signal based on the light reflected from the bottom wall of the slot 2421. Both the first and second electrical signals are transmitted to the operation control system 400, so that the operation control system 400 can easily determine whether the rotating plate 214 has rotated to the limit position based on the first and second electrical signals.

[0063] like Figure 4 As shown, in this embodiment, the first rotating assembly 210 is further provided with a second sensing assembly 250. The second sensing assembly 250 includes a transmitter 251 and a receiver 252. The transmitter 251 is mounted on the bottom of the base 213, and the receiver 252 is mounted on the rotating plate 214 and rotates with the rotating plate 214. Alternatively, the transmitter 251 can be mounted on the rotating plate 214, and the receiver 252 can be mounted on the bottom of the base 213. Figure 2 and Figure 6 As shown, the connecting plate 211 has a first through hole 2112, and the rotating plate 214 has a corresponding second through hole 2144. The transmitter 251 generates light, which passes through the first through hole 2112 and the second through hole 2144 so that the receiver 252 can receive the light emitted by the transmitter 251. That is, when the receiver 252 rotates to a preset position, the light generated by the transmitter 251 is emitted to the receiver 252 through the first through hole 2112 and the second through hole 2144. The electrical signals generated by the transmitter 251 and the receiver 252 are transmitted to the operation control system 400, so that the operation control system 400 can obtain the angle information of the rotating plate 214 based on these electrical signals.

[0064] Preferably, two sets of second sensing components 250 are arranged opposite each other. Correspondingly, two pairs of first through holes 2112 and second through holes 2144 are also provided. One pair of through holes is located between the transmitter 251 and receiver 252 of the first set of second sensing components 250, and the other pair of through holes is located between the transmitter 251 and receiver 252 of the second set of second sensing components 250. By setting the first sensing component 240 and the two sets of second sensing components 250, the rotating plate 214 generates three different electrical signals when it rotates, which facilitates monitoring the rotation of the medical operating unit 100 around the rotating shaft 2141 (i.e., around...). Figure 1 The angle information of rotation along the Z-axis.

[0065] In some embodiments, in order to limit the angular range of rotation of the rotating plate 214, such as Figure 6 As shown, a limiting pin 2143 is provided on the rotating plate 214, and an arc-shaped groove 2111 is provided on the connecting plate 211. The limiting pin 2143 is at least partially disposed within the arc-shaped groove 2111. The arc-shaped groove 2111 extends circumferentially along the rotating shaft 2141, and the arc of the arc-shaped groove 2111 is 120 degrees to 220 degrees. Since the rotation angle range of the medical operating unit 100 is limited, the medical operating unit 100 generally only needs to rotate within a range of 180 degrees. Therefore, the arc of the arc-shaped groove 2111 is correspondingly set to 180 degrees. When the rotating plate 214 rotates to its limit position, the limiting pin 2143 abuts against the inner wall of the arc-shaped groove 21111, preventing the rotating plate 214 from exceeding the specified rotation angle.

[0066] refer to Figure 2 A bracket 230 is fixed on the rotating plate 214. The bracket 230 is a frame including a first support plate 231, a second support plate 232, and a third support plate 233. The first support plate 231 and the second support plate 232 are respectively fixed to both ends of the rotating plate 214, and the third support plate 233 connects the first support plate 231 and the second support plate 232. A second rotating assembly 220 and a medical operating unit 100 are respectively installed on both sides of the first support plate 231, and the medical operating unit 100 is connected to the output end of the second rotating assembly 220. Obviously, the second rotating assembly 220 and the medical operating unit 100 can also be fixed on the second support plate 232. When the rotating plate 214 rotates, it drives the bracket 230 to rotate, thereby driving the medical operating unit 100 fixed on the bracket 230 to rotate. Figure 1 The Z-axis rotation is achieved; the second rotating component 220 is used to drive the medical operating unit 100 around... Figure 1 The X-axis rotation is achieved through the first rotating component 210 and the second rotating component 220. These components can rotate and drive the medical operating unit 100 in two dimensions, adjusting its position. In this embodiment, the second rotating component 220 can be a coupling connecting a motor and its output shaft; details can be found in the first rotating component 210, and will not be elaborated further here.

[0067] A medical operating unit 100 is installed at the output end of the second rotating assembly 220, such as... Figure 7 As shown, the medical operating unit 100 includes a balloon dilation assembly 110, an imaging assembly, and multiple driving assemblies.

[0068] The balloon dilation assembly 110 includes a cylinder 111, a balloon dilation conduit 112, a balloon 113, and a guide tube 115. The cylinder 111 has an air chamber. A first drive assembly 120 is at least partially disposed within the cylinder 111 and slidably connected to the inner wall of the cylinder 111. The balloon dilation conduit 112 is inserted into the guide tube 115. The first end of the balloon dilation conduit 112 is fitted with the balloon 113, and the second end of the balloon dilation conduit 112 is mounted on the cylinder 111 and communicates with the air chamber. The balloon 113 communicates with the air chamber through the balloon dilation conduit 112. At least one of the drive assemblies is used to push the cylinder 111 to allow media to flow into or out of the balloon 113. The remaining drive assemblies are used to move and / or rotate the balloon dilation assembly 110.

[0069] In this embodiment, the multiple driving components include: a first driving component 120, a second driving component 130, a third driving component 140, and a fourth driving component 150. The balloon dilation component 110 is mounted on the first driving component 120, the first driving component 120 is mounted on the second driving component 130, the second driving component 130 is rotatably mounted on the third driving component 140, and the third driving component 140 is rotatably mounted on the fourth driving component 150. In the first direction 901 (equivalent to...) Figure 1 In the Y-axis direction, the first drive component 120 and the second drive component 130 are in sliding engagement; in the second direction 902 (equivalent to around...) Figure 1 In the direction of rotation along the Y-axis, the second drive assembly 130 and the third drive assembly 140 rotate in coordination; in the third direction 903 (equivalent to around...) Figure 1 In the direction of rotation along the Z-axis, the third drive assembly 140 and the fourth drive assembly 150 rotate in coordination. The first direction 901 is a linear direction, and the second direction 902 and the third direction 903 are clockwise or counterclockwise directions. The rotation plane of the second direction 902 intersects the rotation plane of the third direction 903.

[0070] The balloon dilation assembly 110 moves in a first direction 901 under the action of the first drive assembly 120. Specifically, the first drive assembly 120 includes a first drive member 121, a first support member 122, a first support plate 123, a first lead screw 124, a push rod 125, and a first moving block 126. The first drive member 121 is mounted on the first end of the first support member 122, and the first support plate 123 is mounted on the second end of the first support member 122. The first end of the first lead screw 124 is mounted on the output end of the first drive member 121, and the second end of the first lead screw 124 is rotatably mounted on the first support plate 123. The first moving block 126 is sleeved on the first lead screw 124 and threadedly engaged with the first lead screw 124. In the first direction 901, the first moving block 126 is slidably connected to the first support member 122. The first end of the push rod 125 is mounted on the first moving block 126, and the second end of the push rod 125 is mounted on the balloon dilation assembly 110. Preferably, the first support member 122 has a first guide rail 127, which extends along the first direction 901, and the first moving block 126 has a groove that mates with the first guide rail 127, so that the first moving block 126 and the first guide rail 127 slide in the first direction 901.

[0071] The first support member 122 supports the first drive member 121, and the first support plate 123 supports the cylinder 111. The cylinder 111 is fixed to the first support member 122 via the first support plate 123, improving the stability of the cylinder 111 during operation. The first drive member 121 drives the first lead screw 124 to rotate, and the first moving block 126 is sleeved on the outside of the first lead screw 124 and threadedly engaged with it. Since the first moving block 126 is slidably connected to the first support member 122 via the first guide rail 127 in the first direction 901, the first guide rail 127 restricts the movement direction of the first moving block 126, preventing the first moving block 126 from rotating with the first lead screw 124, so that when the first lead screw 124 rotates, it drives the first moving block 126 to move towards the first direction 901. Simultaneously, the first moving block 126 drives the push rod 125 to move in the first direction. Since the first end of the push rod 125 away from the first moving block 126 has a piston push plate, which is slidably connected to the inner wall of the cylinder 111, when the first moving block 126 moves, it drives the piston push plate to move in the cylinder 111 through the push rod 125, so as to realize the cylinder 111 injecting medium into the balloon 113 or drawing medium from the balloon 113, thereby realizing the expansion and contraction of the balloon 113.

[0072] When the first drive assembly 120 moves toward the balloon 113, the medium in the air chamber is compressed and pushed into the balloon 113, causing the balloon 113 to expand. When the first drive assembly 120 moves away from the balloon 113, the air chamber is under negative pressure, and the medium in the balloon 113 flows into the air chamber, causing the balloon 113 to contract. By moving back and forth in the first direction 901, the medium can enter or exit the balloon 113 through the balloon dilation catheter 112, thus achieving treatment for obstructed eustachian tubes. Preferably, the medium is saline solution, i.e., the balloon 113 is filled with saline solution. Saline solution can maintain a relatively stable pressure, ensuring the dilation effect of the balloon 113. Moreover, saline solution is one of the main components of human tissue fluid, which is relatively safe for human tissues and is unlikely to cause adverse reactions such as allergies. In the event of leakage, saline solution has no side effects on the human body.

[0073] The first drive assembly 120 is mounted on the second drive assembly 130. Specifically, the second drive assembly 130 includes a second drive member 131, a second support member 132, a second lead screw 133, and a second moving block 134. The second support member 132 is rotatably mounted on the third drive assembly 140, the second drive member 131 is mounted on the second support member 132, the first end of the second lead screw 133 is mounted on the output end of the second drive member 131, and the second moving block 134 is sleeved on the second lead screw 133 and threadedly engaged with it. In the first direction 901, the lower end of the second moving block 134 is slidably connected to the second support member 132. The first drive assembly 120 is mounted on the upper end of the second moving block 134. When the second moving block 134 moves in the first direction 901, it drives the first drive assembly 120 to move in the first direction 901, thus changing the position of the first drive assembly 120.

[0074] The second support member 132 supports the second drive member 131, which drives the second lead screw 133 to rotate. In the first direction 901, the second moving block 134 slides in cooperation with the second guide rail 135 on the second support member 132. The second guide rail 135 restricts the movement direction of the second moving block 134, preventing the second moving block 134 from rotating with the second lead screw 133, thereby allowing the second lead screw 133 to drive the second moving block 134 to move back and forth in the first direction 901. The second moving block 134 is equipped with a first drive assembly 120, which drives the balloon dilation assembly 110 to move in the first direction 901.

[0075] Since the cylinder 111 needs to deliver the medium to the balloon 113 through the balloon dilation catheter 112, and there is medium flow inside the balloon dilation catheter 112, the balloon 113 will contact the pharyngeal wall of the Eustachian tube when it expands. The balloon 113 will generate a reaction force, which will cause the balloon dilation catheter 112 to shake. Therefore, in order to improve the stability of the balloon 113 during expansion and contraction, the second drive assembly 130 also includes a second support plate 136. The first end of the second support plate 136 is mounted on the second support member 132, and the second end of the second support plate 136 is fixed to the balloon dilation catheter 112. The second support plate 136 supports the balloon dilation catheter 112. When the balloon 113 expands and contracts, the force generated by the balloon 113 and the stress generated by the airflow in the balloon dilation catheter 112 act on the second support plate 136, enhancing the stability of the balloon dilation catheter 112 during use.

[0076] By fixing the first support plate 123 to the first support member 122 and the second support plate 136 to the second support member 132, the stability of the balloon dilation catheter 112 can be improved, and the stability of the first lead screw 124 and the second lead screw 133 can be improved during rotation.

[0077] The second drive assembly 130 is mounted on the third drive assembly 140. Specifically, the third drive assembly 140 includes a third drive member 141 and a third support member 142. The third drive member 141 is mounted within the mounting cavity of the third support member 142. The second support member 132 is mounted at the output end of the third drive member 141, and the third drive member 141 is used to drive the second support member 132 to rotate, thereby causing the balloon dilation assembly 110 to rotate clockwise or counterclockwise in the second direction 902.

[0078] The third drive assembly 140 is mounted on the fourth drive assembly 150. Specifically, the fourth drive assembly 150 includes a fourth drive member 151 and a fourth support member 152. The fourth drive member 151 is mounted on the fourth support member 152, and the fourth support member 152 is mounted on the first support plate 231 or the second support plate 232. The third support member 142 is mounted on the output end of the fourth drive member 151. The fourth drive member 151 is used to drive the third support member 142 to rotate in the third direction 903, thereby causing the balloon dilation assembly 110 to rotate clockwise or counterclockwise in the third direction 903.

[0079] In summary, when the first drive assembly 120 moves back and forth in the first direction 901, it compresses and expands the cylinder 111, which in turn acts on the balloon dilation assembly 110, thereby achieving the expansion and contraction of the balloon dilation catheter 112 within the Eustachian tube. The second drive assembly 130 drives the balloon dilation catheter 112 and the imaging assembly to move in the first direction 901, thereby adjusting the position of the balloon dilation catheter 112 within the Eustachian tube. The third drive assembly 140 drives the balloon dilation catheter 112 to rotate clockwise or counterclockwise in the second direction 902, and the fourth drive assembly 150 drives the balloon dilation catheter 112 to rotate clockwise or counterclockwise in the third direction 903. Through the cooperation of the first rotating assembly 210, the second rotating assembly 220, the second drive assembly 130, the third drive assembly 140, and the fourth drive assembly 150, the balloon dilation catheter 112 is moved to a preset position within the Eustachian tube, and then the first drive assembly 120 achieves the expansion and contraction of the balloon dilation catheter 112, thus realizing the treatment of obstructed Eustachian tubes.

[0080] It should be noted that the multiple drive components are not limited to the first drive component 120, the second drive component 130, the third drive component 140 and the fourth drive component 150 in this embodiment, but may also be a combination of other drive components that can push the cylinder and move and / or rotate the balloon dilation component.

[0081] The imaging components include an image processing control unit (not shown) and a camera 161. The image processing control unit can be mounted on the second support plate 136, but is not limited to this location; it can also be mounted on the second drive assembly 130, the third drive assembly 140, or the fourth drive assembly 150. The camera 161 is mounted at the front end of the guide tube 115 and is electrically connected to the image processing control unit. The image processing control unit processes and displays the data from the camera 161. The camera 161 is used to record, in real time or via image recording, the appropriate position of the guide tube 115 as it enters the Eustachian tube groove through the nasal cavity, and the environmental image of the balloon dilation catheter 112 entering the Eustachian tube pharyngeal orifice, providing operational guidance for achieving surgical precision, reducing surgical trauma, and reducing surgeon fatigue. The camera 161 guides the guide tube 115, avoiding direct contact between the camera 161 and the mucosal tissue of the Eustachian tube pharyngeal orifice, thus preventing damage to the mucosal tissue during movement. Preferably, the guide tube 115 is made of a soft material with a rounded tip to prevent tissue damage when it touches the inner wall of the mucosal tissue. Ensure that the camera 161 can capture in real time the appropriate position of the guide tube 115 entering the Eustachian tube groove through the nasal cavity and the surrounding environment of the balloon dilation catheter 112 entering the Eustachian tube pharyngeal opening, and then display the image information on the image processing control unit or operation control system 400.

[0082] In some embodiments, the balloon dilation assembly 110 further includes a pressure sensor 114, which is mounted on the balloon dilation conduit 112 and is used to monitor the air pressure of the balloon 113. Specifically, the pressure sensor 114 is electrically connected to the operation control system 400. When the balloon 113 is dilated, the pressure sensor 114 detects the air pressure value of the balloon 113 and transmits the air pressure value to the operation control system 400, so that the operator can understand the dilation status of the balloon 113 in a timely manner and perform the dilation operation accordingly.

[0083] In this embodiment, the first lead screw 124 and the first driving member 121, and the second lead screw 133 and the second driving member 131 are connected by couplings. The couplings can transmit torque and play the role of buffering, shock absorption and overload protection.

[0084] When the middle ear surgical robot of this embodiment is used in clinical surgery for eustachian tube dilation, the following operation steps are included:

[0085] Step 1: The operation control system 400 drives the lifting mechanism 300 to move the medical operating unit 100 to a preset height; the operation control system 400 drives the first rotating component 210 and the second rotating component 220 to rotate the medical operating unit 100 to a preset angle.

[0086] Step 2: The operation control system 400 drives the fourth drive component 150, the third drive component 140, and the second drive component 130 to move in coordination with each other. Under the action of the camera 161 at the head end of the guide tube 115, the guide tube 115 is guided through the nasal cavity into the appropriate position corresponding to the pharyngeal opening of the Eustachian tube groove. The imaging component starts to record the environmental image of the Eustachian tube opening.

[0087] Step 3: Based on the environmental image of the pharyngeal opening of the Eustachian tube, the operator uses the operation control system 400 to drive the coordinated movement of the fourth drive component 150, the third drive component 140, and the second drive component 130, moving the camera 161 and the balloon dilation catheter 112 to the appropriate position of the pharyngeal opening of the Eustachian tube.

[0088] Step 4: The first driving component 120 and the balloon dilation component 110 work together to dilate and contract the balloon 113 on the balloon dilation catheter 112 within the Eustachian tube, thereby achieving the dilation of the Eustachian tube.

[0089] The operation control system controls the first rotating component, the second rotating component, and the second, third, and fourth drive components in the medical operation unit. Under the action of the imaging component, the position of the balloon dilation catheter and the camera within the Eustachian tube is adjusted or moved. The first drive component drives the balloon dilation catheter to dilate the Eustachian tube, enabling adjustment of the balloon dilation catheter in three-dimensional space and automatic adjustment of the balloon dilation catheter to dilate or contract within the obstructed Eustachian tube. This improves the inconvenience of manual operation in existing Eustachian tube balloon dilation procedures, increases surgical precision, reduces surgical trauma, and reduces doctor fatigue.

[0090] It should be noted that the first drive unit 121, the second drive unit 131, the third drive unit 141, and the fourth drive unit 151 are commercially available, and their model number can be Panasonic-MSMF012L1U2M. Additionally, the movement or rotation of the guide tube 115 / camera 161 or the balloon dilation catheter 112 can also be achieved through the cooperation of other drives, reducers, and transmission components; no particular limitations are made here.

[0091] When referencing drawings, new features are explained. To avoid redundant references to drawings that would make the description less concise, features already described will not be referenced again on the drawings if the description is clear.

[0092] The purpose of the above embodiments is to reproduce and derive the technical solution of this utility model by way of example, and to fully describe the technical solution, purpose and effect of this utility model. The purpose is to enable the public to have a more thorough and comprehensive understanding of the disclosed content of this utility model, and it is not intended to limit the protection scope of this utility model.

[0093] The above embodiments are not an exhaustive list based on the present invention, and there may be other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A middle ear surgical robot, characterized by, It includes a drive mechanism and a medical operating unit, wherein the medical operating unit is rotatably mounted on the drive mechanism; The medical operating unit includes a balloon dilation assembly, an imaging assembly, and multiple driving assemblies. The balloon dilation assembly includes a guide tube, a cylinder, a balloon dilation catheter, and a balloon. The balloon dilation catheter is inserted into the guide tube, and the balloon is installed at a first end of the balloon dilation catheter. The second end of the balloon dilation catheter is connected to the cylinder. The driving assemblies push the cylinder to cause the medium to flow into or out of the balloon, and move and / or rotate the balloon dilation assembly. The imaging component includes a camera and an image processing control unit. The camera is located at the front end of the guide tube and is electrically connected to the image processing control unit.

2. The middle ear surgical robot of claim 1, wherein, The plurality of driving components include a first driving component, a second driving component, a third driving component, and a fourth driving component. The balloon dilation component is mounted on the first driving component, the first driving component is mounted on the second driving component, the second driving component is rotatably mounted on the third driving component, the third driving component is rotatably mounted on the fourth driving component, and the fourth driving component is rotatably mounted on the driving mechanism. In the first direction, the first driving component and the second driving component are in sliding engagement; In the second direction, the second drive component and the third drive component rotate in cooperation; In the third direction, the third drive component and the fourth drive component rotate in cooperation; The first direction is a straight line, the second direction and the third direction are clockwise or counterclockwise, and the rotation plane of the second direction intersects the rotation plane of the third direction.

3. The middle ear surgical robot of claim 2, wherein, The first drive assembly includes a first drive member, a first support member, a first support plate, a first lead screw, a push rod, and a first moving block. The first driving member is mounted on the first end of the first support member, the first support plate is mounted on the second end of the first support member, the first end of the first lead screw is mounted on the output end of the first driving member, and the second end of the first lead screw is rotatably mounted on the first support plate. The first movable block is sleeved on the outside of the first lead screw and threadedly engaged with the first lead screw. In the first direction, the first movable block is slidably connected to the first support member. The first end of the push rod is mounted on the first moving block, and the second end of the push rod is mounted on the cylinder.

4. The middle ear surgical robot of claim 2, wherein, The second drive assembly includes a second support member, a second drive member, a second lead screw, and a second movable block. The second support member is rotatably mounted on the third drive assembly. The second drive member is mounted on the second support member. The first end of the second lead screw is mounted on the output end of the second drive member. The second movable block is sleeved on the outside of the second lead screw and threadedly engaged with the second lead screw. In a first direction, the lower end of the second movable block is slidably connected to the second support member. The first drive assembly is mounted on the upper end of the second movable block. The second drive assembly further includes a second support plate, the first end of which is mounted on the second support member, and the second end of which is fixed to the balloon dilation catheter.

5. The middle ear surgical robot of claim 1, wherein, The driving mechanism includes a first rotating component, a second rotating component, and a support; the support is mounted on the output end of the first rotating component, the second rotating component is mounted on the support, the first rotating component drives the support and the second rotating component to rotate on a first surface, and the second rotating component drives the medical operating unit to rotate on a second surface, the first surface and the second surface intersect.

6. The middle ear surgical robot of claim 5, wherein, The first rotating assembly includes a connecting plate, a motor, a base, a rotating shaft, and a rotating plate. The motor is mounted on the base, the base is mounted on the connecting plate, the rotating plate is rotatably mounted on the connecting plate, the first end of the rotating shaft is mounted on the rotating plate, the second end of the rotating shaft is mounted on the output end of the motor, and the bracket is mounted on the rotating plate.

7. The middle ear surgical robot of claim 6, wherein, The rotating plate is provided with a limiting pin, and the connecting plate is provided with an arc-shaped groove. The limiting pin is at least partially disposed in the arc-shaped groove. The arc-shaped groove extends circumferentially along the rotating shaft, and the arc of the arc-shaped groove is 120 degrees to 220 degrees.

8. The middle ear surgical robot as described in claim 6, characterized in that, The first rotating assembly further includes a first sensing assembly, which includes a photoelectric sensor and a rotating disk. The photoelectric sensor is mounted on the connecting plate, and the rotating disk is sleeved on the outside of the rotating shaft. The rotating disk has two slots that cooperate with the photoelectric sensor, and the two slots are arranged opposite to each other.

9. The middle ear surgical robot of claim 6, wherein, The first rotating assembly further includes a second sensing assembly, which includes a transmitter and a receiver, the transmitter and the receiver being mounted opposite to each other on the base and the rotating plate; The connecting plate and the rotating plate have corresponding through holes. The transmitter is used to generate light, the through holes allow the light to pass through, and the receiver receives the light.

10. The middle ear surgical robot of any one of claims 1-9, wherein, The balloon dilation assembly also includes a pressure sensor mounted on the balloon dilation catheter for monitoring the air pressure of the balloon.

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