Controllable bending bone-removing device with endoscope and medical operation robot

Abstract

The utility model discloses a controllable bending bone removing device with endoscope and medical operation robot, through setting endoscope mounting cover in the tissue removing part of far end, thereby can realize visible function on the basis of existing bone removing device, and simple structure, easy to realize, through the traction of the traction rope of the adjustment rod of cooperation setting on the holding part, realize the bending control of elastic snake bone, operation is more convenient, nimble, the angle of tissue removing part is accurately controlled, to reduce the damage to surrounding soft tissues, and improve the accuracy and safety of operation.

Description

Technical Field

[0001] This utility model relates to the field of orthopedic bone removal technology, specifically a controllable bending bone removal device with an endoscope and a medical surgical robot. Background Technology

[0002] With the continuous development of medical technology, orthopedic surgeries, especially joint replacement and fracture repair, have increasingly higher requirements for precise bone removal. Traditional bone removal instruments are mostly linear surgical tools, but they are often insufficient for complex anatomical structures or confined surgical spaces. In particular, when removing bone, surgeons need to perform flexible operations and precise cutting to reduce damage to surrounding soft tissues and improve the accuracy and safety of the surgery.

[0003] In orthopedic surgery, the use of endoscopes greatly improves surgical visibility, helping surgeons to observe the target area more clearly and thus make more precise operations. However, traditional endoscopic surgical tools usually have fixed angles and operating ranges, limiting the surgeon's flexibility in complex surgeries. Utility Model Content

[0004] To address the shortcomings of existing orthopedic bone removal instruments, this invention provides a controllable bending bone removal device with an endoscope.

[0005] This utility model protects a controllable bending bone remover with an endoscope, including a handle, an insertion rod fixed to the front end of the handle, and a tissue removal part fixed to the distal end of the insertion rod;

[0006] The distal end of the insertion rod is a curved section, which connects to the tissue removal section. An endoscope mounting sleeve is fitted at the connection point. An image acquisition unit is provided on the endoscope mounting sleeve, and the image acquisition unit is connected to a flexible data power cable harness.

[0007] A traction rope is threaded through the curved section. One end of the traction rope is fixed to the end of the curved section near the tissue removal part, and the other end is fixed to a movable point on the handle. The traction of the traction rope is completed by the displacement of the movable point.

[0008] Preferably, the handle is provided with an adjusting rod, the adjusting rod includes a pressing part and a traction part, the connecting part of the pressing part and the traction part is rotatably connected to the handle, and the traction rope is fixed to the end of the traction part;

[0009] In normal conditions, the end of the pressing part is tilted upwards. By pressing down on the pressing part, the traction part is tilted upwards, thereby achieving the traction of the traction rope.

[0010] Preferably, the curved section has a first V-shaped groove and a second V-shaped groove staggered on both sides, and the traction rope passes through one side of the first V-shaped groove; more preferably, the depth of the second V-shaped groove is greater than that of the first V-shaped groove, and the opening angle of the first V-shaped groove is greater than that of the second V-shaped groove.

[0011] Preferably, the front end of the handle is provided with an insertion rod mounting hole, and the front end of the mounting groove is provided with a threading hole for the traction rope to pass through, and the threading hole is connected to the mounting hole.

[0012] Preferably, the tissue removal part is a planer, including an outer planer cutting head and an inner planer cutting head that cooperates with the outer planer cutting head. The tissue cutting work is completed by rotating the inner planer cutting head.

[0013] Preferably, the insertion rod consists of an outer support tube, an inner mounting tube, and a drive shaft tube from the outside to the inside, with the distal end of the outer support tube being circumferentially welded to the inner mounting tube;

[0014] The curved section is fixedly connected to the far end of the inner mounting tube, and a flexible transmission tube is provided inside it. The flexible transmission tube is connected and fixed to the transmission shaft tube.

[0015] Preferably, the flexible transmission tube is in the form of a hose, including multiple hose connectors with the same structure and a distal end connector and a proximal end connector located at both ends of the flexible transmission tube. The hose connector is generally annular and connected end to end. Two distal end connection grooves are opened on the distal end side, and a distal end fixing boss is provided in the distal end connection groove.

[0016] The hose connector has a proximal connecting boss that mates with the distal connecting groove on the proximal side. The proximal connecting boss is located within the distal connecting groove, and there is an installation gap between the proximal connecting boss and the distal connecting groove to allow for bending. The distal connecting groove has a proximal connecting groove that mates with the distal fixing boss, and the distal fixing boss is located within the proximal connecting groove. The proximal connecting boss has an external anti-detachment boss. Alternatively, the distal end of the distal fixing boss is circular, and the connection portion between the distal fixing boss and the hose connector is a trapezoid that gradually increases in size from the distal end to the proximal end.

[0017] This utility model also protects a medical surgical robot that uses the above-mentioned controllable bending osteoclast with endoscope.

[0018] The beneficial effects of this utility model are:

[0019] 1. By attaching an endoscope mounting sleeve at the distal end near the tissue removal section, visualization can be achieved based on existing bone removal devices, and the structure is simple and easy to implement.

[0020] 2. By fixing a traction rope to the elastic snake bone and using an adjusting rod on the grip to pull the traction rope, the bending control of the elastic snake bone can be achieved. This makes the operation more convenient and flexible, and allows for precise control of the angle of the tissue removal section, thereby reducing damage to the surrounding soft tissue and improving the accuracy and safety of the surgery. Attached Figure Description

[0021] Figure 1 A schematic diagram of the overall structure of a controllable bending bone remover with an endoscope;

[0022] Figure 2 A schematic diagram of the installation structure for the endoscope mounting sleeve, image acquisition unit, and its data power harness;

[0023] Figure 3 This is a cross-sectional view of the junction between the insertion rod and the tissue removal section;

[0024] Figure 4 A schematic diagram of the handle and traction rope traction mechanism;

[0025] Figure 5 This is a schematic diagram of the curved section structure;

[0026] Figure 6 This is a schematic diagram of the main structure of the insertion rod;

[0027] Figure 7 This is a schematic diagram of a flexible transmission tube structure. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0029] It should be noted that, in this disclosure, "remote end" refers to the end furthest from the operator, and "proximal end" refers to the end closest to the operator.

[0030] Example 1

[0031] A controllable bending bone remover with an endoscope, such as Figure 1 As shown, it includes a handle 5, an insertion rod 1 fixed to the front end of the handle 5, and a tissue removal part 2 fixed to the distal end of the insertion rod 1.

[0032] The distal end of the insertion rod 1 is a curved section 3, which connects to the tissue removal section 2. An endoscope mounting sleeve 4 is fitted at the connection point. A miniature image acquisition unit 43 is mounted on the endoscope mounting sleeve 4, and the image acquisition unit 43 is connected to a flexible data and power cable harness 42. (Refer to...) Figure 2The endoscope mounting sleeve 4 is provided with a circular sleeve hole 41 for fixing at the junction of the curved section 3 and the tissue removal section 2, and the image acquisition unit 83 is fixed on one side.

[0033] A traction rope 8 is threaded through the curved section 3. One end of the traction rope 8 is fixed to the end of the curved section 3 near the tissue removal part 2, and the other end is fixed to a moving point on the handle 5. The traction of the traction rope 8 is completed by the displacement of the moving point.

[0034] Insertion rod 1 is used to deliver tissue removal unit 2 to the work area. Tissue removal unit 2 can be manufactured using existing methods such as grinding heads, planers, or radio frequency devices, with preference given to... Figure 3 The planer shown has the following structure. The planer includes an outer cutting head 22 and an inner cutting head 21 that cooperates with the outer cutting head 22. The tissue cutting work is completed by rotating the inner cutting head 21.

[0035] The bending section 3 is tubular in shape and made of highly elastic materials, such as spring steel and high-elasticity stainless steel, to ensure that it can deform under traction force. After the traction force is removed, it can return to its initial state through its own elasticity and apply tension to the traction rope to maintain its tension.

[0036] It is understandable that there is no single way to traction. The displacement of the moving point can be achieved by means of thread adjustment, sliding adjustment, rotation, etc. The following traction scheme is given in this embodiment.

[0037] See Figure 4 The handle 5 is provided with an adjusting rod 6, which includes a pressing part 61 and a traction part 62. The connecting part of the pressing part 61 and the traction part 62 is rotatably connected to the handle 5, and the traction rope 8 is fixed to the end of the traction part 62.

[0038] In the normal state, the end of the pressing part 61 is tilted upwards (there is a certain downward pressure space between it and the handle 5). By pressing down the pressing part 61, the traction part 62 is tilted upwards, thereby realizing the traction of the traction rope 8. As mentioned above, this normal state is maintained by the elasticity of the bending section itself.

[0039] Based on the simple lever principle, for easier adjustment, the pressing part 61 can be set as a long arm and the traction part 62 as a short arm. The pressing part 61 and the traction part 62 can be located in the same plane, that is, there is no angle difference between them, but there can also be a certain angle between them (for example, 145°), so that the pressing part 61 is parallel to the handle 5, or the end of the pressing part is slightly biased towards the handle 5.

[0040] Regarding the method of fixing the adjusting rod 6 to the grip, this embodiment also provides a specific structure. The handle 5 is provided with a mounting boss 51, and the traction part 62 is embedded in the mounting groove 52 in the middle of the mounting boss 51. The connection part of the pressing part 61 and the traction part 62 is connected to both sides of the mounting groove 52 through a rotating shaft 55.

[0041] The handle 5 has an insertion rod mounting hole 7 at its front end, and the mounting groove 52 has a threading hole 53 at its front end for the traction rope 8 to pass through. The threading hole 53 is connected to the mounting hole 7. To facilitate the threading of the traction rope 8, the threading hole 53 is preferably inclined toward the mounting hole 7.

[0042] The specific structure of the curved section 3 and its connection with the traction rope 8 are described below: (Refer to...) Figure 5 The curved section 3 has a first V-shaped groove 31 and a second V-shaped groove 32 staggered on both sides, and the traction rope 8 is inserted through one side of the first V-shaped groove 31; the depth of the second V-shaped groove 32 is greater than that of the first V-shaped groove 31, and the opening angle of the first V-shaped groove 31 is greater than that of the second V-shaped groove 32, thereby improving the unidirectional motion intensity.

[0043] The insertion rod 1 consists of, from the outside to the inside, an outer support tube 11, an inner mounting tube 13, and a drive shaft tube 12, as shown in the reference. Figure 6 The distal end of the outer support tube 11 is circumferentially welded to the inner mounting tube 13. The bent section 3 is fixedly connected to the distal end of the inner mounting tube 13, and a flexible transmission tube 14 is provided inside it. The flexible transmission tube 14 is connected and fixedly connected to the transmission shaft tube 12, as shown in the figure. Figure 3 While serving a transmission function, it also possesses a certain degree of bending capability. It is understood that the flexible transmission tube 14 and the transmission shaft tube 12 can be connected and fixed through welding, connecting sleeve pressing, or integral molding. The near end of the transmission shaft tube 12 is connected to a torque input component that provides rotational power.

[0044] The flexible transmission tube 14 is in the form of a hose, including multiple hose connectors 141 with identical structures and distal connectors 143 and proximal connectors 142 located at both ends of the flexible transmission tube 14, respectively. (Refer to...) Figure 7 The hose connector 141 is generally annular and snapped together at both ends. It has two circumferentially distributed distal connection grooves 144 on the distal end side, and a distal fixing boss 148 is provided in the distal connection groove 144.

[0045] The hose connector 141 has a proximal connecting boss 145 facing the proximal end, which cooperates with the distal connecting groove 144. The proximal connecting boss 145 is located in the distal connecting groove 144. The proximal connecting boss 145 and the distal connecting groove 144 have an installation gap for clearance when bending. The distal connecting groove 144 has a proximal connecting groove 146 that cooperates with the distal fixing boss 148. The distal fixing boss 148 is located in the proximal connecting groove 146. The proximal connecting boss 145 has an external anti-detachment boss 147.

[0046] The distal end of the distal fixing boss 148 is circular, and the connection portion between the distal fixing boss 148 and the hose connector 141 is a trapezoid that gradually increases in size from the distal end to the proximal end.

[0047] The aforementioned flexible transmission tube is pivotally connected to each other via the proximal connecting groove 146 and the distal fixing boss 148, eliminating the need for pin assembly, resulting in a simple structure and streamlined process. The external anti-detachment boss 147 on the distal connecting groove 144 and the proximal connecting boss 145 not only effectively prevents adjacent hose connectors from detaching from each other, but also limits the range of rotation angles between adjacent hose connectors, making the rotation angle controllable.

[0048] Example 2

[0049] A medical surgical robot utilizes the controllable bending osteotome with endoscope described in Example 1. The medical surgical robot can be used in conjunction with the controllable bending osteotome with endoscope described in Example 1, either through direct clamping or positioning navigation. The robot system determines the surgical route and control handles to achieve precise manipulation of complex anatomical structures; it can flexibly control the tissue removal section in complex surgical environments, avoiding damage to surrounding tissues and further improving surgical precision and safety.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A controllable bending bone remover with an endoscope, characterized in that: Includes a handle (5), an insertion rod (1) fixed to the front end of the handle (5), and a tissue removal part (2) fixed to the distal end of the insertion rod (1); The distal end of the insertion rod (1) is a curved section (3), which connects to the tissue removal part (2). An endoscope mounting sleeve (4) is fitted at the connection point. A miniature image acquisition unit (43) is provided on the endoscope mounting sleeve (4), and the image acquisition unit (43) is connected to a flexible data power cable harness (42). A traction rope (8) is threaded through the curved section (3). One end of the traction rope (8) is fixed to the end of the curved section (3) near the tissue removal part (2), and the other end is fixed to a moving point on the handle (5). The traction of the traction rope (8) is completed by the displacement of the moving point.

2. The controllable bending bone remover with endoscope according to claim 1, characterized in that: An adjusting rod (6) is provided on the handle (5). The adjusting rod (6) includes a pressing part (61) and a traction part (62). The connecting part of the pressing part (61) and the traction part (62) is rotatably connected to the handle (5). The traction rope (8) is fixed to the end of the traction part (62). In normal conditions, the end of the pressing part (61) is tilted upwards. By pressing down the pressing part (61), the traction part (62) is tilted up, thereby realizing the traction of the traction rope (8).

3. The controllable bending bone remover with endoscope according to claim 2, characterized in that: The curved section (3) has a first V-shaped groove (31) and a second V-shaped groove (32) staggered on both sides, and the traction rope (8) passes through and is set on one side of the first V-shaped groove (31).

4. The controllable bending bone remover with endoscope according to claim 3, characterized in that: The depth of the second V-groove (32) is greater than that of the first V-groove (31), and the opening angle of the first V-groove (31) is greater than that of the second V-groove (32).

5. The controllable bending bone remover with endoscope according to any one of claims 2-4, characterized in that: The handle (5) is provided with a mounting boss (51), and the traction part (62) is embedded in the mounting groove (52) in the middle of the mounting boss (51). The connection part of the pressing part (61) and the traction part (62) is connected to both sides of the mounting groove (52) through a rotating shaft (55). The handle (5) has an insertion rod mounting hole (7) at its front end, and the mounting groove (52) has a threading hole (53) at its front end for the traction rope (8) to pass through. The threading hole (53) is connected to the mounting hole (7).

6. The controllable bending bone remover with endoscope according to claim 1, characterized in that: The tissue removal part (2) is a planer, including an outer planer cutting head (22) and an inner planer cutting head (21) that cooperates with the outer planer cutting head (22). The tissue cutting work is completed by rotating the inner planer cutting head (21).

7. The controllable bending bone remover with endoscope according to claim 1, characterized in that: The insertion rod (1) consists of an outer support tube (11), an inner mounting tube (13), and a drive shaft tube (12) from the outside to the inside. The far end of the outer support tube (11) is circumferentially welded to the inner mounting tube (13). The curved section (3) is fixedly connected to the far end of the inner mounting tube (13), and a flexible transmission tube (14) is provided inside. The flexible transmission tube (14) is connected and fixed to the transmission shaft tube (12).

8. The controllable bending bone remover with endoscope according to claim 7, characterized in that: The flexible transmission tube (14) is in the form of a hose, including multiple hose connectors (141) with the same structure and a distal connector (143) and a proximal connector (142) located at both ends of the flexible transmission tube (14). The hose connector (141) is in the shape of a ring and connected end to end. It has two circumferentially distributed distal connection grooves (144) on the distal side. The distal connection groove (144) is provided with a distal fixing boss (148). The hose connector (141) has a proximal connecting boss (145) facing the proximal end, which cooperates with the distal connecting groove (144). The proximal connecting boss (145) is located in the distal connecting groove (144). The proximal connecting boss (145) and the distal connecting groove (144) have an installation gap for clearance when bending. The distal connecting groove (144) has a proximal connecting groove (146) that cooperates with the distal fixing boss (148). The distal fixing boss (148) is located in the proximal connecting groove (146). The proximal connecting boss (145) has an external anti-detachment boss (147).

9. The controllable bending bone remover with endoscope according to claim 8, characterized in that: The distal end of the distal fixing boss (148) is circular, and the connection part between the distal fixing boss (148) and the hose connector (141) is a trapezoid that gradually increases in size from the distal end to the proximal end.

10. A medical surgical robot, characterized in that: Use the controllable bending bone remover with endoscope as described in any one of claims 1-9.

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