Spinal endoscope and driving apparatus for surgical instrument thereof

Abstract

A spinal endoscope and a driving apparatus for a surgical instrument thereof, relating to the technical field of surgery. A rotating platform (12) of the driving apparatus is rotatably mounted on a base (13), and an encoder (8) is mounted at one end of the base (13). A first motor (10) is configured for driving the rotating platform (12) to rotate. A guide rail (11), a second motor (17), and a third motor (14) are all fixedly mounted on the rotating platform (12). The third motor (14) is configured for driving an endoscope lead screw (15) to rotate. An endoscope clamping apparatus (2) is in a screw fit with the endoscope lead screw (15) and can slide along the guide rail (11). An endoscope (3) is fixedly mounted on the endoscope clamping apparatus (2). A working sleeve (1) is fixedly mounted on the base (13), and the central axis coincides with the rotation axis of the rotating platform (12). The second motor (17) is configured for driving an actuator lead screw (16) to rotate. An actuator driving platform (6) is in a screw fit with the actuator lead screw (16). The actuator driving platform (6) is mounted on the guide rail (11) in a sliding fit manner and configured for mounting an actuator (5) and a motor driving module (7). The actuator (5) and a working channel of the endoscope (3) are coaxially arranged.

Description

A drive device for a spinal endoscope and its surgical instruments

[0001] Cross-reference to related applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202410795745.5, filed on June 19, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of surgical technology, specifically to a drive device for a spinal endoscope and its surgical instruments. Background Technology

[0004] In spinal endoscopic surgery, clinicians typically need to operate the endoscope with their left hand and surgical instruments with their right, requiring prolonged standing to complete the endoscopic procedure. This results in high labor intensity and low efficiency for the surgeon. Current technology uses two end-effectors to control the axial movement of the endoscope and surgical instruments, each fixed to a robotic arm. During the procedure, the surgical instruments must move along the working channel of the eccentric endoscope to achieve endoscopic surgery. However, using two robotic arms clinically is inefficient, requiring a large footprint and complex algorithms for motion planning and collision avoidance to ensure surgical safety. Summary of the Invention

[0005] This application provides a driving device for a spinal endoscope and its surgical instruments. The driving device enables the overall rotational movement of the eccentric endoscope and the surgical actuator, as well as the independent forward and backward movements of the surgical actuator and the endoscope, thereby reducing the impact of the surgeon's hand tremors on the operation and improving the accuracy of the surgical operation.

[0006] The following specific technical solution is adopted in this application:

[0007] A drive device for a spinal endoscope and its surgical instruments, the drive device comprising a working sleeve, an endoscope clamping device, an endoscope, an actuator, an actuator drive platform, a motor drive module, an encoder, a first motor, a guide rail, a rotating platform, a base, a third motor, an endoscope lead screw, an actuator lead screw, and a second motor.

[0008] The rotating platform is rotatably mounted on the base about a horizontal axis, and the encoder is mounted on one end of the base; the encoder is used to measure the overall rotation angle of the rotating platform.

[0009] The motor is fixedly mounted on the base and is connected to the rotating platform for driving the rotating platform to rotate.

[0010] The guide rail, motor two, and motor three are all fixedly mounted on the rotating platform; the guide rail, actuator screw, and endoscope screw are all arranged parallel to the horizontal axis;

[0011] The motor is fixedly connected to the endoscope lead screw and is used to drive the endoscope lead screw to rotate; the endoscope clamping device is screwed to the endoscope lead screw and can slide along the guide rail; the endoscope is fixedly installed on the endoscope clamping device; the working sleeve is fixedly installed on the base and its central axis coincides with the rotation axis of the rotating platform.

[0012] The second motor is fixedly connected to the actuator screw and is used to drive the actuator screw to rotate; the actuator drive platform is helically engaged with the actuator screw; the actuator drive platform is slidably mounted on the guide rail and is used to mount the actuator and the motor drive module; the motor drive module is used to drive the actuator to move; the actuator is coaxially arranged with the working channel of the endoscope;

[0013] After the surgical channel is determined, the working cannula is inserted into the surgical channel, and the endoscope moves along the guide rail under the drive of motor three to enter the working cannula; the actuator moves along the guide rail under the drive of motor two to enter the working channel of the endoscope.

[0014] Furthermore, the base includes a base frame, and a left end bracket and a right end bracket mounted opposite to each other at both ends of the base frame;

[0015] The left end support and the right end support are axially distributed along the rotation axis of the rotating platform;

[0016] The rotating platform includes a base plate spaced apart at the top of the base frame, and a left side plate and a right side plate installed opposite to each other at both ends of the base plate;

[0017] The top of the left side plate is rotatably mounted on the top of the left end bracket;

[0018] The top of the right side plate is rotatably mounted on the top of the right end bracket.

[0019] The motor is connected to the right side plate and is used to drive the right side plate to rotate;

[0020] The working sleeve passes through the rotation axis of the left side plate and the left end bracket, and is fixedly installed on the left end bracket.

[0021] Furthermore, bearings are installed between the left side plate and the left end bracket, and between the right side plate and the right end bracket.

[0022] Furthermore, the right side plate is provided with a pivot extending out of the right end bracket;

[0023] A transmission mechanism is provided between the rotating shaft and the motor.

[0024] Furthermore, the transmission mechanism is a belt drive mechanism;

[0025] The motor is a DC motor.

[0026] Furthermore, the bearing is a flange bearing;

[0027] The left side plate has a mounting ring on the side facing the left end bracket;

[0028] The left end bracket has a mounting hole on the side facing the left side plate;

[0029] The inner ring of the flange bearing is fitted onto the outer circumference of the mounting ring, and the outer ring is installed in the mounting hole.

[0030] Furthermore, it also includes an actuator fixing device;

[0031] The actuator fixing device is used to fix the actuator to the actuator drive platform.

[0032] Furthermore, the motor drive module includes four motors fixedly installed on the actuator drive platform.

[0033] Compared with the prior art, the beneficial effects of this application are as follows:

[0034] The drive device of this application integrates the spinal endoscope and the actuator, which serves as a surgical instrument, onto the same rotating platform and guide rail. The rotating platform is rotatably mounted on the base, allowing the spinal endoscope and actuator to rotate simultaneously. An encoder is provided to measure the overall rotation angle of the rotating platform. Motors and lead screws are installed on the rotating platform to drive the endoscope and actuator forward and backward, respectively. Therefore, the aforementioned drive device enables the overall rotational movement of the eccentric endoscope and the surgical actuator, as well as the independent forward and backward movements of the surgical actuator and the endoscope, reducing the impact of surgeon's hand tremors on the surgery and thus improving the precision of surgical operations. Attached Figure Description

[0035] Figure 1 is a three-dimensional structural schematic diagram of the drive device of the spinal endoscope and surgical instruments of this application;

[0036] Figure 2 is a front view of the drive device of the spinal endoscope and its surgical instruments in Figure 1;

[0037] Figure 3 is a schematic diagram of the left end support structure;

[0038] Figure 4 is a schematic diagram of the left side plate;

[0039] Figure 5 is a schematic diagram of the flange bearing.

[0040] Among them, 1-working sleeve, 2-endoscope clamping device, 3-endoscope, 4-actuator fixing device, 5-actuator, 6-actuator drive platform, 7-motor drive module, 8-encoder, 9-belt transmission mechanism, 10-motor one, 11-guide rail, 12-rotating platform, 13-base, 14-motor three, 15-endoscope lead screw, 16-actuator lead screw, 17-motor two. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] As shown in Figures 1 and 2, this application provides a driving device for a spinal endoscope and its surgical instruments. The driving device includes a working sleeve 1, an endoscope clamping device 2, an endoscope 3, an actuator 5, an actuator driving platform 6, a motor driving module 7, an encoder 8, a first motor 10, a guide rail 11, a rotating platform 12, a base 13, a third motor 14, an endoscope lead screw 15, an actuator lead screw 16, and a second motor 17.

[0043] Both the rotating platform 12 and the base 13 are U-shaped structures, and the rotating platform 12 is stacked inside the base 13. The rotating platform 12 is rotatably mounted on the base 13 around a horizontal axis, and an encoder 8 is mounted on one end of the base 13. The encoder 8 is mounted on the outside of the base 13 by a fixed bracket, and the encoder 8 is used to measure the overall rotation angle of the rotating platform 12.

[0044] Motor 10 is fixedly installed at the bottom of base 13 and is connected to the rotating platform 12 for driving the rotating platform 12 to rotate around the horizontal axis; Motor 10 can be a DC motor.

[0045] Guide rail 11, motor 2 17 and motor 3 14 are all fixedly installed on the rotating platform 12; guide rail 11, actuator screw 16 and endoscope screw 15 are all set parallel to the horizontal axis, thereby realizing the forward and backward movement of actuator 5 and endoscope 3. That is, as shown in Figure 2, the rotation axis of the rotating platform 12 is a horizontal axis, extending from left to right or from right to left in the horizontal direction. Guide rail 11 also extends from left to right in the horizontal direction. Actuator screw 16 is set on the right side and endoscope screw 15 is set on the left side. Actuator screw 16 and endoscope screw 15 do not need to be set along the entire length of the rotating platform 12, but the sum of the lengths of actuator screw 16 and endoscope screw 15 can be greater than the length of the rotating platform 12 from left to right.

[0046] Motor 3 14 is fixedly installed on the rotating platform 12 and fixedly connected to the endoscope screw 15, used to drive the endoscope screw 15 to rotate around the horizontal axis; the endoscope clamping device 2 is screwed to the endoscope screw 15 and can slide along the guide rail 11, and can move forward and backward through the screw engagement with the endoscope screw 15 and the guidance of the guide rail 11; the endoscope 3 is fixedly installed on the endoscope clamping device 2 and can move back and forth through the endoscope clamping device 2; the working sleeve 1 is fixedly installed on the base 13, and the central axis of the working sleeve 1 coincides with the rotation axis of the rotating platform 12;

[0047] Motor 17 is fixedly mounted on the rotating platform 12 and fixedly connected to the actuator screw 16, used to drive the actuator screw 16 to rotate; the actuator drive platform 6 is screwed to the actuator screw 16; the actuator drive platform 6 is slidably mounted on the guide rail 11, used to mount the actuator 5 and the motor drive module 7, and to drive the actuator 5 and the motor drive module 7 to reciprocate in the horizontal direction; the motor drive module 7 is used to drive the actuator 5 to move; the actuator 5 is coaxially arranged with the working channel of the endoscope 3; the endoscope 3 is coaxially arranged with the working sleeve 1; the motor drive module 7 includes four motors fixedly mounted on the actuator drive platform 6, and the four motors of the motor drive module 7 are used to drive the actuator 5 to move;

[0048] After the surgical channel is determined, the working cannula 1 is inserted into the surgical channel, and the endoscope 3 moves along the guide rail 11 under the drive of motor 3 14 and enters the working cannula 1; the actuator 5 moves along the guide rail 11 under the drive of motor 2 17 and enters the working channel of the endoscope 3.

[0049] The aforementioned drive device also includes an actuator fixing device 4; the actuator fixing device 4 is used to fix the actuator 5 to the actuator drive platform 6, and the actuator fixing device 4 can realize the quick replacement of the actuator 5 on the actuator drive platform 6 through a snap-fit ​​structure.

[0050] In some embodiments, as shown in Figures 1 and 2, the base 13 includes a base frame and a left end bracket and a right end bracket that are mounted opposite to each other at both ends of the base frame. The left end bracket is fixedly mounted on the left end of the base frame, and the right end bracket is fixedly mounted on the right end of the base frame. The left end bracket and the right end bracket are axially distributed along the rotation axis of the rotating platform 12.

[0051] The rotating platform 12 includes a base plate spaced apart at the top of the base frame, and a left side plate and a right side plate installed opposite to each other at both ends of the base plate; the left side plate is fixedly installed at the left end of the base plate and is located inside the left end support with a gap between them; the right side plate is fixedly installed at the right end of the base plate and is located inside the right end support with a gap between them; the top end of the left side plate is rotatably installed at the top end of the left end support via a bearing; the top end of the right side plate is rotatably installed at the top end of the right end support via a bearing; the right side plate may be provided with a rotating shaft extending out of the right end support, and transmission components such as pulleys, gears, and sprockets are fixedly installed on the rotating shaft;

[0052] The motor 10 is connected to the right side plate for driving the right side plate to rotate. A belt drive mechanism 9, a gear drive mechanism, a chain drive mechanism, or other transmission mechanisms can be provided between the rotating shaft and the motor 10. Similarly, corresponding pulleys, gears, or sprockets are fixedly installed on the output shaft of the motor 10. Transmission can be achieved through the belt or chain between the two transmission components, thereby driving the right side plate to rotate through the motor 10, and then driving the entire rotating platform 12 to rotate. In the embodiment of this application, the belt drive mechanism 9 is used as an example to describe the relationship between the motor 10 and the right side plate.

[0053] The working sleeve 1 passes through the rotation axis of the left side plate and the left end bracket and is fixedly installed on the left end bracket, so that the rotating platform 12 can rotate around the working sleeve 1 during rotation and keep the working sleeve 1 in a fixed position.

[0054] Furthermore, the bearings between the left side plate and the left end bracket, and between the right side plate and the right end bracket, can be flange bearings; as shown in Figures 1 and 4, the left side plate has a mounting ring on the side facing the left end bracket; as shown in Figures 1 and 3, the left end bracket has a mounting hole on the side facing the left side plate; as shown in Figures 1 and 5, the inner ring of the flange bearing is fitted around the outer periphery of the mounting ring, and the outer ring is installed in the mounting hole.

[0055] The aforementioned drive device integrates the spinal endoscope and the actuator 5 (which serves as a surgical instrument) onto the same rotating platform 12 and guide rail 11. The rotating platform 12 is rotatably mounted on the base 13, allowing the spinal endoscope 3 and the actuator 5 to rotate simultaneously. An encoder 8 is provided to measure the overall rotation angle of the rotating platform 12. The rotating platform 12 is equipped with motors and lead screws that drive the endoscope 3 and the actuator 5 forward and backward respectively. Therefore, the aforementioned drive device enables the overall rotational movement of the eccentric endoscope 3 and the surgical actuator 5, as well as the independent forward and backward movements of the surgical actuator 5 and the endoscope 3, reducing the impact of the surgeon's hand tremors on the operation and thus improving the precision of the surgical procedure.

[0056] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A drive device for a spinal endoscope and its surgical instruments, comprising a working sleeve, an endoscope clamping device, an endoscope, an actuator, an actuator drive platform, a motor drive module, an encoder, a first motor, a guide rail, a rotating platform, a base, a third motor, an endoscope lead screw, an actuator lead screw, and a second motor; The rotating platform is rotatably mounted on the base about a horizontal axis, and the encoder is mounted on one end of the base; the encoder is used to measure the overall rotation angle of the rotating platform. The motor is fixedly mounted on the base and is connected to the rotating platform for driving the rotating platform to rotate. The guide rail, motor two, and motor three are all fixedly mounted on the rotating platform; the guide rail, actuator screw, and endoscope screw are all arranged parallel to the horizontal axis; The motor is fixedly connected to the endoscope lead screw and is used to drive the endoscope lead screw to rotate; the endoscope clamping device is screwed to the endoscope lead screw and can slide along the guide rail; the endoscope is fixedly installed on the endoscope clamping device; the working sleeve is fixedly installed on the base and its central axis coincides with the rotation axis of the rotating platform. The second motor is fixedly connected to the actuator screw and is used to drive the actuator screw to rotate; the actuator drive platform is helically engaged with the actuator screw; the actuator drive platform is slidably mounted on the guide rail and is used to mount the actuator and the motor drive module. The motor drive module is used to drive the actuator to move; the actuator is coaxially arranged with the working channel of the endoscope. After the surgical channel is determined, the working cannula is inserted into the surgical channel, and the endoscope moves along the guide rail under the drive of motor three to enter the working cannula; the actuator moves along the guide rail under the drive of motor two to enter the working channel of the endoscope.

2. The driving device as claimed in claim 1, wherein, The base includes a base frame, and a left end bracket and a right end bracket installed opposite to each other at both ends of the base frame; The left end support and the right end support are axially distributed along the rotation axis of the rotating platform; The rotating platform includes a base plate spaced apart at the top of the base frame, and a left side plate and a right side plate installed opposite to each other at both ends of the base plate; The top of the left side plate is rotatably mounted on the top of the left end bracket; The top of the right side plate is rotatably mounted on the top of the right end bracket. The motor is connected to the right side plate and is used to drive the right side plate to rotate; The working sleeve passes through the rotation axis of the left side plate and the left end bracket, and is fixedly installed on the left end bracket.

3. The driving device as claimed in claim 2, wherein, Bearings are installed between the left side plate and the left end bracket, and between the right side plate and the right end bracket.

4. The driving device as claimed in claim 2, wherein, The right side plate is provided with a pivot extending out of the right end bracket; A transmission mechanism is provided between the rotating shaft and the motor.

5. The driving device as claimed in claim 4, wherein, The transmission mechanism is a belt drive mechanism; The motor is a DC motor.

6. The driving device as claimed in claim 3, wherein, The bearing is a flange bearing; The left side plate has a mounting ring on the side facing the left end bracket; The left end bracket has a mounting hole on the side facing the left side plate; The inner ring of the flange bearing is fitted onto the outer circumference of the mounting ring, and the outer ring is installed in the mounting hole.

7. The driving device as claimed in claim 1, further comprising an actuator fixing device; The actuator fixing device is used to fix the actuator to the actuator drive platform.

8. The driving device according to any one of claims 1-7, wherein, The motor drive module includes four motors that are fixedly installed on the actuator drive platform.

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