CN115568956A - Robot system for assisting spinal endoscopic surgery - Google Patents

Abstract

The invention discloses a robot system for assisting a spinal endoscopic surgery. Endoscope operating device includes first bottom plate, first drive module, runing rest, bearing bracket, rotation drive module, backbone scope and protective case, and apparatus operating device includes second bottom plate, second drive module and drive case, and apparatus mechanism includes reel case and flexible apparatus, and flexible apparatus passes backbone scope setting. The doctor controls the robot system to perform the operation through remote control operation, does not need to hold an instrument and an endoscope, improves the operation precision and the operation visual field stability, and the robot system is provided with a flexible instrument, so that the operation flexibility and the accessibility of an operation space in the operation are increased.

Description

Robot system for assisting spinal endoscopic surgery

Technical Field

The invention relates to the technical field of medical equipment, in particular to a robot system for assisting a spinal endoscopic surgery.

Background

Spinal endoscopic surgery is a treatment method for interventional intervertebral disc diseases developed along with minimally invasive surgery, and is the most advanced spinal surgery minimally invasive technique internationally at present. Although there are a great deal of advantages in the current spine endoscopic surgery, because spinal surgery district anatomical structure is narrow complicated, the periphery is wrapped up by many aorta blood vessels, spinal nerves and the ligament that plays important supporting role to the human body for the operation degree of difficulty of the doctor's biological operation in the art is high, mainly has following problem: 1) The spinal endoscope and the surgical instrument enter through the same working channel, are mutually nested and are not coaxial, under the restriction of a long and narrow access and an operation space, one doctor holds the endoscope to operate, the other hand operates the surgical instrument, the two instruments are easy to interfere, the coordination and the matching are difficult, and the learning curve is long. 2) Most of current spinal endoscopic surgical instruments are slender straight rod-shaped rigid instruments which cannot turn, and the flexibility and the operation space of operation are limited in the operation, so that a plurality of areas cannot be reached. 3) The hand holds the mirror for a long time, the operation of holding the instrument is easy to fatigue and shake, and the stability of the operation visual field and the operation precision of the instrument are difficult to ensure.

Disclosure of Invention

The invention aims to provide a robot system for assisting a spinal endoscopic surgery, a doctor controls the robot system to perform the surgery through remote control operation without holding an instrument and an endoscope, the surgical operation precision and the surgical field stability are improved, and the robot system is provided with a flexible instrument, so that the operation flexibility and the operation space accessibility in the surgery are improved.

In order to achieve the technical effects, the technical scheme of the invention is as follows:

the invention discloses a robot system for assisting a spinal endoscopic surgery, which comprises: positioning the mechanical arm; the endoscope operating mechanism comprises a first bottom plate, a first driving module, a rotating support, a bearing support, a rotating driving module, a spinal endoscope and a protective sleeve, wherein the first bottom plate is connected with the positioning mechanical arm, the first driving module is arranged on the first bottom plate and is used for driving the rotating support to move along a preset direction, the rotating driving module is arranged on the rotating support and is used for driving the bearing support to rotate by taking the preset direction as a rotation axis, the protective sleeve is connected to the first bottom plate, and the spinal endoscope is arranged on the bearing support in a penetrating manner; the device operating mechanism comprises a second bottom plate, a second driving module and a driving box, wherein the second bottom plate is connected to the bearing support, the second driving module is arranged on the second bottom plate and is used for driving the driving box to move along a preset direction, and the driving box is provided with a plurality of independent driving flanges; the instrument mechanism comprises a line wheel box and a flexible instrument, the line wheel box comprises a plurality of transmission flanges detachably matched with the driving flanges, the line wheel box and the spine endoscope are arranged at intervals and used for driving the flexible instrument to move, and the flexible instrument penetrates through the spine endoscope.

In some embodiments, the positioning robot comprises: a base; the vertical adjusting module is arranged on the base, and a power output end of the vertical adjusting module can lift relative to the base; the horizontal adjusting module is arranged on the power output end of the vertical adjusting module, and the power output end of the horizontal adjusting module can rotate relative to the vertical adjusting module; the attitude adjusting module is arranged at the power output end of the horizontal adjusting module, and the power output end of the attitude adjusting module has three rotational degrees of freedom and is connected with the endoscope operating mechanism.

In some optional embodiments, a plurality of road wheels are arranged on the bottom wall of the base.

In some embodiments, the first driving module comprises: the first driving motor is arranged on the first bottom plate through a first motor base; the first lead screw is arranged on the first bottom plate through a first supporting seat; the first nut is matched on the first lead screw, can move along the axial direction of the first lead screw when the first lead screw rotates, and is connected with the rotating bracket; the first driving belt assembly comprises a first synchronous belt wheel, a first driving belt and a second synchronous belt wheel, the first synchronous belt wheel is matched with a motor shaft of the first driving motor, and the second synchronous belt wheel is matched with the first lead screw.

In some specific embodiments, a first guide sliding rail is disposed on the first bottom plate, and a first guide sliding block engaged with the first guide sliding rail is disposed on the first nut.

In some embodiments, the rotational bracket has a sleeve portion thereon, the bearing bracket has a rotating portion inserted into the sleeve portion, and a bearing is provided between the rotating portion and the sleeve portion; the rotary drive module includes: a rotary drive motor mounted on the rotary support; and the second transmission belt assembly comprises a third synchronous belt wheel, a second transmission belt and a fourth synchronous belt wheel, the third synchronous belt wheel is matched with a motor shaft of the rotary driving motor, and the fourth synchronous belt wheel is connected with the rotating part.

In some embodiments, the endoscope operating mechanism comprises a first fixing clip and a second fixing clip arranged on the bearing support, and one end of the spinal endoscope is clamped between the first fixing clip and the second fixing clip.

In some embodiments, the second driving module comprises: the second driving motor is arranged on the second bottom plate through a second motor base; the second screw rod is arranged on the second bottom plate through a second supporting seat; the second nut is matched on the second lead screw, can move along the axial direction of the second lead screw when the second lead screw rotates, and is connected with the driving box through a connecting sliding block; and the third transmission belt assembly comprises a fifth synchronous belt pulley, a third transmission belt and a sixth synchronous belt pulley, the fifth synchronous belt pulley is matched with a motor shaft of the second driving motor, and the sixth synchronous belt pulley is matched with the second lead screw.

In some specific embodiments, a second guide slide rail is arranged on the second bottom plate, and a second guide slide block matched with the second guide slide rail is arranged on the connecting slide block.

In some embodiments, the number of the transmission flanges is four, four wire wheels respectively connected with the four transmission flanges are arranged in the wire wheel box, and each wire wheel is provided with a driving wire; the flexible instrument comprises a driving straight arm, a continuum segment, a rotating wrist and a tail end claw which are sequentially connected, the driving straight arm, the continuum segment, the rotating wrist and the tail end claw are respectively connected with four driving wires, and the driving straight arm penetrates through the spinal endoscope.

The robot system for assisting the spinal endoscopic surgery has the beneficial effects that: because the backbone scope is by first drive module and its motion of rotary drive module common drive, its motion is driven by first drive module, rotary drive module and second drive module jointly to the apparatus mechanism, and the concrete motion of first drive module, rotary drive module and second drive module all can be accomplished through control system remote control, and at whole operation in-process, the doctor need not handheld apparatus and endoscope, has improved operation precision and operation field of vision stability. In addition, the instrument mechanism comprises a flexible instrument arranged on the reel box, and the reel box can drive the flexible instrument to bend or rotate, so that the operation flexibility and the accessibility of an operation space in the operation are increased.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic structural diagram of a robotic system for assisting spinal endoscopic surgery according to an embodiment of the present invention;

FIG. 2 is a schematic view of a positioning robot according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of a cooperative arrangement of an endoscope operating mechanism and an instrument operating mechanism in accordance with an embodiment of the present invention;

FIG. 4 is a schematic configuration view of an endoscope operating mechanism of the embodiment of the present invention;

FIG. 5 is a structural view showing the endoscope operation mechanism in another direction according to the embodiment of the present invention;

FIG. 6 is a schematic structural view of an instrument operating mechanism of an embodiment of the present invention;

fig. 7 is a schematic structural view of an instrument mechanism according to an embodiment of the present invention.

Reference numerals:

100. positioning a mechanical arm; 110. a vertical adjustment module; 120. a horizontal adjustment module; 130. an attitude adjustment module; 140. a base; 141. a traveling wheel;

200. an endoscope operating mechanism; 201. a first base plate; 202. a first drive motor; 203. a first motor mount; 204. a first support base; 205. a first timing pulley; 206. a second timing pulley; 207. a first lead screw; 208. a first guide rail; 210. a first guide slider; 211. a first nut; 212. rotating the bracket; 213. a rotation driving motor; 214. a third timing pulley; 215. a fourth timing pulley; 216. a bearing support; 217. spinal endoscopy; 218. a first fixing clip; 219. a second fixing clip; 220. a protective sleeve; 221. a connecting plate;

300. an instrument operation mechanism; 301. a second drive motor; 302. a second motor mount; 303. a fifth timing pulley; 304. a second base plate; 305. a sixth timing pulley; 306. a second support seat; 307. a second guide slide rail; 308. a second lead screw; 309. a second nut; 310. connecting the sliding block; 311. a second guide slider; 312. a drive box; 3121. a drive flange;

400. an instrument mechanism; 410. a reel box; 411. a transmission flange; 420. driving the straight arm; 430. a continuum segment; 440. rotating the wrist; 450. a distal jaw.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

In addition, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature for distinguishing between descriptive features, non-sequential, and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Specific structures of a robot system for supporting a spinal endoscopic surgery according to an embodiment of the present invention will be described with reference to fig. 1 to 7.

The invention discloses a robot system for assisting a spinal endoscopic surgery, which comprises a positioning mechanical arm 100, an endoscope operating mechanism 200, an instrument operating mechanism 300 and an instrument mechanism 400, as shown in fig. 1-2. As shown in fig. 4-5, the endoscope operating mechanism 200 includes a first bottom plate 201, a first driving module, a rotating bracket 212, a bearing bracket 216, a rotation driving module, a spinal endoscope 217 and a protection sleeve 220, the first bottom plate 201 is connected to the positioning arm 100, the first driving module is disposed on the first bottom plate 201 and is used for driving the rotating bracket 212 to move along a predetermined direction, the rotation driving module is disposed on the rotating bracket 212 and is used for driving the bearing bracket 216 to rotate by taking the predetermined direction as a rotation axis, the protection sleeve 220 is connected to the first bottom plate 201, and the spinal endoscope 217 is disposed on the bearing bracket 216 in a penetrating manner. As shown in fig. 6, the instrument operating mechanism 300 includes a second base plate 304, a second driving module and a driving box 312, the second base plate 304 is connected to the bearing support 216, the second driving module is disposed on the second base plate 304 and is used for driving the driving box 312 to move along a predetermined direction, and the driving box 312 has a plurality of independent driving flanges 3121. As shown in fig. 7, the instrument mechanism 400 includes a reel box 410 and a flexible instrument, the reel box 410 includes a plurality of driving flanges 411 detachably engaged with the driving flanges 3121, the reel box 410 is spaced apart from the spinal endoscope 217 and is used for driving the flexible instrument to move, and the flexible instrument is disposed through the spinal endoscope 217.

It can be understood that, in the actual working process, under the driving action of the positioning mechanical arm 100, the endoscope operating mechanism 200, the instrument operating mechanism 300 and the instrument mechanism 400 can reach the designated positions, the control of the positioning mechanical arm 100 can be remotely controlled by a doctor, the first driving module arranged on the first bottom plate 201 can drive the rotating bracket 212 to move along the preset direction (in the embodiment, the preset direction is the axial direction of the protective sleeve 220), because the bearing bracket 216 is rotatably arranged on the rotating bracket 212, and the whole instrument mechanism 400 and the instrument operating mechanism are arranged on the bearing bracket 216, when the rotating bracket 212 moves along the preset direction, the bearing bracket 216 can also move along the preset direction, so that the spine endoscope 217 and the whole instrument mechanism 400 can move along the preset direction, that is, the spine endoscope 217 and the instrument mechanism 400 can both move along the preset direction, and because the bearing bracket 216 can rotate under the action of the rotating driving module, that is, the endoscope spine endoscope 217 and the instrument mechanism 400 both rotate along the preset direction as the rotation axis. At the same time, due to the presence of the second drive module, the entire instrument mechanism 400 can also be moved in a predetermined direction relative to the bearing bracket 216, so that the flexible instrument of the instrument mechanism 400 can be moved in a predetermined direction relative to the spinal endoscope 217.

In summary, in this embodiment, the spinal endoscope 217 is driven by the first driving module and the rotation driving module to move together, the instrument mechanism 400 is driven by the first driving module, the rotation driving module and the second driving module to move together, and the specific motions of the first driving module, the rotation driving module and the second driving module can be completed by the control system through remote control. In addition, since instrument mechanism 400 includes a flexible instrument disposed on reel box 410, reel box 410 can drive the flexible instrument to bend or rotate, increasing the flexibility of operation and accessibility of operation space in the operation.

In some embodiments, as shown in fig. 2, the positioning robot 100 includes a base 140, a vertical adjustment module 110, a horizontal adjustment module 120, and a posture adjustment module 130, the vertical adjustment module 110 is disposed on the base 140, and a power output end of the vertical adjustment module 110 is capable of moving up and down relative to the base 140, the horizontal adjustment module 120 is disposed on a power output end of the vertical adjustment module 110, and a power output end of the horizontal adjustment module 120 is capable of rotating relative to the vertical adjustment module 110, the posture adjustment module 130 is disposed on a power output end of the horizontal adjustment module 120, and a power output end of the posture adjustment module 130 has three rotational degrees of freedom and is connected to the endoscope operating mechanism 200.

It can be understood that the first base plate 201 can be driven by the positioning robot arm 100 to be disposed at any position in the space through the vertical adjusting module 110, the horizontal adjusting module 120 and the posture adjusting module 130, so that the precision of the operation is improved, and the flexibility of the operation and the accessibility of the operation space in the operation are increased. In this embodiment, the vertical adjustment module 110 may be a linear driving mechanism such as an air cylinder or an electric putter, the horizontal adjustment module 120 may be a rotary air cylinder or a motor, and the posture adjustment module 130 may select a multi-axis clamping jaw of the prior art, and the vertical adjustment module 110, the horizontal adjustment module 120 and the posture adjustment module 130 may be purchased from other places, and there is no need to make specific limitations on the vertical adjustment module 110, the horizontal adjustment module 120 and the posture adjustment module 130.

In some alternative embodiments, as shown in fig. 2, a plurality of road wheels 141 are provided on the bottom wall of the base 140. Therefore, the whole robot system can be conveniently pushed to move, and the use by a user is facilitated.

In some embodiments, as shown in fig. 4 to 5, the first driving module includes a first driving motor 202, a first lead screw 207, a first nut 211, and a first driving belt assembly, the first driving motor 202 is mounted on the first base plate 201 through a first motor base 203, the first lead screw 207 is mounted on the first base plate 201 through a first support base 204, the first nut 211 is engaged with the first lead screw 207, and the first nut 211 can move along an axial direction of the first lead screw 207 when the first lead screw 207 rotates, the first nut 211 is connected to the rotating bracket 212, the first driving belt assembly includes a first synchronizing pulley 205, a first driving belt (not shown), and a second synchronizing pulley 206, the first synchronizing pulley 205 is engaged with a motor shaft of the first driving motor 202, and the second synchronizing pulley 206 is engaged with the first lead screw 207.

It can be understood that, in practical operation, the first driving motor 202 drives the first synchronous pulley 205 to rotate, the first synchronous pulley 205 can drive the first conveyor belt to move when rotating, so as to drive the second synchronous pulley 206 to rotate, so as to drive the first lead screw 207, and the first nut 211 can move along the axial direction of the first lead screw 207 when the first lead screw 207 rotates, so as to drive the rotating bracket 212. Compare in first driving motor 202 direct drive first lead screw 207 pivoted motion mode to first driving belt subassembly is as transmission assembly, can make first lead screw 207 pivoted more steady, thereby makes first nut 211 and runing rest 212 move more steady, and meanwhile, selects first lead screw 207 and the first nut 211 complex actuating mechanism to realize the motion of runing rest 212, can promote the motion precision of runing rest 212, thereby ensures the safe and orderly the going on of operation.

In some specific embodiments, the first base plate 201 is provided with a first guiding sliding rail 208, and the first nut 211 is provided with a first guiding sliding block 210 engaged with the first guiding sliding rail 208. It can be understood that the cooperation between the first guide sliding rail 208 and the first guide sliding block 210 can limit the moving direction of the first nut 211, and prevent the first nut 211 from being skewed during the moving process.

Of course, in other embodiments of the present invention, the first driving module may also select structures such as an air cylinder and an electric push rod according to actual requirements.

In some embodiments, as shown in fig. 4-5, the rotating bracket 212 has a sleeve portion (not shown), the bearing bracket 216 has a rotating portion (not shown) inserted into the sleeve portion, and a bearing (not shown) is provided between the rotating portion and the sleeve portion; the rotation driving module comprises a rotation driving motor 213 and a second transmission belt assembly, the rotation driving motor 213 is installed on the rotation bracket 212, the second transmission belt assembly comprises a third synchronous pulley 214, a second transmission belt and a fourth synchronous pulley 215, the third synchronous pulley 214 is matched with a motor shaft of the rotation driving motor 213, and the fourth synchronous pulley 215 is connected with the rotation part.

It can be understood that, in the actual working process, the rotation driving motor 213 drives the third synchronous pulley 214 to rotate, and the third synchronous pulley 214 can drive the second transmission belt to move when rotating, so as to drive the fourth synchronous pulley 215 to rotate, so as to realize the driving of the rotating part, compared with the technical scheme that the second driving motor 301 directly drives the rotating part, and the third transmission belt assembly is used as the transmission assembly, so that the rotation of the rotating part can be more stable, and the spinal endoscope 217 can rotate stably.

In some embodiments, as shown in FIGS. 4-5, the endoscope operating mechanism 200 includes a first retaining clip 218 and a second retaining clip 219 disposed on the bearing support 216, with one end of the spinal endoscope 217 being sandwiched between the first retaining clip 218 and the second retaining clip 219. It will be appreciated that the use of the first and second retaining clips 218,219 to retain the spinal endoscope 217 facilitates easy installation and removal of the spinal endoscope 217 and thus operation by a user.

In some embodiments, as shown in fig. 6, the second driving module includes a second driving motor 301, a second lead screw 308, a second nut 309, and a third belt assembly, the second driving motor 301 is mounted on the second base plate 304 through the second motor base 302, the second lead screw 308 is mounted on the second base plate 304 through the second support base 306, the second nut 309 is engaged on the second lead screw 308, and the second nut 309 can move along the axial direction of the second lead screw 308 when the second lead screw 308 rotates, the second nut 309 is connected to the driving box 312 through the connecting slider 310, the third belt assembly includes a fifth synchronous pulley 303, a third belt, and a sixth synchronous pulley 305, the fifth synchronous pulley 303 is engaged with a motor shaft of the second driving motor 301, and the sixth synchronous pulley 305 is engaged with the second lead screw 308.

It can be understood that, in practical operation, the second driving motor 301 drives the fifth synchronous pulley 303 to rotate, the third synchronous pulley 214 can drive the third belt conveyer to drive the sixth synchronous pulley 305 to rotate when rotating, so as to drive the second lead screw 308, and the second nut 309 can move along the axial direction of the second lead screw 308 when the second lead screw 308 rotates, so as to drive the driving box 312. Compared with the movement mode that the second driving motor 301 directly drives the second lead screw 308 to rotate, the third transmission belt assembly is used as the transmission assembly, so that the second lead screw 308 can rotate more smoothly. Therefore, the movement of the second nut 309 and the driving box 312 is more stable, and meanwhile, the driving mechanism matched with the second lead screw 308 and the second nut 309 is selected to realize the movement of the driving box 312, so that the movement precision of the driving direction can be improved, and the safe and orderly operation is ensured.

In some specific embodiments, as shown in fig. 6, a second guide rail 307 is disposed on the second bottom plate 304, and a second guide slider 311 engaged with the second guide rail 307 is disposed on the connection slider 310. It can be understood that the cooperation between the second guide rail 307 and the second guide slider 311 can limit the moving direction of the second nut 309, and prevent the second nut 309 from being inclined during the moving process.

Of course, in other embodiments of the present invention, the second driving module may also select structures such as an air cylinder and an electric push rod according to actual needs.

In some embodiments, as shown in fig. 7, there are four driving flanges 411, and four reels are disposed in the reel box 410 and connected to the four driving flanges 411, respectively, and each reel is provided with a driving wire; the flexible instrument comprises a driving straight arm 420, a continuous body section 430, a rotating wrist 440 and a terminal jaw 450 which are connected in sequence, wherein the driving straight arm 420, the continuous body section 430, the rotating wrist 440 and the terminal jaw 450 are respectively connected with four driving wires, and the driving straight arm 420 penetrates through the spinal endoscope 217.

It can be understood that, in the actual working process, only the transmission flange 411 needs to be directly connected to the driving flange 3121, and the connection may be a screw connection or a snap connection. Therefore, when the driving source in the driving box 312 drives the driving flange 3121 to rotate, the transmission flange 411 can rotate along with the driving source to rotate the reel, and the driving wire can be discharged or wound in the rotating process of the reel, the driving wire can drive the straight arm 420 to rotate around the shaft, the bending of the continuous body section 430 and the rotary wrist 440 and the rotating and opening and closing of the end claw 450 around the shaft are realized, and the operation flexibility and the accessibility of the operation space in the operation are increased.

It should be noted that, the specific structures of the pulley box 410 and the driving box 312 are the prior art, and no detailed description is given here for the internal structure of the pulley box 410.

Example (b):

the specific structure of the robot system for supporting the spinal endoscopic surgery according to one embodiment of the present invention will be described with reference to fig. 1 to 7.

As shown in fig. 1 to 2, the robotic system for supporting a spinal endoscopic surgery of the present embodiment includes a positioning robot arm 100, an endoscope operation mechanism 200, an instrument operation mechanism 300, and an instrument mechanism 400.

As shown in fig. 3, the positioning robot 100 includes a base 140, a vertical adjustment module 110, a horizontal adjustment module 120, and an attitude adjustment module 130. Vertical adjustment module 110 is established on base 140, and the power take off end of vertical adjustment module 110 can go up and down relative to base 140, horizontal adjustment module 120 is established on vertical adjustment module 110's power take off end, and horizontal adjustment module 120's power take off end can rotate relative to vertical adjustment module 110, attitude adjustment module 130 is established on horizontal adjustment module 120's power take off end, and attitude adjustment module 130's power take off end has three rotational degree of freedom.

As shown in fig. 3 to 5, the endoscope operating mechanism 200 includes a first base plate 201, a first driving module, a rotating bracket 212, a bearing bracket 216, a rotating driving module, a spinal endoscope 217, a protective sleeve 220, a connecting plate 221, a first fixing clip 218 and a second fixing clip 219, the first base plate 201 is matched with a power output end of the posture adjusting module 130, the first driving module includes a first driving motor 202, a first lead screw 207, a first nut 211 and a first transmission belt assembly, the first driving motor 202 is mounted on the first base plate 201 through a first motor base 203, the first lead screw 207 is mounted on the first base plate 201 through a first support base 204, the first nut 211 is matched on the first lead screw 207, and the first nut 211 can move along an axial direction of the first lead screw 207 when the first lead screw 207 rotates, the first nut 211 is connected with the rotating bracket 212, the first transmission belt assembly includes a first synchronous pulley 205, a first transmission belt and a second synchronous pulley 206, the first synchronous pulley 205 is matched with a motor shaft 206 of the first driving motor 202, and the second synchronous pulley 206 is matched with a motor shaft 207. The first base plate 201 is provided with a first guide slide rail 208, and the first nut 211 is provided with a first guide slide block 210 matched with the first guide slide rail 208. The rotating bracket 212 has a sleeve portion, and the bearing bracket 216 has a rotating portion inserted into the sleeve portion, and a bearing is provided between the rotating portion and the sleeve portion. The rotation driving module comprises a rotation driving motor 213 and a second transmission belt assembly, the rotation driving motor 213 is installed on the rotation bracket 212, the second transmission belt assembly comprises a third synchronous pulley 214, a second transmission belt and a fourth synchronous pulley 215, the third synchronous pulley 214 is matched with a motor shaft of the rotation driving motor 213, and the fourth synchronous pulley 215 is connected with the rotation part. The protective sleeve 220 is connected to the first base plate 201 through a connecting plate 221, a first fixing clip 218 and a second fixing clip 219 are arranged on the bearing support 216, and one end of the spinal endoscope 217 is clamped between the first fixing clip 218 and the second fixing clip 219 and penetrates through the bearing support 216.

As shown in fig. 6, the instrument operating mechanism 300 includes a second base plate 304, a second driving module and a driving box 312, the second base plate 304 is connected to the bearing support 216, the second driving module is disposed on the second base plate 304 and is used for driving the driving box 312 to move in a predetermined direction, the driving box 312 has four driving flanges 3121, each driving flange 3121 has an independent driving source, the second driving module includes a second driving motor 301, a second lead screw 308, a second nut 309 and a third transmission belt assembly, the second driving motor 301 is mounted on the second base plate 304 through the second motor base 302, the second lead screw 308 is mounted on the second base plate 304 through the second support base 306, the second nut 309 is fitted on the second lead screw 308, and the second nut 309 can move along the axial direction of the second lead screw 308 when the second lead screw 308 rotates, the second nut 309 is connected to the driving box 312 through a connecting slider 310, the third transmission belt assembly includes a fifth synchronous pulley 303, a third transmission belt and a sixth synchronous pulley 305, the fifth synchronous pulley 303 is fitted with the driving motor shaft 305, and the sixth synchronous pulley 308 is fitted with the motor shaft 305. The second bottom plate 304 is provided with a second guide slide rail 307, and the connecting slide block 310 is provided with a second guide slide block 311 matched with the second guide slide rail 307.

As shown in fig. 7, the instrument mechanism 400 includes a reel box 410 and a flexible instrument, the reel box 410 includes four driving flanges 411 detachably engaged with the driving flange 3121, and four reels connected to the four driving flanges 411 are disposed in the reel box 410, each reel is provided with a driving wire, the flexible instrument includes a driving straight arm 420, a continuum segment 430, a rotating wrist 440, and a distal end claw 450, which are connected in sequence, the driving straight arm 420, the continuum segment 430, the rotating wrist 440, and the distal end claw 450 are connected to the four driving wires, respectively, and the driving straight arm 420 is disposed through the spinal endoscope 217.

The robot system for assisting the spinal endoscopic surgery of the embodiment of the invention has the following advantages:

firstly, the method comprises the following steps: spinal endoscope 217 is by the common its motion of first drive module and the common drive of rotation drive module, and apparatus mechanism 400 is by first drive module, its motion of common drive of rotation drive module and second drive module, and the concrete motion of first drive module, rotation drive module and second drive module all can be accomplished through the control system remote control, and at whole operation in-process, the doctor need not handheld apparatus and endoscope, has improved operation precision and operation field stability. In addition, since the instrument mechanism 400 includes a flexible instrument disposed on the pulley box 410, the pulley box 410 can drive the flexible instrument to bend or rotate, increasing the flexibility of operation and accessibility of operation space in the operation;

secondly, the method comprises the following steps: the instrument mechanism 400 is detachably matched with the driving flange 3121 through the transmission flange 411, so that the instrument mechanism 400 can be conveniently replaced in the operation process, and the robot system for assisting the spinal endoscopic surgery in the embodiment can replace surgical instruments according to actual needs, and has good compatibility;

thirdly, the steps of: in the actual working process, the reel box 410 can drive the straight arm 420 to rotate around the shaft, the bending of the continuous body section 430 and the rotating wrist 440 and the axial rotation and the opening and closing of the tail end clamping claw 450, so that the operation flexibility and the accessibility of the operation space in the operation are increased.

Reference throughout this specification to "some embodiments," "other embodiments," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.

Claims (10)

1. A robotic system for assisting spinal endoscopic surgery, comprising:

positioning a robotic arm (100);

the endoscope operating mechanism (200) comprises a first bottom plate (201), a first driving module, a rotating bracket (212), a bearing bracket (216), a rotary driving module, a spine endoscope (217) and a protective sleeve (220), wherein the first bottom plate (201) is connected with the positioning mechanical arm (100), the first driving module is arranged on the first bottom plate (201) and used for driving the rotating bracket (212) to move along a preset direction, the rotary driving module is arranged on the rotating bracket (212) and used for driving the bearing bracket (216) to rotate by taking the preset direction as a rotating axis, the protective sleeve (220) is connected onto the first bottom plate (201), and the spine endoscope (217) is arranged on the bearing bracket (216) in a penetrating manner;

the instrument operating mechanism (300) comprises a second bottom plate (304), a second driving module and a driving box (312), wherein the second bottom plate (304) is connected to the bearing support (216), the second driving module is arranged on the second bottom plate (304) and is used for driving the driving box (312) to move along a preset direction, and the driving box (312) is provided with a plurality of independent driving flanges (3121);

apparatus mechanism (400), apparatus mechanism (400) is including taking turns case (410) and flexible apparatus, line wheel case (410) include a plurality ofly with drive flange (3121) can dismantle complex driving flange (411), line wheel case (410) with backbone endoscope (217) interval sets up and is used for the drive flexible apparatus motion, flexible apparatus passes backbone endoscope (217) set up.

2. Robotic system for assisting a spinal endoscopic surgery according to claim 1, characterized in that said positioning robot arm (100) comprises:

a base (140);

the vertical adjusting module (110) is arranged on the base (140), and a power output end of the vertical adjusting module (110) can lift relative to the base (140);

the horizontal adjusting module (120) is arranged at the power output end of the vertical adjusting module (110), and the power output end of the horizontal adjusting module (120) can rotate relative to the vertical adjusting module (110);

the posture adjusting module (130) is arranged at the power output end of the horizontal adjusting module (120), the power output end of the posture adjusting module (130) has three rotational degrees of freedom, and is connected with the endoscope operating mechanism (200).

3. The robotic system for assisting spinal endoscopic surgery according to claim 2, wherein a plurality of walking wheels (141) are provided on a bottom wall of the base (140).

4. A robotic system for assisting spinal endoscopy according to any of claims 1-3, wherein the first drive module comprises:

a first drive motor (202), the first drive motor (202) being mounted on the first base plate (201) by a first motor mount (203);

a first lead screw (207), the first lead screw (207) being mounted on the first base plate (201) through a first support (204);

the first nut (211), the first nut (211) is matched on the first lead screw (207), when the first lead screw (207) rotates, the first nut (211) can move along the axial direction of the first lead screw (207), and the first nut (211) is connected with the rotating bracket (212);

the first driving belt assembly comprises a first synchronous belt wheel (205), a first driving belt and a second synchronous belt wheel (206), the first synchronous belt wheel (205) is matched with a motor shaft of the first driving motor (202), and the second synchronous belt wheel (206) is matched with the first lead screw (207).

5. The robotic system for assisting a spinal endoscopic surgery according to claim 4, wherein a first guiding sliding rail (208) is disposed on the first base plate (201), and a first guiding sliding block (210) engaged with the first guiding sliding rail (208) is disposed on the first nut (211).

6. The robotic system for assisting spinal endoscopic surgery according to any one of claims 1 to 3, wherein the rotating bracket (212) has a sleeve portion thereon, the bearing bracket (216) has a rotating portion inserted into the sleeve portion, and the rotating portion and the sleeve portion have a bearing therebetween;

the rotary drive module comprises:

a rotary drive motor (213), the rotary drive motor (213) being mounted on the rotary support (212);

a second belt assembly including a third timing pulley (214), a second belt, and a fourth timing pulley (215), the third timing pulley (214) being engaged with a motor shaft of the rotation driving motor (213), the fourth timing pulley (215) being connected to the rotation part.

7. A robotic system for performing a spinal endoscopic procedure according to any one of claims 1-3, wherein said endoscope operating mechanism (200) comprises a first fixing clip (218) and a second fixing clip (219) provided on said bearing bracket (216), one end of said spinal endoscope (217) being sandwiched between said first fixing clip (218) and said second fixing clip (219).

8. A robotic system for assisting spinal endoscopy according to any of claims 1-3, wherein the second drive module comprises:

a second driving motor (301), wherein the second driving motor (301) is installed on the second bottom plate (304) through a second motor base (302);

the second lead screw (308) is mounted on the second bottom plate (304) through a second supporting seat (306);

a second nut (309), wherein the second nut (309) is fitted on the second lead screw (308), and when the second lead screw (308) rotates, the second nut (309) can move along the axial direction of the second lead screw (308), and the second nut (309) is connected with the driving box (312) through a connecting slide block (310);

a third belt assembly comprising a fifth timing pulley (303), a third conveyor belt, and a sixth timing pulley (305), the fifth timing pulley (303) cooperating with a motor shaft of the second drive motor (301), the sixth timing pulley (305) cooperating with the second lead screw (308).

9. The robotic system for assisting a spinal endoscopic surgery according to claim 8, wherein a second guiding slide rail (307) is disposed on the second bottom plate (304), and a second guiding slide block (311) engaged with the second guiding slide rail (307) is disposed on the connecting slide block (310).

10. The robotic system for assisting spinal endoscopy surgery of any of claims 1-3, wherein the number of the driving flanges (411) is four, four reels are respectively connected with the four driving flanges (411) and arranged in the reel box (410), and a driving wire is arranged on each reel;

the flexible instrument comprises a driving straight arm (420), a continuum segment (430), a rotating wrist (440) and a terminal claw (450) which are sequentially connected, the driving straight arm (420), the continuum segment (430), the rotating wrist (440) and the terminal claw (450) are respectively connected with four driving wires, and the driving straight arm (420) penetrates through the spinal endoscope (217).

Images