CN113017837A - Concentric tube surgical mechanism and ophthalmic surgical device - Google Patents

Concentric tube surgical mechanism and ophthalmic surgical device Download PDF

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Publication number
CN113017837A
CN113017837A CN202110281397.6A CN202110281397A CN113017837A CN 113017837 A CN113017837 A CN 113017837A CN 202110281397 A CN202110281397 A CN 202110281397A CN 113017837 A CN113017837 A CN 113017837A
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China
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lead screw
gear
concentric tube
tube
housing
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Granted
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CN202110281397.6A
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Chinese (zh)
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CN113017837B (en
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杜付鑫
先泽文
张钢
王鸿辉
陈子霄
宋锐
李贻斌
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Shandong University
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Shandong University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Ophthalmology & Optometry (AREA)
  • Vascular Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a concentric tube surgical mechanism and an ophthalmic surgical device, which comprise a shell, wherein a first lead screw and a second lead screw are rotationally connected in the shell, the first lead screw and the second lead screw are both in threaded connection with a first gear, the first lead screw and the second lead screw are provided with key slots distributed along the axes of the first lead screw and the second lead screw and are connected with a second gear through keys, the first gear is connected with a first driving mechanism, the second gear is connected with a second driving mechanism, the end part of the first lead screw is connected with an outer tube, the second lead screw is connected with one end of an inner tube, and the other end of the inner tube sequentially penetrates through the second lead screw and the outer tube and extends out of the outer tube.

Description

Concentric tube surgical mechanism and ophthalmic surgical device
Technical Field
The invention relates to the technical field of medical equipment, in particular to a concentric tube surgical mechanism and an ophthalmic surgical device.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The concentric tube robot has been gradually developed as a novel continuous robot in the field of medical robot research. It is formed by mutually nesting pre-bent and super-elastic nickel-titanium alloy tubes. The shape and the end pose of the robot can be controlled by the axial extension and retraction of the concentric tube and the rotation around the axis, and a series of operation actions in a complex environment can be completed by adding a special medical instrument actuator at the end of the concentric tube. The concentric tube robot has the ability to navigate along three-dimensional curves in the body and the concentric tube robot can secure the surgical instrument at the front end of the tube through the lumen of the tube. Compared with the traditional straight rigid surgical instrument, the flexible robot has the capability of changing the shape in real time, so that the flexible robot can be prevented from contacting with important tissues of the body, the diameter of the concentric tube can reach a submillimeter level, and the flexible robot has small damage to the body.
The existing concentric tube surgical robot mostly aims at natural cavities and ducts, and is rarely applied to ophthalmology, but the concentric tube surgical robot has good application prospect in ophthalmology. Wherein, the ophthalmology concentric tube robot will reduce the inherent physiology of doctor greatly and tremble, improves the stability and the accuracy nature of operation, and the operation of concentric tube is more nimble simultaneously, and repeatability is high, compares in the difficult operation fatigue of traditional operation, can realize long-range operation, avoids the limitation of time and space. For example, retinal vein vascular occlusion is a serious retinal disease, which can cause blindness, and the traditional treatment methods mainly use drugs and have poor effects. Surgery is another way to treat the disease, and if a concentric tube robot is used for injecting medicine into the eyes, the safety can be greatly ensured and the damage to the eyes during the operation can be greatly reduced. Therefore, the application of the concentric tube robot to the field of ophthalmology is a completely feasible new development idea of the ophthalmic robot.
Traditional concentric tube surgical robot to polished rod and lead screw combination polylith support plate are primary structure, with the motor, the polished rod, the lead screw, drive structure equipartition such as band pulley are put on the support plate, make the area of support plate great, whole drive structure volume is great, and just because only utilize the polished rod to carry out axial restraint and fixed, relative only can the level place use, be difficult to realize using under the condition of vertical or rotatory certain angle, the flexibility is not high, be not suitable for in the aspect of ophthalmology. Therefore, a new structure is required to satisfy the use of the concentric tube surgical robot in ophthalmic surgery.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a concentric tube surgical mechanism which is small in size, high in flexibility and capable of meeting the use requirements in the aspect of ophthalmic surgery.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a concentric tube surgical mechanism, which comprises a housing, wherein a first lead screw and a second lead screw are rotationally connected in the housing, the first lead screw and the second lead screw are both in threaded connection with a first gear, the first lead screw and the second lead screw are provided with key slots distributed along the axes of the first lead screw and the second lead screw and are connected with a second gear through keys, the first gear is connected with a first driving mechanism, the second gear is connected with a second driving mechanism, the end part of the first lead screw is connected with an outer tube, the second lead screw is connected with one end of an inner tube, and the other end of the inner tube sequentially penetrates through the second lead screw and the outer tube and extends out of.
Furthermore, the first driving mechanism comprises a first driving piece fixed on the shell, the first driving piece is connected with a third gear, and the third gear is meshed with the first gear.
Furthermore, the second driving mechanism comprises a second driving member fixed on the housing, the second driving member is connected with a fourth gear, and the fourth gear is meshed with the second gear.
Furthermore, be provided with the limiting plate in the shell, two sides of first gear and second gear all contact with the limiting plate, and the limiting plate is used for restricting the motion of first gear and second gear along first lead screw or second lead screw axis direction.
Furthermore, the shell is also fixed with a first polished rod and a second polished rod, the first lead screw is sleeved on the periphery of the first polished rod, the second lead screw is sleeved on the periphery of the second polished rod, and the first polished rod and the second polished rod are respectively used for guiding the movement of the first lead screw and the second lead screw along the axis direction.
Furthermore, first polished rod and second polished rod all include the joint section, and the joint section is put into the draw-in groove that the cardboard set up, cardboard and shell fixed connection, joint section both ends are connected with spacing section, and spacing section and cardboard both sides face contact are used for restricting the motion of joint section.
Further, the shell comprises a middle shell, a front shell and a rear shell are fixed at two ends of the middle shell respectively, and the middle shell is formed by splicing an upper shell and a lower shell.
Furthermore, the front end of shell is provided with the concentric tube base, and the concentric tube base is fixed with the steel pipe, the outer tube is worn out to the steel pipe outside.
Further, the outer tube and the inner tube are made of pre-bent super-elastic nickel-titanium alloy.
In a second aspect, the invention provides an ophthalmic surgical device, comprising the concentric tube surgical mechanism, wherein the concentric tube surgical mechanism is connected with the tail end of the mechanical arm, and a surgical instrument is arranged at the tail end of the inner tube. The invention has the beneficial effects that:
1. according to the concentric tube surgical mechanism, the outer tube and the inner tube are directly connected with the screw rod, the screw rod is used for driving the outer tube and the inner tube to move, elements such as a support plate and a guide rod are not needed, the size of a driving mechanism connected with the outer tube and the inner tube is greatly reduced, the structure is more compact and stable through the restraint of the limiting plate and the clamping plate in the shell, the concentric tube surgical mechanism can be assembled on a mechanical arm, the use in multiple angles and directions is realized, the use requirement of ophthalmic surgery is met, and the tail end of the concentric tube can be controlled to reach an appointed surgical site in an eyeball through the control of a doctor; the positioning precision is high in the eyeball, the diameter of the concentric tube is small, the stability is high, and compared with the manual operation and other medical instruments, the safety and effectiveness of the eye injection treatment are greatly improved.
2. According to the concentric tube surgical mechanism, the first gear and the second gear are arranged, so that the lead screw can independently realize rotation around the axis of the lead screw and linear motion along the axis of the lead screw, and surgical requirements are met.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a front case according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of a rear case according to embodiment 1 of the present invention;
fig. 4 is a front view of a driving module structure according to embodiment 1 of the present invention;
fig. 5 is an assembly diagram of a first lead screw, a first gear, a second gear, a first driving mechanism and a second driving mechanism according to embodiment 1 of the present invention;
fig. 6 is a schematic distribution diagram of the first limiting plate on the upper shell in embodiment 1 of the present invention;
FIG. 7 is a schematic view of a second limiting plate arranged on the lower shell according to embodiment 1 of the invention;
the gear comprises an upper shell, a lower shell, a front shell, a rear shell, a concentric tube base, a steel tube, an outer tube, an inner tube, a long circular notch, a first lead screw, a second lead screw, a lead screw support plate, a first polished rod, a clamping section, a first limiting section, a second polished rod, a first gear, a first motor, a second motor, a first motor support, a third gear, a flat key, a second gear, a second motor support, a fourth gear, a third limiting plate and a second limiting plate, wherein the upper shell is 1, the lower shell is 2, the front shell is 3, the rear shell is 4, the concentric tube base is 5, the steel tube is 6, the outer tube.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
As described in the background, the present application provides a concentric tube surgical robot, which is bulky and not suitable for ophthalmic surgery.
In a typical embodiment example 1 of the present application, as shown in fig. 1 to 7, a concentric tube surgical robot includes a housing including a middle housing composed of an upper case 1 and a lower case 2 joined together, mounting plates provided along edges at both ends of the middle housing, a front case 3 and a rear case 4 fixed to both ends of the middle housing through the mounting plates and bolts, and a closed housing structure composed of the front case, the middle housing and the rear case. The front shell and the rear shell fasten the upper shell and the lower shell together, so that the assembly and the disassembly are convenient.
Preferably, the front shell is of a conical structure, a concentric tube base 5 is installed at the front end of the front shell, the concentric tube base is fixedly connected with one end of a steel tube 6, the concentric tube extends out through the steel tube, and a driving module used for driving the concentric tube to move is installed inside the shell.
The rear shell is provided with a long round notch 9, so that a lead of the driving module can be led out conveniently.
The concentric tubes comprise an outer tube 7 and an inner tube 8 which are nested with each other, the outer tube is sleeved on the periphery of the inner tube, and the outer tube and the inner tube are both made of pre-bent super-elastic nickel-titanium alloy.
The drive module comprises a first lead screw 10 and a second lead screw 11 which are coaxially arranged, the first lead screw is located at the front end of the shell, the second lead screw is located at the rear end of the shell, a lead screw supporting plate 12 is arranged on the shell, a semicircular groove matched with the first lead screw and the second lead screw is formed in the lead screw supporting plate, the first lead screw and the second lead screw are embedded into the semicircular groove, the first lead screw and the second lead screw are connected with the lead screw supporting plate in a rotating mode, and the first lead screw and the second lead screw can move along the axis direction of the first lead screw and the second lead screw.
The front ends of the first lead screw and the second lead screw are respectively coaxially provided with a first polished rod 13 and a second polished rod 14, the length of the first polished rod is smaller than that of the first lead screw, the length of the second polished rod is smaller than that of the second lead screw, the first lead screw is sleeved on the periphery of the first polished rod, the first lead screw can move along the axis direction of the first polished rod, and meanwhile, the first lead screw can rotate around the axis direction of the first lead screw relative to the first polished rod. The lower casing on be provided with the cardboard, be provided with the semicircular groove on the cardboard, first polished rod embedding in the semicircular groove, and with cardboard fixed connection, first polished rod plays the supporting role to first lead screw.
Preferably, the first polished rod and the second polished rod both comprise a clamping section 13-1 and a first limiting section 13-2 and a second limiting section 13-3 which are positioned at the front end and the rear end of the clamping section, the diameters of the first limiting section and the second limiting section are both larger than the diameter of the clamping section, and the clamping section is embedded into a semicircular groove formed in the clamping plate.
The clamping section and the first limiting section are directly provided with conical transition sections.
The connection mode of the second polish rod, the second lead screw and the shell is the same as the connection mode of the first polish rod, the first lead screw and the shell, and repeated description is omitted here.
First lead screw and the one end fixed connection of outer tube, the other end of outer tube stretches out to the steel pipe outside after passing first polished rod, shell, concentric tube base and steel pipe in proper order, and first lead screw can drive the outer tube and rotate and be linear motion along self axis.
The second lead screw is fixedly connected with one end of the inner tube, the other end of the inner tube sequentially penetrates through the second polished rod, the first lead screw, the first polished rod and the outer tube and then extends out of the outer tube, and the second lead screw can drive the inner tube to rotate and move along the axis direction of the second lead screw.
First lead screw and the equal threaded connection of second lead screw have first gear 15, first gear is connected with first actuating mechanism, and first actuating mechanism can drive the rotation of first gear, first actuating mechanism includes first driving piece, and is preferred, first driving piece adopts first motor 16, first motor passes through first motor support 17 and bolt and shell fixed connection, the output shaft and the third gear 18 of first motor are connected, the third gear meshes with first gear mutually, and first motor can drive the rotation of first gear through gear drive.
The key grooves are formed in the outer peripheral surfaces of the first lead screw and the second lead screw and are arranged along the axis direction of the lead screws, the key grooves in the first lead screw penetrate through the front end surface and the rear end surface of the first lead screw, and the key grooves in the second lead screw penetrate through the front end surface and the rear end surface of the second lead screw.
The first lead screw and the second lead screw are connected with a second gear 20 through a key groove and a flat key 19, the second gear can drive the first lead screw and the second lead screw to rotate around the axis of the first lead screw and the second lead screw, and the second gear does not limit the movement of the first lead screw and the second lead screw along the axis of the first lead screw and the second lead screw.
The second gear is connected with a second driving mechanism, the second driving mechanism comprises a second driving piece, preferably, the second driving piece adopts a second motor 21, the second motor is fixedly connected with the shell through a second motor support 22 and a bolt, an output shaft of the second motor is connected with a fourth gear 23, the fourth gear is meshed with the second gear, and the second motor can drive the second gear to rotate through gear transmission.
In the first lead screw and the second lead screw of the embodiment, the first gear is arranged on the front side of the second gear, and the first motor and the second motor are arranged on two sides of the lead screw, so that the structure is compact, and the volume of the whole driving module is reduced.
In this embodiment, the driving principle of the movement of the outer tube and the inner tube is the same, and the outer tube is taken as an example for explanation:
the first motor and the second motor corresponding to the first lead screw drive the first gear and the second gear to synchronously rotate, at the moment, the first lead screw only rotates around the axis of the first lead screw, and at the moment, the outer pipe rotates.
The second motor that first lead screw corresponds does not work, and at this moment under the joint effect of second gear and fourth gear, first lead screw can't be done around the rotation of self axis.
The first motor drives the first gear to rotate, and the first screw rod moves along the axis direction of the first screw rod at the moment due to the threaded connection of the first gear and the first screw rod, and the outer pipe moves along the axis direction of the first screw rod.
The first motor that first lead screw corresponds does not work, and the second motor works, and first gear can't rotate this moment, and first lead screw rotates under the effect of second gear, and first lead screw is moving along self axis direction when rotating around self axis this moment.
The driving principle of the second lead screw driving the inner tube to move is the same as that of the first lead screw driving the outer tube to move, and the description is not repeated here.
In this embodiment, the upper shell is provided with four first limiting plates 24, the first limiting plates are located at the rear side of the first gear and the front side of the second gear, the first limiting plates are in contact with the rear end face of the first gear and the front end face of the second gear,
and four second limiting plates 25 are arranged on the lower shell, are positioned on the front side of the first gear and the rear side of the second gear, and are in contact with the front side end face of the first gear and the rear side end face of the second gear.
The front and back of the first gear and the second gear are limited by the first limiting plate and the second limiting plate, and the first gear and the second gear are prevented from moving along the axial direction of the first lead screw and the second lead screw.
The concentric tube surgical mechanism of the embodiment can change the bending direction and the relative angle of the inner tube and the outer tube through the cooperative work of the first motor and the second motor, so that the tail end of the concentric tube accurately reaches the surgical target position point.
The concentric operation mechanism of the embodiment does not need to be provided with elements such as a support plate, a guide rod and the like, greatly reduces the volume of a driving mechanism connected with an outer tube and an inner tube, is more compact and stable in structure through the constraint of a limiting plate and a clamping plate in a shell, can be assembled on a mechanical arm, realizes the use in multiple angles and directions, meets the use requirement of ophthalmic operation, and can control the tail end of a concentric tube to reach an appointed operation point in an eyeball through the control of a doctor; the positioning precision is high in the eyeball, the diameter of the concentric tube is small, the stability is high, and compared with the manual operation and other medical instruments, the safety and effectiveness of the eye injection treatment are greatly improved.
Example 2:
the embodiment discloses an ophthalmologic operation device, which comprises the concentric tube operation mechanism in embodiment 1, wherein a shell of the concentric tube operation mechanism is connected with the tail end of a mechanical arm, the mechanical arm is an existing medical mechanical arm, the position and the posture of the concentric tube operation mechanism can be adjusted, the concentric tube operation mechanism can be used in multiple angles and in various directions, the specific structure of the mechanical arm is not described in detail, surgical instruments are arranged at the tail end of an inner tube according to operation requirements, and the surgical instruments can be selected according to the operation requirements, such as a drug injection needle and the like.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. The utility model provides a concentric tube surgical mechanism, a serial communication port, which comprises an outer shell, the shell internal rotation is connected with first lead screw and second lead screw, the equal threaded connection of first lead screw and second lead screw has first gear, first lead screw and second lead screw are equipped with the keyway that distributes along its axis, and there is the second gear through the key connection, first gear is connected with first actuating mechanism, the second gear is connected with second actuating mechanism, first lead screw tip and outer union coupling, the second lead screw is connected with inner tube one end, the inner tube other end passes second lead screw and outer tube in proper order and stretches out to the outer tube outside.
2. The concentric tube surgical mechanism of claim 1, wherein the first drive mechanism comprises a first drive member secured to the housing, the first drive member being connected to a third gear, the third gear being in meshing engagement with the first gear.
3. The concentric tube surgical mechanism of claim 1, wherein the second drive mechanism comprises a second drive member secured to the housing, the second drive member being connected to a fourth gear, the fourth gear being in meshing engagement with the second gear.
4. The concentric tube surgical mechanism of claim 1, wherein a limiting plate is disposed in the housing, two sides of the first gear and the second gear contact the limiting plate, and the limiting plate is used to limit the movement of the first gear and the second gear along the axis of the first lead screw or the second lead screw.
5. The concentric tube surgical mechanism of claim 1, wherein the housing further comprises a first and a second polished rod, the first lead screw is sleeved on the outer periphery of the first polished rod, the second lead screw is sleeved on the outer periphery of the second polished rod, and the first and the second polished rods are used for guiding the movement of the first and the second lead screws along the axial direction, respectively.
6. The concentric tube surgical device of claim 5, wherein the first and second polish rods each comprise a clamping section, the clamping section is disposed in a clamping groove of a clamping plate, the clamping plate is fixedly connected to the housing, and two ends of the clamping section are connected to limiting sections, the limiting sections are in contact with two side surfaces of the clamping plate for limiting the movement of the clamping section.
7. The concentric tube surgical mechanism of claim 1, wherein the housing comprises a middle housing, a front housing and a rear housing are fixed to two ends of the middle housing, and the middle housing is formed by splicing an upper housing and a lower housing.
8. The concentric tube surgical mechanism of claim 1, wherein a concentric tube base is disposed at the front end of the housing, a steel tube is fixed to the concentric tube base, and the outer tube penetrates out of the steel tube.
9. The concentric tube surgical mechanism of claim 1, wherein said outer and inner tubes are made of pre-bent superelastic nickel-titanium alloy.
10. An ophthalmic surgical device comprising the concentric tube surgical mechanism of any one of claims 1-9, wherein the concentric tube surgical mechanism is connected to a distal end of a robotic arm, and wherein a surgical instrument is mounted to a distal end of the inner tube.
CN202110281397.6A 2021-03-16 2021-03-16 Concentric tube surgical mechanism and ophthalmic surgical device Active CN113017837B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024000922A1 (en) * 2022-06-30 2024-01-04 中国科学院自动化研究所 Pull wire-driving apparatus for flexible controllable device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10441371B2 (en) * 2015-10-02 2019-10-15 Vanderbilt University Concentric tube robot
CN111956328A (en) * 2020-07-28 2020-11-20 哈尔滨工业大学（深圳） Continuum robot for minimally invasive surgery

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10441371B2 (en) * 2015-10-02 2019-10-15 Vanderbilt University Concentric tube robot
CN111956328A (en) * 2020-07-28 2020-11-20 哈尔滨工业大学（深圳） Continuum robot for minimally invasive surgery

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024000922A1 (en) * 2022-06-30 2024-01-04 中国科学院自动化研究所 Pull wire-driving apparatus for flexible controllable device

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