CN115024824B - Working sheath rotating device for percutaneous spinal endoscope robot - Google Patents
Working sheath rotating device for percutaneous spinal endoscope robot Download PDFInfo
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- CN115024824B CN115024824B CN202210958261.9A CN202210958261A CN115024824B CN 115024824 B CN115024824 B CN 115024824B CN 202210958261 A CN202210958261 A CN 202210958261A CN 115024824 B CN115024824 B CN 115024824B
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00154—Holding or positioning arrangements using guiding arrangements for insertion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention provides a working sheath rotating device for a percutaneous spinal endoscope robot, which comprises a working sheath, a mounting seat, a locking structure, a rotating structure and a control module, wherein the mounting seat is arranged on the working sheath; the mounting seat comprises a mounting plate and an instrument group working chuck, the working sheath is mounted on the instrument group working chuck, and the locking structure axially locks the working sheath; the rotating structure comprises a motor, a force feedback mechanism and a transmission assembly, the control module is electrically connected with the motor and the force feedback mechanism respectively, and the control module controls the starting and stopping of the motor according to a preset rotating angle of the motor, a maximum value of a rotating moment and a real-time rotating moment fed back by the force feedback mechanism. Compared with the prior art, the direction of the working sheath is adjusted by rotating the motor, the speed and the force can be controlled, the feedback is faster and more accurate, and the operation risk that peripheral tissues are accidentally injured due to force deviation in the rotating process caused by experience and uneven force application during manual operation is avoided.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a working sheath rotating device for a percutaneous spinal endoscope robot with a force feedback function.
Background
The working sheath is an auxiliary instrument which must be used in a percutaneous spinal endoscopic surgery, a stable channel which is established by the working sheath is required to be used as an endoscope to enter a body in the surgery in advance, the endoscope is protected from being bent when swinging under the reinforcing action of the working sheath in the surgery, and a water outlet channel which is obtained through a sheath gap prevents the high pressure of a surgery part from extruding nerves.
In the traditional operation, the working sheath is usually held by hand to provide increased strength for the endoscope so that the endoscope can swing in vivo, when a visual field is shielded or partial tissues need to be avoided, the front end inclined plane opening of the working sheath needs to be relied on to realize unscrewing protection and avoiding the tissues through manually rotating the working sheath, such as nerve tissues and the like, when the working sheath is manually rotated, an operator needs to perceive the stress condition of the sheath when rotating by relying on experience, the tissues are prevented from being excessively injured by force, and the requirements on the experience and the manipulation of doctors are higher.
In the percutaneous spinal endoscope robot operation, the above operation is required, but the manual operation of the working sheath is very inconvenient, so that the working sheath rotating device for the percutaneous spinal endoscope robot is required to solve the above problem.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a working sheath rotating device for a percutaneous spinal endoscope robot, which replaces a human hand to operate, so as to reduce the requirement on the quality and experience of doctors and increase the safety factor of the working sheath rotating operation in the operation.
In order to achieve the aim, the invention provides a working sheath rotating device for a percutaneous spinal endoscope robot, which comprises a working sheath, a mounting seat and a locking structure, wherein the working sheath is fixedly arranged on the mounting seat; the mounting seat comprises a mounting plate and an instrument group working chuck, the working sheath is mounted on the instrument group working chuck, and the locking structure is used for axially locking the working sheath; the working sheath rotating device for the percutaneous spinal endoscope robot further comprises:
the rotating structure is arranged on the mounting seat and comprises a motor, a force feedback mechanism and a transmission assembly, the input end of the force feedback mechanism is connected with the output end of the motor, the transmission assembly is connected between the output end of the force feedback mechanism and the working sheath, the driving force of the motor transmitted by the force feedback mechanism is transmitted to the working sheath, and the working sheath is driven to rotate around a central shaft of the working sheath; and
and the control module is electrically connected with the motor and the force feedback mechanism respectively, and controls the starting and stopping of the motor according to the preset rotation angle and the maximum value of the rotation torque of the motor and the real-time rotation torque fed back by the force feedback mechanism.
Preferably, the transmission assembly comprises a sheath rotating gear, a transmission gear and a rotating gear which are meshed in sequence; the sheath rotating gear is rotatably arranged in the through hole of the instrument group working chuck through a bearing; the center of the sheath rotating gear is provided with a sheath hole, and the sheath tail of the working sheath is fixed in the sheath hole of the sheath rotating gear; the rotary gear is connected with the output end of the force feedback mechanism, and the transmission gear is positioned between the rotary gear and the sheath rotary gear.
Preferably, the force feedback mechanism is a motor dynamic torque sensor, and the motor dynamic torque sensor are both fixed on a mounting plate of the mounting seat; the motor is located behind the motor dynamic torque sensor, a motor output shaft of the motor is inserted into an input hole in the rear end of the motor dynamic torque sensor, the rotating gear is located in front of the motor dynamic torque sensor, the rotating gear is fixed on a sensor output shaft in the front end of the motor dynamic torque sensor, the lower end of the transmission gear is meshed with the rotating gear, and the upper end of the transmission gear is meshed with the sheath rotating gear.
Preferably, the inner wall of the sheath hole of the sheath rotating gear is provided with two clamping grooves, the sheath tail of the working sheath is provided with two sheath positioning clamping blocks, and the two sheath positioning clamping blocks are respectively clamped into the clamping grooves of the sheath rotating gear correspondingly.
Preferably, the two clamping grooves of the sheath rotating gear are arranged on the inner wall of the sheath hole at an included angle smaller than 180 degrees.
Preferably, the included angle between the two clamping grooves of the sheath rotating gear is 90 degrees, and correspondingly, the included angle of the two sheath positioning clamping blocks on the sheath tail is also 90 degrees.
Preferably, the locking structure comprises a sheath locking trigger, a first bead ejecting groove and a second bead ejecting groove, the first bead ejecting groove and the second bead ejecting groove are formed in the outer peripheral wall of the working chuck of the instrument group, and the sheath locking trigger comprises a rotating part and a locking arm connected with the rotating part; the rotating part is rotatably arranged on the rear side of the working chuck of the instrument set, a through hole for the working sheath to pass through is formed in the rotating part, and two through grooves are formed in the inner wall of the through hole corresponding to the two sheath positioning clamping blocks of the working sheath; the free end of the locking arm is bent to be opposite to the first bead ejecting groove and the second bead ejecting groove of the peripheral wall of the working chuck of the instrument group, and the free end of the locking arm is provided with an elastic bead ejecting groove which can be clamped into the first bead ejecting groove and the second bead ejecting groove selectively.
Preferably, when the elastic top ball of the locking arm is clamped into the groove of the second top ball, the two through grooves of the sheath locking trigger are respectively aligned with the two clamping grooves of the sheath rotating gear, the sheath tail of the working sheath can be inserted into or drawn out of the through hole of the sheath locking trigger, and the sheath locking trigger is in a loosening state; when the locking arm is rotated, the elastic ejector bead is clamped into the first ejector bead groove, the two penetrating grooves of the sheath locking trigger and the two clamping grooves of the sheath rotating gear are staggered, the sheath tail of the working sheath cannot penetrate or be drawn out from the penetrating hole of the sheath locking trigger, and the sheath locking trigger is in a locking state.
Preferably, the first bead ejecting groove and the second bead ejecting groove are located above the right side of the outer peripheral wall of the working chuck of the instrument group, and locking and opening marks are arranged on the front sides of the first bead ejecting groove and the second bead ejecting groove.
Preferably, in the rotating process of the working sheath, when the rotating angle of the motor reaches a preset rotating angle, the control module controls the motor to stop working; the rotating speed of the motor is related to the real-time rotating torque fed back by the force feedback mechanism in a decreasing mode, the larger the fed-back real-time rotating torque is, the lower the speed is, and when the rotating angle of the motor does not reach the preset rotating angle but the fed-back real-time rotating torque exceeds the set maximum value of the rotating torque, the control module controls the motor to pause to stop rotating the working sheath, and the working sheath is observed through X-ray perspective.
Compared with the prior art, the working sheath rotating device for the percutaneous spinal endoscope robot adopts the motor to rotate and adjust the direction of the working sheath, the speed and the force can be controlled, the feedback is faster and more accurate, and the operation risk that the peripheral tissues are accidentally injured due to force deviation caused by experience and uneven force application during manual operation is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is an assembly schematic diagram of a working sheath rotating device for a percutaneous spinal endoscope robot in the invention.
Fig. 2 is a partial structural schematic view of the working sheath rotating device for the percutaneous spinal endoscope robot of the invention.
Fig. 3 is a schematic sectional view of the working sheath rotating device for the percutaneous spinal endoscope robot of the invention.
Fig. 4 is a schematic view of the tail of the working sheath before it is loaded into the sheath rotating gear.
Fig. 5 is an assembly view of the working sheath after it is fitted into the sheath rotating gear.
Fig. 6 is an enlarged view of a portion a in fig. 5.
Reference numerals: 1. a working sheath; 10. a sheath tail; 101. a sheath positioning fixture block; 2. an instrument set working chuck; 201. a sheath rotation gear; 202. a transfer gear; 203. a rotating gear; 204. a bearing; 205. locking and opening the identification; 207. a second top bead groove; 3. a motor dynamic torque sensor; 31. a sensor output shaft; 4. a motor; 41. an output shaft of the motor; 5. a sheath locking trigger; 51. a rotating part; 501. penetrating a groove; 510. perforating; 52. a locking arm; 8. a mounting seat; 81. and (7) mounting the plate.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 3, the working sheath rotating device for the percutaneous spinal endoscope robot of the present invention includes a working sheath 1, a mounting base 8, a locking structure, a rotating structure and a control module (not shown); the mounting seat 8 comprises a mounting plate 81 and an instrument group working chuck 2, the working sheath 1 is mounted on the instrument group working chuck 2, and the locking structure axially locks the working sheath 1; the rotating structure is arranged on the mounting seat 8 and comprises a motor 4, a force feedback mechanism and a transmission assembly, the input end of the force feedback mechanism is connected with the output end of the motor 4, the transmission assembly is connected between the output end of the force feedback mechanism and the working sheath 1, the driving force of the motor transmitted by the force feedback mechanism is transmitted to the working sheath 1, and the working sheath 1 is driven to rotate around a self central axis; the control module is electrically connected with the motor 4 and the force feedback mechanism respectively, and controls the start and stop of the motor 4 according to the preset rotation angle of the motor 4, the maximum value of the rotation torque and the real-time rotation torque fed back by the force feedback mechanism.
The invention is used for an endoscope robot, can remotely control the electric rotary working sheath 1, has more accurate force feedback function, and can be integrated at the tool end of the percutaneous spine endoscope robot to work together with other parts of the robot. Compared with the traditional working sheath which is manually rotated to adjust the direction, the direction of the working sheath is adjusted by rotating the motor, the speed and the force can be controlled, the feedback is faster and more accurate, and the operation risk that the peripheral tissues are accidentally injured due to force deviation generated in the rotating process due to experience and uneven force application during manual operation is avoided.
Specifically, the transmission assembly comprises a sheath rotating gear 201, a transmission gear 202 and a rotating gear 203 which are meshed in sequence. A through hole is formed in the instrument set working chuck 2, and the sheath rotating gear 201 is rotatably arranged in the through hole of the instrument set working chuck 2 through a bearing 204; a sheath hole is formed in the center of the sheath rotating gear 201, and a sheath tail 10 of the working sheath 1 is fixed in the sheath hole of the sheath rotating gear 201; the rotary gear 203 is connected to the output end of the force feedback mechanism, and the transmission gear 202 is located between the rotary gear 203 and the sheath rotary gear 201.
Specifically, the force feedback mechanism is a motor dynamic torque sensor 3, and the motor 4 and the motor dynamic torque sensor 3 are both fixed on the mounting plate 81 of the mounting base 8. The motor 4 is positioned behind the motor dynamic torque sensor 3, the motor output shaft 41 of the motor 4 is inserted into the input hole at the rear end of the motor dynamic torque sensor 3, the rotating gear 203 is positioned in front of the motor dynamic torque sensor 3, the rotating gear 203 is fixed on the sensor output shaft 31 at the front end of the motor dynamic torque sensor 3, the lower end of the transmission gear 202 is meshed with the rotating gear 203, and the upper end of the transmission gear 202 is meshed with the sheath rotating gear 201. When the motor 4 rotates, the force feedback mechanism drives the rotating gear 203 to rotate, and then drives the transmission gear 202 and the sheath rotating gear 201 to rotate, and the working sheath 1 is driven by the sheath tail 10 to rotate along with the sheath rotating gear 201.
Specifically, referring to fig. 4, the inner wall of the sheath hole of the sheath rotating gear 201 is provided with two clamping grooves (not shown), the sheath tail 10 of the working sheath 1 is provided with two sheath positioning clamping blocks 101, and the two sheath positioning clamping blocks 101 are respectively clamped into the clamping grooves of the sheath rotating gear 201 correspondingly, so as to realize the relative positioning of the working sheath 1 and the sheath rotating gear 201. In order to ensure that the working sheath 1 can be inserted at a predetermined angle, the two locking slots of the sheath rotating gear 201 of the present invention are not arranged oppositely at 180 degrees on the inner wall of the sheath hole, but have an included angle smaller than 180 degrees, preferably, the included angle between the two locking slots is 90 degrees, correspondingly, the included angle of the two sheath positioning locking blocks 101 on the sheath tail 10 is also 90 degrees. In this way, the working sheath 1 can be inserted into the sheath rotating gear 201 only at a single angle, and the initial installation angle of the working sheath 1 can be ensured to meet the requirement as long as the initial position of the sheath rotating gear 201 is controlled.
Specifically, referring to fig. 1 and fig. 4-6, the locking structure includes a sheath locking trigger 5, and a first bead recess and a second bead recess 207 disposed on the outer peripheral wall of the working cartridge 2 of the instrument set, wherein the sheath locking trigger 5 includes a rotating portion 51 and a locking arm 52 connected to the rotating portion 51; the rotating part 51 is rotatably arranged at the rear side of the working chuck 2 of the instrument set, the rotating part 51 is provided with a through hole 510 through which the working sheath 1 can pass, and the inner wall of the through hole 510 is provided with two through grooves 501 corresponding to the two sheath positioning fixture blocks 101 of the working sheath 1; the free end of locking arm 52 is relative with first top pearl recess, second top pearl recess 207 of the 2 periphery walls of apparatus group work chuck after buckling, and the free end of locking arm 52 is provided with the elasticity top pearl that first top pearl recess, second top pearl recess 207 were gone into to the alternative card: when the elastic top ball of the locking arm 52 is clamped into the second top ball groove 207, the two through grooves 501 of the sheath locking trigger 5 are respectively aligned with the two clamping grooves of the sheath rotating gear 201, the sheath tail 10 of the working sheath 1 can be inserted into or drawn out of the through hole 510 of the sheath locking trigger 5, and the sheath locking trigger 5 is in a loosening state; when the locking arm 52 is rotated to enable the elastic ball-top to be clamped into the first ball-top groove, the two through grooves 501 of the sheath locking trigger 5 are misaligned with the two clamping grooves of the sheath rotating gear 201 (although the sheath rotating gear 201 and the working sheath 1 can rotate, the rotation angle is limited to prevent the clamping grooves of the sheath rotating gear 201 from rotating to the position to align with the through grooves 501 of the sheath locking trigger 5), the sheath tail 10 of the working sheath 1 cannot penetrate or be drawn out from the through hole 510 of the sheath locking trigger 5, and the sheath locking trigger 5 is in a locking state. It can be seen that the axial locking of the working sheath 1 can be achieved by dialing the locking sheath trigger 5.
Specifically, for the convenience of use, first ball groove, second ball groove 207 are located the right side top of apparatus group work chuck 2 periphery wall, and have set up locking and open sign 205 in first ball groove, second ball groove 207 front side, effectively prevent the maloperation.
When the working sheath 1 is installed, firstly, the sheath locking trigger 5 is pulled to an unclamped state, the sheath body of the working sheath 1 penetrates through the through hole 510 of the sheath locking trigger 5 and the sheath hole of the sheath rotating gear 201, the sheath tail 10 penetrates through the through hole 510 of the sheath locking trigger 5 and then is clamped into the sheath hole of the sheath rotating gear 201, at the moment, the sheath locking trigger 5 is pulled to a locked state, the two through grooves 501 of the sheath locking trigger 5 are staggered with the two clamping grooves of the sheath rotating gear 201, the sheath tail 10 is locked and cannot be pulled out from the through hole 510 of the sheath locking trigger 5, and the installation of the working sheath 1 is completed.
The working sheath rotating device for the percutaneous spinal endoscope robot comprises the following use steps:
s1, clamping a working sheath 1 into a mechanical group working chuck 2, dialing a sheath locking trigger 5 according to a locking direction indicated by a locking and opening mark 205, clamping an elastic top bead on the sheath locking trigger 5 into a first top bead groove along with a click sound, and locking the axial position of the working sheath 1;
s2, setting the rotation angle, the rotation speed and the maximum value of the rotation torque of the motor on the robot, wherein the rotation speed and the real-time rotation torque are set in a correlation mode, gradually decreasing is adopted, namely the larger the fed-back real-time rotation torque is, the lower the speed is until the rotation is stopped, after the setting is finished, starting the motor 4, and driving the rotating gear 203 to sequentially drive the transmission gear 202 and the sheath rotating gear 201 to realize the rotation of the working sheath 1;
s3, in the rotating process, when the rotating angle of the motor 4 reaches a preset rotating angle, the control module controls the motor 4 to stop working; the rotating speed of the motor 4 is related to the real-time rotating torque fed back by the force feedback mechanism in a descending mode, the larger the fed-back real-time rotating torque is, the lower the speed is, when the rotating angle of the motor 4 does not reach the preset rotating angle but the fed-back real-time rotating torque exceeds the set rotating torque maximum value, the control module controls the motor 4 to pause to enable the working sheath 1 to stop rotating, and an operator can adjust the direction and the depth or enlarge the forming range to avoid tissue shielding or damage nerve tissue or increase the rotating torque maximum value according to conditions through technologies such as under a mirror or X-ray shooting and the like to enable the working sheath 1 to continue to rotate to the set angle position according to judgment;
s4, after the operation is finished, the sheath locking trigger 5 is pulled in the unlocking direction indicated by the locking and opening mark 205, the elastic bead on the sheath locking trigger 5 is clamped into the second bead pushing groove 207 along with the 'clicking', at the moment, the working sheath 1 is rotated to enable the two sheath positioning clamping blocks 101 to be aligned with the two through grooves 501 of the sheath locking trigger 5, and then the working sheath 1 can be pulled out.
The invention discloses a working sheath rotating device for a percutaneous spinal endoscope robot, which is arranged at the working end of the robot, the device is operated by a robot console, a control motor 4 drives a transmission assembly to realize the uniform rotation adjustment direction of a working sheath 1, a main arm of the robot realizes the depth control of the in-and-out of a tool end sheath, the motor 4 is provided with a power feedback mechanism when rotating, the rotating torque applied by the working sheath 1 during rotation is monitored in real time, the maximum value of the rotating torque can be set according to the tissue characteristics of a surgical part and clinical experiments, when the torque is too large when hard tissues or soft tissues are touched, the rotation of the working sheath 1 is stopped in time, and a prompt is given, the rotating speed can be automatically adjusted and set in a safe range according to the fed real-time rotating torque, an operator can adjust the direction and the depth or enlarge the forming range according to the real-time rotating torque feedback data to avoid the tissue shielding or avoid the nerve tissue damage, and simultaneously adjust the opening positions of the working sheath 1 and the sheath opening position for hemostasis and protecting the exposed important tissues in treatment.
It will be readily appreciated that the present invention is also applicable to other endoscopic surgical robotic systems of similar need, the surgical robot controlling both the rotational speed and the torque of the present invention being limited and monitored.
Compared with the prior art, the working sheath rotating device for the percutaneous spinal endoscope robot at least has the following advantages:
1) The working sheath rotating device is simple in structure, and compared with the traditional working sheath, the working sheath rotating device enables robot operation and manual operation to have the same function;
2) The working sheath rotating device provided by the invention replaces the traditional manual rotation with the motor rotating mode, avoids the risks of uneven force application, deviation of force application direction and the like of the traditional manual rotation, reduces the quality experience requirements of operators, and increases the safety factor of the working sheath rotating operation in the operation through dynamic force feedback monitoring;
3) The working sheath rotating device can preset or manually control the rotating angle and display the rotating angle in real time according to the image data in the operation, so that the most accurate rotating angle is ensured, and the rotating angle is prevented from being adjusted back and forth during manual rotation, so that the risks of bleeding and accidental injury of nervous tissues can be reduced;
4) The working sheath rotating device integrates the functions of dynamic force feedback and torque limitation, can dynamically monitor the rotating torque in the rotating process, and can provide experience data for clinic;
5) The working sheath rotating device can set the maximum value of the rotating moment in advance according to clinical experience and requirements, and when soft and hard tissues with different properties are encountered, the tissue characteristics can be judged according to the speed of rapid increase of the moment (namely the moment feedback slope angle) and corresponding feedback adjustment is implemented, so that the judgment of an operator is assisted, and the risk of manual operation is greatly reduced or avoided.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (7)
1. A working sheath rotating device for a percutaneous spinal endoscope robot comprises a working sheath (1), a mounting seat (8) and a locking structure; the mounting seat (8) comprises a mounting plate (81) and an instrument group working chuck (2), the working sheath (1) is mounted on the instrument group working chuck (2), and the locking structure axially locks the working sheath (1);
it is characterized in that, percutaneous spinal endoscope robot still includes with work sheath rotary device:
the rotating structure is arranged on the mounting seat (8) and comprises a motor (4), a force feedback mechanism and a transmission assembly, the input end of the force feedback mechanism is connected with the output end of the motor (4), the transmission assembly is connected between the output end of the force feedback mechanism and the working sheath (1), the driving force of the motor transmitted by the force feedback mechanism is transmitted to the working sheath (1), and the working sheath (1) is driven to rotate around a self central axis;
the control module is electrically connected with the motor (4) and the force feedback mechanism respectively, and controls the starting and stopping of the motor (4) according to the preset rotation angle and the maximum value of the rotation moment of the motor (4) and the real-time rotation moment fed back by the force feedback mechanism;
the transmission assembly comprises a sheath rotating gear (201), a transmission gear (202) and a rotating gear (203) which are meshed in sequence; a through hole is formed in the instrument set working chuck (2), and a sheath rotating gear (201) is rotatably arranged in the through hole of the instrument set working chuck (2) through a bearing (204); a sheath hole is formed in the center of the sheath rotating gear (201), and a sheath tail (10) of the working sheath (1) is fixed in the sheath hole of the sheath rotating gear (201); the rotating gear (203) is connected with the output end of the force feedback mechanism, and the transmission gear (202) is positioned between the rotating gear (203) and the sheath rotating gear (201); the inner wall of a sheath hole of the sheath rotating gear (201) is provided with two clamping grooves, the sheath tail (10) of the working sheath (1) is provided with two sheath positioning clamping blocks (101), and the two sheath positioning clamping blocks (101) are respectively clamped into the clamping grooves of the sheath rotating gear (201) correspondingly;
the locking structure comprises a sheath locking trigger (5), a first bead ejecting groove and a second bead ejecting groove (207), wherein the first bead ejecting groove and the second bead ejecting groove are formed in the outer peripheral wall of the working chuck (2) of the instrument set, and the sheath locking trigger (5) comprises a rotating part (51) and a locking arm (52) connected with the rotating part (51); the rotating part (51) is rotatably arranged on the rear side of the working chuck (2) of the instrument set, a through hole (510) for the working sheath (1) to pass through is formed in the rotating part (51), and two through grooves (501) are formed in the inner wall of the through hole (510) corresponding to the two sheath positioning fixture blocks (101) of the working sheath (1); the free end of the locking arm (52) is bent to be opposite to a first bead pushing groove and a second bead pushing groove (207) of the outer peripheral wall of the instrument group working chuck (2), and the free end of the locking arm (52) is provided with an elastic bead pushing groove which can be selectively clamped into the first bead pushing groove and the second bead pushing groove (207).
2. The working sheath rotating apparatus for a percutaneous spine endoscope robot according to claim 1, characterized in that: the force feedback mechanism is a motor dynamic torque sensor (3), and the motor (4) and the motor dynamic torque sensor (3) are both fixed on a mounting plate (81) of the mounting base (8); the motor (4) is located behind the motor dynamic torque sensor (3), a motor output shaft (41) of the motor (4) is inserted into an input hole in the rear end of the motor dynamic torque sensor (3), the rotating gear (203) is located in front of the motor dynamic torque sensor (3), the rotating gear (203) is fixed on a sensor output shaft (31) in the front end of the motor dynamic torque sensor (3), the lower end of the transmission gear (202) is meshed with the rotating gear (203), and the upper end of the transmission gear (202) is meshed with the sheath rotating gear (201).
3. The working sheath rotating apparatus for a percutaneous spine endoscope robot according to claim 1, characterized in that: two clamping grooves of the sheath rotating gear (201) are arranged on the inner wall of the sheath hole in an included angle smaller than 180 degrees.
4. The working sheath rotating apparatus for a percutaneous spine endoscope robot according to claim 1, characterized in that: the included angle between the two clamping grooves of the sheath rotating gear (201) is 90 degrees, and correspondingly, the included angle of the two sheath positioning clamping blocks (101) on the sheath tail (10) is also 90 degrees.
5. The working sheath rotating apparatus for a percutaneous spine endoscope robot according to claim 1, characterized in that: when the elastic ball top of the locking arm (52) is clamped into the second ball top groove (207), two penetrating grooves (501) of the sheath locking trigger (5) are respectively aligned with two clamping grooves of the sheath rotating gear (201), the sheath tail (10) of the working sheath (1) can penetrate into or be drawn out of a penetrating hole (510) of the sheath locking trigger (5), and the sheath locking trigger (5) is in a loosening state; when the locking arm (52) is rotated to enable the elastic ejector bead to be clamped into the groove of the first ejector bead, the two through grooves (501) of the sheath locking trigger (5) and the two clamping grooves of the sheath rotating gear (201) are staggered, the sheath tail (10) of the working sheath (1) cannot penetrate or be drawn out from the through hole (510) of the sheath locking trigger (5), and the sheath locking trigger (5) is in a locking state.
6. The working sheath rotating apparatus for a percutaneous spine endoscope robot according to claim 1, characterized in that: first ball recess, second ball recess (207) are located the right side top of apparatus group work chuck (2) periphery wall, and have set up locking and open sign (205) in first ball recess, second ball recess (207) front side.
7. The working sheath rotating apparatus for a percutaneous spine endoscope robot according to claim 1, characterized in that: in the rotating process of the working sheath (1), when the rotating angle of the motor (4) reaches a preset rotating angle, the control module controls the motor (4) to stop working; the rotating speed of the motor (4) is related to the real-time rotating torque fed back by the force feedback mechanism in a descending mode, the larger the fed-back real-time rotating torque is, the lower the speed is, and when the rotating angle of the motor (4) does not reach the preset rotating angle but the fed-back real-time rotating torque exceeds the set maximum value of the rotating torque, the control module controls the motor (4) to pause to enable the working sheath (1) to stop rotating, and the working sheath is observed through X-ray perspective.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210958261.9A CN115024824B (en) | 2022-08-11 | 2022-08-11 | Working sheath rotating device for percutaneous spinal endoscope robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN115177368B (en) * | 2022-09-13 | 2022-11-18 | 珠海康弘医疗科技有限公司 | Percutaneous spinal endoscope robot endoscope depth locking and adjusting device |
| CN116058962A (en) * | 2023-02-23 | 2023-05-05 | 之江实验室 | Rotating mechanism and surgical robot |
| CN117257467B (en) * | 2023-11-16 | 2024-02-06 | 北京云力境安科技有限公司 | Endoscope operation force determination device, computer device and readable storage medium |
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| CN106880403A (en) * | 2015-12-16 | 2017-06-23 | 徐�明 | A kind of high efficiency spine operation apparatus robot |
| CN108492657A (en) * | 2018-03-20 | 2018-09-04 | 天津工业大学 | A kind of mixed reality simulation system for being trained before temporal bone surgery |
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| CN216364976U (en) * | 2021-11-12 | 2022-04-26 | 深圳市精锋医疗科技股份有限公司 | Endoscope, surgical instrument operation arm and surgical robot |
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| JP6777694B2 (en) * | 2018-08-28 | 2020-10-28 | 株式会社メディカロイド | Endoscope adapter |
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| CN111315312A (en) * | 2018-01-04 | 2020-06-19 | 柯惠Lp公司 | Robotic surgical system including torque sensor |
| CN108492657A (en) * | 2018-03-20 | 2018-09-04 | 天津工业大学 | A kind of mixed reality simulation system for being trained before temporal bone surgery |
| CN216317970U (en) * | 2021-10-20 | 2022-04-19 | 敏捷医疗科技(苏州)有限公司 | Surgical robot and endoscope rotation adjusting device for surgical robot |
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