A robotic end effector in anterior cruciate ligament reconstruction

Abstract

The invention discloses an end effector of a robot in anterior cruciate ligament reconstruction. The end effector comprises a linear feed movement component, an operating force measurement component, an electric drill component and a visual feedback component, wherein the linear feed movement component is positioned at the bottom of the end effector; the visual feedback component is connected with the linear feed movement component through screws; the electric drill component is positioned inside the visual feedback component and is connected with the visual feedback component through the operating force measurement component as well as an upper end cover (19) and a lower end cover (16) of an electric drill clamper of the electric drill component; the operating force measurement component is positioned inside the visual feedback component and is connected with the surface of a platform of a lead screw nut part (7) in the linear feed motion component through screws. The end effector disclosed by the invention can finish automatic feed of drilling and accurate control over a pulling force and assist a doctor in finishing surgical operation, so that a surgical effect and safety are improved.

Description

technical field [0001] The invention relates to a robot end effector in anterior cruciate ligament reconstruction, belonging to the field of surgical medical instruments. Background technique [0002] In traditional arthroscopic ACL reconstruction, the doctor drills holes in the tibia and femur with a hand-held electric drill, and then fixes the ligament graft in the tunnel hole with a certain pretension. The location and strength of drilling depend on the doctor's operating experience, which is difficult to accurately grasp. The force change of the drill bit during operation directly reflects the interaction state between the electric drill and bone tissue. Improper drilling can cause damage to soft tissues such as nerves and blood vessels, which can lead to serious consequences. In addition, the pretension of the ligament graft also has an important impact on the stability of the knee joint: if no pretension is applied, the postoperative ligament strength will decrease by...

AI Technical Summary

Problems solved by technology

Drilling position and strength are dependent on the doctor's operating experience, it is difficult to accurately grasp

The force change of the drill bit during operation directly reflects the interaction state between the electric drill and bone tissue. Improper drilling can cause damage to soft tissues such as nerves and blood vessels, which can lead to serious consequences.

In addition, the pretension of the ligament graft also has an important impact on the stability of the knee joint: if no pretension is applied, the postoperative ligament strength will decrease by about 30%; if the pretension is too low, the joint stability will decrease; High, will cause ROM (joint range of motion) to decrease

[0003] Due to the uneven level of doctors, if the operation is slightly improper, it will affect the effect of the operation

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