Robot-assisted surgery surgical drill instrument with force sensing function

A robot-assisted, six-dimensional force sensor technology, applied in the field of surgical drills, can solve the problems of stability and position accuracy difficult for doctors to achieve better surgical results, high transmission precision, and compact structure

Inactive Publication Date: 2016-05-11
TIANJIN POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In the traditional operation process, the doctor drills the cochlea. Due to factors such as the internal motor rotation of the surgical d...

Method used

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  • Robot-assisted surgery surgical drill instrument with force sensing function
  • Robot-assisted surgery surgical drill instrument with force sensing function
  • Robot-assisted surgery surgical drill instrument with force sensing function

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with specific embodiments.

[0025] figure 1 It is a schematic diagram of the overall structure of the surgical drill instrument with force sensing function for robot-assisted surgery of the present invention, which includes an end effector part 1 , a pitch-yaw part 2 and an autorotation part 3 . The surgical instrument has three degrees of freedom: pitch freedom R1, yaw freedom R2 and rotation freedom R3. Solve the problem of sensing the contact force of the surgical drill during the operation, inaccurate positioning of the artificial operation, unstable operation, and easy damage to the facial nerve and tissue.

[0026] figure 2 Schematic diagram of the installation and implementation of the surgical drill with force sensing function of the present invention. The surgical drill of the present invention can be installed on the quick-change interface. For details of the quick-change interface, see...

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Abstract

The invention discloses a robot-assisted surgery surgical drill instrument with a force sensing function. The surgical drill instrument comprises a tail end executer part, a deflection-pitching part and an autoroatation part, wherein the tail end executer consists of a six-dimensional force sensor, a drill connecting element, a pitching connecting element, a surgery drill and a middle connecting shaft, and is used for realizing hole drilling and force sensing functions; the deflection-pitching part consists of a pitching shaft, a middle support body, a deflection driving wheel, a deflection shaft and a transmission wheel, and is used for completing the pitching and deflection freedom; and the autoroatation part consists of an autoroatation shaft and a carbon fiber pipe, and is used for realizing the autoroatation freedom. The surgical drill instrument provided by the invention has the advantages that cable transmission is used, so that the long-distance transmission can be realized; the return difference is eliminated through proper pre-tightening; the operation space is large; the transmission precision is high; the moving stability is high; and the drill tail end force and moment can be sensed.

Description

technical field [0001] The invention relates to a surgical drilling instrument, in particular to a surgical drilling instrument with force sensing function for robot-assisted surgical cochlear implantation. Background technique [0002] In recent years, with the continuous development of robotics and surgical techniques, robots used to assist surgical operations have gradually entered people's field of vision. Compared with traditional surgery, robot-operated surgery has the advantages of high sensitivity, precise positioning and smooth movement. Therefore, robots for assisting surgical operations have broad application prospects. [0003] The tissue structure of the cochlea is tiny and complex, full of nerves, muscles, cartilage and other structures. In traditional surgery, during the process of cochlear implantation, the force and torque of the drill bit on each tissue are different, but it is difficult for the human body to perceive the small changes in the contact forc...

Claims

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Application Information

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IPC IPC(8): A61B17/16A61B34/30A61F11/00
CPCA61B17/1655A61B17/1679A61F11/20
Inventor 桑宏强张文刚周莹葛根李博张鑫贵李灿
Owner TIANJIN POLYTECHNIC UNIV
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