Bone grinding robot, and vertebral plate surgical robot control system and method

Abstract

The invention discloses a bone grinding robot which comprises a bone drill for grinding a focal bone, a mechanical arm for driving the bone drill to move, a multi-dimensional force sensor for collecting acting force generated by the bone drill during grinding of the focal bone, and a robot controller, wherein the bone drill, the mechanical arm and the multi-dimensional force sensor are electrically connected to the robot controller respectively; the robot controller is used for decomposing the acting force collected by the multi-dimensional sensor into tangential force along the tangent plane of the focal bone and axial force along the axis of the bone drill, controlling the moving posture of the mechanical arm so as to keep the tangential force at a preset value, and obtaining a grinding depth position of the bone drill for the focal bone according to a force value of the axial force. According to the bone grinding robot, the calculation processing process can be simplified, and the grinding depth can be judged, so that the surgical precision is improved, and the surgical accuracy and safety are improved.

Description

technical field [0001] The invention relates to laminar grinding operation equipment, in particular to a bone grinding robot, a control system and method for a vertebral laminar grinding surgical robot. Background technique [0002] Laminar decompression surgery, which expands the space to release compressed spinal nerves and restore their function, has been widely used to treat patients with lumbar disc herniation and lumbar spinal stenosis. The key to the success of decompressive laminectomy lies in how to ensure the appropriate residual laminar volume. Too small residual lamina may damage the spinal nerves in the spinal canal, while too large can not achieve the effect of spinal nerve decompression. During the operation, doctors need to complete multiple operations in a small space for a long time, so it is difficult for ordinary doctors to perform. Moreover, due to the special position of the lamina, decompression of the lamina requires very high precision and safety. ...

AI Technical Summary

Problems solved by technology

[0005] It can be seen that the existing laminar grinding surgery equipment generally has complex systems, low surgical precision, and lack of automatic control performance, which makes the doctor's work intensity high. At the same time, it is difficult to determine the grinding position of the bone drill in the bone. Therefore, the accuracy and safety of the operation cannot be guaranteed

Images