A two-stage stabilizing device at the end of a robotic arm for craniotomy

Abstract

The invention relates to a mechanical arm end two-section-type stabilizing device for craniotomy. The device comprises a fixing module, a first-stage cushioning module and a second-stage cushioning module, the fixing module comprises a fixing frame and an L-shaped connecting plate, the fixing frame comprises a first horizontal plate, a second horizontal plate and a vertical plate, the two ends ofthe vertical plate are connected to the edges of the same sides of the first horizontal plate and the second horizontal plate respectively, one end of the L-shaped connecting plate is connected to thevertical plate, and the other end is connected to an end joint of a mechanical arm; and the second-stage cushioning module comprises a lower supporting plate and two cushioning units, each cushioningunit comprises a guide rod, a cushioning spring and a limiting unit, the first-stage cushioning module comprises two supporting leg units, and each supporting leg unit comprises a supporting pipe, asupporting leg spring, a sliding block and a supporting rod. Compared with the prior art, the device has the effects of buffering and protecting two times of drilling and milling force sudden changes,guiding the track of the end of a drilling and milling cutter, relieving the holding strength of a doctor on instruments an operation and preventing stall instability.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a two-stage stabilizing device at the end of a mechanical arm for craniotomy. Background technique [0002] Craniotomy is the most common surgical procedure in neurosurgery. In traditional craniotomy, the surgeon holds a cranial drill / cranial milling instrument to open a bone window on the patient's skull that is similar in shape and size to the tumor, and removes the tumor with the help of microscopic technology. In the traditional skull drilling and milling process, the doctor completely relies on his own strength to hold the drilling and milling instrument with his hands, and put the end of the milling cutter against the inner surface of the patient's skull to separate the dura mater from the skull surface while ensuring the drilling and milling accuracy. [0003] From the above operation process, we can see that the traditional craniotomy has problems such as high su...

AI Technical Summary

Problems solved by technology

[0004] However, regardless of the traditional craniotomy or the craniotomy connected with a robotic arm, due to the differences in the individual physique, age, and gender of the patients, the individual skull bone tissue of the patient has the characteristics of irregular structure and uneven mechanical characteristics of drilling and milling. During the craniotomy, when the milling cutter is in contact with the skull, sudden changes in the milling force are prone to occur, resulting in milling cutter stall and system instability, which may affect the accuracy and quality of the operation in the slightest, and endanger the safety of the patient in severe cases.

Images