A self-aiming orthopedic surgical device, orthopedic surgical system, and methods of use

Abstract

The application discloses a self-aiming orthopedic surgery device, an orthopedic surgery system and a use method, relates to the technical field of medical instruments, and comprises an executing mechanism and a posture adjusting mechanism. The executing mechanism is used for executing a bone drilling operation. The posture adjusting mechanism comprises a base, at least three motion branches and a mounting platform. The base is used for being held by an operator or being integrated into a surgical robot. The mounting platform is used for mounting the executing mechanism. The mounting platform is connected with the base through the motion branches. The motion branches can move along preset trajectories to drive the mounting platform and the executing mechanism to realize at least pitch angle adjustment, yaw angle adjustment and linear feeding operation. The application has the advantages of simple structure, convenient use, reduced surgery risk and improved surgery efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a self-aiming orthopedic surgical device, orthopedic surgical system, and method of use. Background Technology

[0002] Orthopedic surgery accounts for a large proportion of clinical surgeries. In orthopedic trauma, spinal and joint surgeries, bone drilling is very common. The accuracy of the drilling position and angle plays a key role in the success of the surgery and the patient's postoperative functional recovery.

[0003] However, traditional orthopedic surgical drills have revealed many problems in clinical application:

[0004] 1. Highly dependent on surgeon's experience and touch, making precision difficult to guarantee: Current surgical drilling primarily relies on the surgeon's freehand operation. During the procedure, repeated fluoroscopy is used to obtain two-dimensional images, and then spatial imagination and clinical experience are used to estimate and adjust the ideal path of the drill bit in three-dimensional space. This method is highly subjective and lacks stability. Even slight tremors in the surgeon's hand or visual interpretation errors can easily cause the drilling path to deviate from the intended position. Especially when dealing with complex anatomical areas such as the cervical spine and pedicles, which are adjacent to important nerves and blood vessels, even minor deviations can lead to serious complications such as nerve damage and bleeding.

[0005] 2. Low surgical efficiency and long operation time: Frequent fluoroscopy, positioning, and adjustment steps significantly prolong the operation time, which not only increases the anesthesia risk for patients but also increases the occupancy rate of critical medical resources such as the operating room. For example, in the operation of the distal keyhole of the intramedullary nail, accurately aligning a channel that cannot be directly viewed can take tens of minutes, becoming a bottleneck in the entire surgical procedure.

[0006] Therefore, there is an urgent need for a handheld orthopedic surgical device that can achieve precise self-aiming, reduce the difficulty of operation, and improve surgical efficiency, in order to solve the problems of traditional surgical drills that rely on experience, lack precision, and have excessively long operation times. Summary of the Invention

[0007] The purpose of this invention is to provide a self-aiming orthopedic surgical device, orthopedic surgical system, and method of use to solve the problems existing in the prior art. It has a simple structure, is easy to use, effectively reduces surgical risks, and effectively improves surgical efficiency.

[0008] To achieve the above objectives, the present invention provides the following solution:

[0009] This invention provides a self-aiming orthopedic surgical device, comprising: an actuator and a posture adjustment mechanism. The actuator is used to perform bone drilling operations. The posture adjustment mechanism includes a base, at least three motion chains, and a mounting platform. The base is used for an operator to hold or integrate with a surgical robot. The mounting platform is used to mount the actuator, and the mounting platform is connected to the base through each of the motion chains. Each of the motion chains can move along a preset trajectory to drive the mounting platform and the actuator to perform at least pitch angle adjustment, yaw angle adjustment, and linear feed operations.

[0010] Preferably, the attitude adjustment mechanism includes three motion branches, two of which constitute a PRR-RRP branch and the other constitute a PU branch. The PRR-RRP branch is used to drive the mounting platform to adjust the yaw angle, and the PU branch is used to drive the mounting platform to adjust the pitch angle. The PRR-RRP branch and the PU branch move synchronously to achieve linear feed of the mounting platform.

[0011] Preferably, the PRR-RRP branch includes a first linear drive unit, a first slide plate, a first hinge seat, a first hinge rod, a second hinge seat, a second linear drive unit, a second slide plate, a third hinge seat, a second hinge rod, a fourth hinge seat, a fifth hinge seat, a third hinge rod, and a sixth hinge seat. The first linear drive unit and the second linear drive unit are respectively mounted on both sides of the base. The first slide plate is slidably connected to the base. The output end of the first linear drive unit is fixed to the first slide plate to drive the first slide plate to slide along a preset trajectory. The second slide plate is slidably connected to the base. The output end of the second linear drive unit is fixed to the second slide plate to drive the second slide plate to slide along a preset trajectory. The first hinge seat is mounted on the... The third hinge seat is mounted on the second hinge seat on the first sliding plate. The second, fourth, and fifth hinge seats are integrally fixedly connected. The rotation axes of the first, second, third, and fourth hinge seats are arranged parallel to each other. One end of the first hinge rod is hinged to the first hinge seat and the other end is hinged to the second hinge seat. One end of the second hinge rod is hinged to the third hinge seat and the other end is hinged to the fourth hinge seat. The fifth hinge seat is arranged perpendicular to the rotation axis of the second hinge seat. The sixth hinge seat is mounted on the mounting platform and is arranged parallel to the rotation axis of the fifth hinge seat. One end of the third hinge rod is hinged to the fifth hinge seat and the other end is hinged to the sixth hinge seat.

[0012] Preferably, the PU branch includes a third linear drive unit, a third slide plate, a seventh hinge seat, and a universal joint connecting block. The third slide plate is slidably connected to the base. The output end of the third linear drive unit is fixed to the third slide plate to drive the third slide plate to slide along a preset trajectory. The seventh hinge seat is installed at one end of the third slide plate and is universally connected to the mounting platform through the universal joint connecting block to accommodate the attitude changes of the mounting platform during pitch and yaw angle adjustments.

[0013] Preferably, the first linear drive unit, the second linear drive unit, and the third linear drive unit are electric actuators, linear motors, or ball screw modules.

[0014] Preferably, the actuator includes a rotary motor, a quick-change chuck, and a surgical drill. The rotary motor is mounted on the side of the mounting platform away from the base. The quick-change chuck is connected to the output shaft of the rotary motor. The surgical drill is detachably mounted inside the quick-change chuck. The rotary motor can drive the quick-change chuck and the surgical drill to rotate synchronously to perform bone drilling operations.

[0015] Preferably, the device also includes a grip handle and a power bank. The grip handle is fixedly connected to the base, and the surface of the grip handle is provided with anti-slip texture. The power bank is installed at the end of the grip handle away from the base. The power bank is electrically connected to the actuator and the attitude adjustment mechanism to provide working power to the actuator and the attitude adjustment mechanism. The grip handle is provided with a switch button, an aiming function trigger button, and an emergency stop button. The switch button is used to connect to the actuator with an electrical signal to control its start and stop. The aiming function trigger button is used to connect to the attitude adjustment mechanism with an electrical signal to activate the self-aiming mode. The emergency stop button is connected to the power bank with an electrical signal to cut off the overall power supply to the device.

[0016] Preferably, the system further includes a control unit and a pose sensing unit. The control unit is electrically connected to the pose sensing unit, the attitude adjustment mechanism, and the actuator, respectively. The pose sensing unit is used to collect the current position coordinates and attitude angle information of the installation platform in real time and feed the collected data back to the control unit in real time. The control unit has pre-stored the surgical planning path and target drilling pose parameters. When the self-aiming mode is triggered, the control unit can receive the current pose information fed back by the pose sensing unit, compare and analyze it with the target drilling pose parameters, calculate the pose adjustment deviation, and then send a control command to the attitude adjustment mechanism to drive the motion chains to move in coordination, so that the pose of the installation platform and the actuator gradually approaches the target value, thereby achieving automatic aiming and positioning.

[0017] The present invention also provides an orthopedic surgical system, including the self-aiming orthopedic surgical device as described in any of the preceding claims, and a preoperative planning mechanism for generating surgical planning paths and target drilling pose parameters.

[0018] The present invention also provides a method of using the self-aiming orthopedic surgical device as described in any of the preceding claims, comprising the following steps:

[0019] Preoperative planning steps: Based on the patient's medical imaging data, plan the target drilling path and determine the target drilling pose parameters;

[0020] Equipment initialization steps: Install the actuator onto the mounting platform and hold the self-aiming orthopedic surgical device;

[0021] Self-aiming activation step: Trigger the aiming function to enable the control unit of the attitude adjustment mechanism to enter the self-aiming mode; The control unit obtains the current pose information of the installation platform fed back in real time by the pose sensing unit, compares it with the target drilling pose parameters, and generates a pose adjustment command;

[0022] Automatic adjustment steps: The attitude adjustment mechanism drives each of the motion chains to move in coordination according to the attitude adjustment command, so that the installation platform and the actuator automatically adjust the pitch angle, yaw angle and linear feed until the deviation between the attitude of the actuator and the target attitude is within a preset threshold, thus completing automatic aiming and positioning.

[0023] Drilling steps: After aiming and positioning are completed, the actuator is activated to drive the surgical drill to rotate and perform bone drilling operations along the aligned path;

[0024] Safety monitoring steps: During the automatic adjustment step and the drilling step, the equipment status and patient physiological signals are monitored in real time. If any abnormality occurs, an emergency stop mechanism is triggered to stop all movement.

[0025] The present invention achieves the following technical effects compared to the prior art:

[0026] This invention provides a self-aiming orthopedic surgical device, an orthopedic surgical system, and a method of use. Through the multi-motion chain design of the posture adjustment mechanism, the actuator can be precisely adjusted in multiple dimensions, laying the foundation for high-precision bone drilling operations. In addition, the motion chains can move along a preset trajectory to achieve automatic aiming, greatly reducing the difficulty of the doctor's operation, reducing reliance on the doctor's experience and feel, and reducing interference caused by the doctor's hand tremors, thereby improving the success rate of surgery and effectively improving surgical efficiency. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the self-aiming orthopedic surgical device provided by the present invention;

[0029] Figure 2 This is a front view of the self-aiming orthopedic surgical device provided by the present invention;

[0030] Figure 3 This is a schematic diagram of the posture adjustment mechanism in the self-aiming orthopedic surgical device provided by the present invention.

[0031] Figure 4 A simplified diagram illustrating the posture adjustment mechanism in the self-aiming orthopedic surgical device provided by this invention;

[0032] In the diagram: 1. Actuator; 11. Surgical drill; 12. Rotary motor; 13. Quick-change chuck; 2. Posture adjustment mechanism; 21. Base; 22. Motion chain; 23. Mounting platform; 24. First linear drive unit; 25. First slide plate; 26. First hinge seat; 27. First hinge rod; 28. Second hinge seat; 29. ​​Fourth hinge seat; 210. Fifth hinge seat; 211. Third hinge rod; 212. Sixth hinge seat; 213. Seventh hinge seat; 214. Universal joint connecting block; 215. Second linear drive unit; 216. Third linear drive unit; 3. Grip handle; 31. Switch button; 32. Aiming function trigger button; 33. Emergency stop button; 4. Power supply. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] The purpose of this invention is to provide a self-aiming orthopedic surgical device, orthopedic surgical system, and method of use to solve the problems existing in the prior art. It has a simple structure, is easy to use, effectively reduces surgical risks, and effectively improves surgical efficiency.

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Example 1

[0037] This embodiment provides a self-aiming orthopedic surgical device, as shown in Figures 1-4, including: an actuator 1 and a posture adjustment mechanism 2. The actuator 1 is used to perform bone drilling operations. The posture adjustment mechanism 2 includes a base 21, at least three motion chains 22, and a mounting platform 23. The base 21 is used for the operator to hold or integrate it into the surgical robot. The mounting platform 23 is used to mount the actuator 1, and the mounting platform 23 is connected to the base 21 through each motion chain 22. Each motion chain 22 can move along a preset trajectory to drive the mounting platform 23 and the actuator 1 to achieve at least pitch angle adjustment, yaw angle adjustment, and linear feed operations. The structural design clearly defines the two core components of the device and their functions. Through the multi-motion chain 22 design of the posture adjustment mechanism 2, the actuator 1 can be precisely adjusted in multiple dimensions, laying the foundation for achieving high-precision bone drilling operations and meeting the needs of multi-angle and multi-directional precise control of the drill bit in orthopedic surgery.

[0038] In a preferred embodiment, the attitude adjustment mechanism 2 includes three motion chains 22. Two of these chains form a PRR-RRP chain, and the third forms a PU chain. The PRR-RRP chain drives the mounting platform 23 to adjust the yaw angle, while the PU chain drives the mounting platform 23 to adjust the pitch angle. The PRR-RRP and PU chains move synchronously to achieve linear feed of the mounting platform 23. This specific chain combination design distributes different motion functions to different chains, enabling the attitude adjustment mechanism 2 to separately and collaboratively achieve the three key motions: yaw, pitch, and linear feed. This clearly defined division of labor improves the accuracy and efficiency of attitude adjustment, allowing the actuator 1 to be guided more accurately to the target position and angle, meeting the operational requirements of complex orthopedic surgeries.

[0039] In a preferred embodiment, the PRR-RRP branch includes a first linear drive unit 24, a first slide plate 25, a first hinge seat 26, a first hinge rod 27, a second hinge seat 28, a second linear drive unit 215, a second slide plate, a third hinge seat, a second hinge rod, a fourth hinge seat 29, a fifth hinge seat 210, a third hinge rod 211, and a sixth hinge seat 212. The first linear drive unit 24 and the second linear drive unit 215 are respectively mounted on both sides of the base 21. The first slide plate 25 is slidably connected to the base 21. The output end of the first linear drive unit 24 is fixed to the first slide plate 25 to drive the first slide plate 25 to slide along a preset trajectory. The second slide plate is slidably connected to the base 21. The output end of the second linear drive unit 215 is fixed to the second slide plate to drive the second slide plate to slide along a preset trajectory. The first hinge seat 26 is mounted on the first slide plate. On 25, the third hinge seat is installed on the second slide plate. The second hinge seat 28, the fourth hinge seat 29, and the fifth hinge seat 210 are integrally fixedly connected. The rotation axes of the first hinge seat 26, the second hinge seat 28, the third hinge seat, and the fourth hinge seat 29 are arranged parallel to each other. One end of the first hinge rod 27 is hinged to the first hinge seat 26, and the other end is hinged to the second hinge seat 28. One end of the second hinge rod is hinged to the third hinge seat, and the other end is hinged to the fourth hinge seat 29. The fifth hinge seat 210 is arranged perpendicular to the rotation axis of the second hinge seat 28. The sixth hinge seat 212 is installed on the mounting platform 23 and is arranged parallel to the rotation axis of the fifth hinge seat 210. One end of the third hinge rod 211 is hinged to the fifth hinge seat 210, and the other end is hinged to the sixth hinge seat 212. The detailed description of the PRR-RRP branch structure clarifies the connection relationship and movement mode of each component. This precise structural design ensures the accuracy and stability of the yaw angle adjustment. Through the coordinated work of the linear drive unit and the articulated structure, the angle change of the mounting platform 23 in the horizontal direction can be precisely controlled, thereby improving the accuracy of surgical drilling and reducing the surgical risks caused by angle deviation.

[0040] In a preferred embodiment, the PU branch includes a third linear drive unit 216, a third slide plate, a seventh hinge seat 213, and a universal joint connecting block 214. The third slide plate is slidably connected to the base 21. The output end of the third linear drive unit 216 is fixed to the third slide plate to drive it to slide along a preset trajectory. The seventh hinge seat 213 is installed at one end of the third slide plate and is universally connected to the mounting platform 23 via the universal joint connecting block 214 to accommodate the attitude changes of the mounting platform 23 during pitch and yaw angle adjustments. This detailed explanation of the PU branch structure highlights its role in achieving pitch angle adjustment and accommodating overall attitude changes. The design of the universal joint connecting block 214 allows the mounting platform 23 to flexibly adapt to different attitude requirements during pitch adjustment. Simultaneously, by working in conjunction with other branches, it further enhances the coordination and stability of the attitude adjustment mechanism 2 during multi-dimensional movement, contributing to improved accuracy of surgical procedures. In addition, the first linear drive unit 24, the second linear drive unit 215 and the third linear drive unit 216, which are set in parallel, have the characteristics of high rigidity and high feed force, which effectively improves the end accuracy and drilling reliability, making the drilling operation more precise and reducing the surgical risk.

[0041] In a preferred embodiment, the first linear drive unit 24, the second linear drive unit 215, and the third linear drive unit 216 are electric actuators, linear motors, or ball screw modules, providing multiple optional types of linear drive units. This increases the flexibility of equipment design, allowing doctors and engineers to select the most suitable drive unit based on actual surgical needs, costs, and equipment performance requirements, thereby optimizing the overall performance of the equipment and meeting the needs of different clinical scenarios.

[0042] In a preferred embodiment, the actuator 1 includes a rotary motor 12, a quick-change chuck 13, and a surgical drill 11. The rotary motor 12 is mounted on the side of the mounting platform 23 opposite to the base 21. The quick-change chuck 13 is connected to the output shaft of the rotary motor 12. The surgical drill 11 is detachably mounted within the quick-change chuck 13. The rotary motor 12 drives the quick-change chuck 13 and the surgical drill 11 to rotate synchronously to perform bone drilling operations. The composition and working principle of the actuator 1 are clearly described. The quick-change chuck 13 facilitates the rapid replacement of the surgical drill 11 to adapt to different surgical needs. The rotary motor 12 provides stable power, ensuring that the surgical drill 11 can perform bone drilling operations efficiently and accurately, improving surgical efficiency and quality.

[0043] In a preferred embodiment, the device further includes a grip handle 3 and a power supply 4. The grip handle 3 is fixedly connected to the base 21, and its surface is provided with anti-slip texture. The power supply 4 is installed at the end of the grip handle 3 away from the base 21. The power supply 4 is electrically connected to the actuator 1 and the posture adjustment mechanism 2 to provide operating power to them. The grip handle 3 is equipped with a switch button 31, an aiming function trigger button 32, and an emergency stop button 33. The switch button 31 is used to connect to the actuator 1 via an electrical signal to control its start and stop. The aiming function trigger button 32 is used to connect to the posture adjustment mechanism 2 to activate the self-aiming mode. The emergency stop button 33 is connected to the power supply 4 to cut off the overall power supply to the device. The anti-slip design of the grip handle 3 enhances the stability and comfort of the doctor's operation and reduces operational errors caused by hand slippage. The power supply 4 frees the device from the constraints of a power cord, improving its portability and flexibility, and facilitating its use in different surgical scenarios. The various buttons allow doctors to quickly and accurately control the equipment's operation during surgery, ensuring the smooth progress of the procedure and the safety of the patient.

[0044] In a preferred embodiment, the system further includes a control unit and a pose sensing unit. The control unit is electrically connected to the pose sensing unit, the posture adjustment mechanism 2, and the execution mechanism 1. The pose sensing unit collects the current position coordinates and posture angle information of the mounting platform 23 in real time and feeds the collected data back to the control unit in real time. The control unit stores the surgical planning path and target drilling posture parameters. When the self-aiming mode is triggered, the control unit receives the current posture information fed back by the pose sensing unit, compares and analyzes it with the target drilling posture parameters, calculates the posture adjustment deviation, and then sends a control command to the posture adjustment mechanism 2 to drive the coordinated movement of each motion chain 22, so that the posture of the mounting platform 23 and the execution mechanism 1 gradually approaches the target value, realizing automatic aiming and positioning. The introduction of the control unit and the pose sensing unit realizes the automatic aiming and positioning function of the equipment. By collecting and comparing posture information in real time, the adjustment deviation can be accurately calculated and adjusted in time, which greatly improves the accuracy and efficiency of the surgery, reduces the dependence on the doctor's experience and manual operation, reduces human error, and improves the success rate of the surgery.

[0045] Example 2

[0046] This embodiment also provides an orthopedic surgical system, including the self-aiming orthopedic surgical device as described above, and a preoperative planning mechanism for generating surgical planning paths and target drilling pose parameters. Combining the self-aiming orthopedic surgical device with the preoperative planning mechanism forms a complete orthopedic surgical system. The preoperative planning mechanism can generate precise surgical planning paths and target drilling pose parameters based on the patient's specific condition and anatomical structure, providing scientific and accurate guidance for the surgery, further improving the precision and success rate of the surgery, and optimizing the entire orthopedic surgical process.

[0047] Example 3

[0048] This embodiment also provides a method of using the self-aiming orthopedic surgical device as described in any of the above claims, including the following steps:

[0049] Preoperative preparation:

[0050] Equipment assembly and inspection:

[0051] Install the rotary motor 12 of the actuator 1 on the side of the mounting platform 23 away from the base 21, ensuring that the installation is firm. Connect the quick-change chuck 13 to the output shaft of the rotary motor 12 and check the stability of the connection to ensure that it will not loosen during the drilling process.

[0052] The surgical drill 11 is detachably installed in the quick-change chuck 13. Select the appropriate surgical drill 11 according to the surgical needs and ensure that it is installed in place.

[0053] Check the connections of each component of the attitude adjustment mechanism 2, including the hinge seats, hinge rods, slide plates, and linear drive units in the PRR-RRP and PU branches, to ensure their stability. Ensure that the first linear drive unit 24, the second linear drive unit 215, and the third linear drive unit 216 (electric actuator, linear motor, or ball screw module) are functioning properly, and test their extension or movement functions manually.

[0054] Secure the grip handle 3 to the base 21 and check that the anti-slip texture on the surface of the grip handle 3 is intact to ensure stability when the doctor holds it. Install the power bank 4 at the end of the grip handle 3 away from the base 21 and confirm that the power bank 4 is electrically connected to the actuator 1 and the posture adjustment mechanism 2 and has sufficient power.

[0055] System parameter settings:

[0056] Triggering the aiming function trigger button 32 on the grip handle 3 activates the control unit and the posture sensing unit. The posture sensing unit begins to collect the current position coordinates and attitude angle information of the mounting platform 23 in real time and feeds the data back to the control unit.

[0057] The planned path and target drilling pose parameters for this surgery are pre-stored in the control unit. These parameters can be obtained through data transmission with external devices (such as preoperative planning mechanisms) or manually entered by the doctor based on the patient's condition analysis and surgical plan.

[0058] Surgical procedure:

[0059] Start the equipment: Press the switch button 31 on the handle 3, the rotary motor 12 of the actuator 1 starts to work, driving the quick-change chuck 13 and the surgical drill 11 to rotate synchronously, and the equipment enters the operable state.

[0060] Automatic aiming and positioning: Press the aiming function trigger button 32 again to activate the self-aiming mode. The control unit receives the current pose information fed back by the pose sensing unit and compares it with the pre-stored target drilling pose parameters to calculate the pose adjustment deviation. Then, the control unit sends control commands to the attitude adjustment mechanism 2 to drive the coordinated movement of each motion chain 22.

[0061] In terms of yaw angle adjustment, the first linear drive unit 24 and the second linear drive unit 215 in the PRR-RRP branch drive the first slide plate 25 and the second slide plate to slide along the preset trajectory, respectively. Through the coordinated action of a series of hinge structures such as the first hinge seat 26, the first hinge rod 27, and the second hinge seat 28, the yaw angle adjustment of the mounting platform 23 is realized, so that the surgical drill 11 is aligned with the target position in the horizontal direction.

[0062] In terms of pitch angle adjustment, the third linear drive unit 216 in the PU branch drives the third slide plate to slide along the preset trajectory. Through the seventh hinge seat 213 and the universal joint connecting block 214, the mounting platform 23 is driven to adjust the pitch angle, so that the surgical drill 11 is aligned with the target position in the vertical direction.

[0063] In terms of linear feed, the PRR-RRP branch and the PU branch move synchronously, jointly driving the mounting platform 23 to feed in a straight line, so that the surgical drill 11 gradually approaches the bone drilling position.

[0064] Throughout the automatic aiming and positioning process, the pose sensing unit continuously collects the pose information of the installation platform 23 in real time and feeds it back to the control unit. The control unit continuously adjusts the movement of the motion chain 22 so that the pose of the installation platform 23 and the actuator 1 gradually approaches the target value until the set accuracy range is reached.

[0065] Drilling Operation: Once automatic aiming and positioning are complete, and the surgical drill 11 is aligned with the target drilling location, it is pushed to contact the bone, and the drilling operation begins. During the drilling process, the surgeon must closely monitor the working status of the surgical drill 11 and the patient's condition.

[0066] Emergency Response: In case of any unforeseen circumstances during surgery, the doctor should immediately press the emergency stop button 33 on the handle 3. The emergency stop button 33 is electrically connected to the power supply 4. Pressing it will cut off the overall power supply to the device, causing the actuator 1 and the posture adjustment mechanism 2 to stop working immediately, ensuring the patient's safety.

[0067] Postoperative care:

[0068] Shutting down the equipment: After the surgery, first press the switch button 31 to stop the operation of the rotary motor 12, so that the surgical drill 11 stops rotating. Then, turn off the control unit and the posture sensing unit, and disconnect the power supply to the equipment.

[0069] Disassembly and Cleaning: Remove the surgical drill 11 from the quick-change chuck 13. Clean all components of the surgical drill 11, quick-change chuck 13, rotary motor 12, and attitude adjustment mechanism 2 to remove blood, bone fragments, and other contaminants. Take care to avoid damaging any components during cleaning, especially the hinged joints and linear drive unit.

[0070] Equipment Inspection and Maintenance: Inspect the wear and tear of all components, especially the moving parts of the linear drive unit, the articulation seats, and the connections of the articulation rods. Replace or repair any worn or damaged parts promptly. Simultaneously, check the performance of the control unit and posture sensing unit to ensure they are functioning correctly. Finally, store the equipment properly for future use.

[0071] Example 4

[0072] This embodiment also provides a method for using an orthopedic surgical system, including the following steps:

[0073] Preoperative planning:

[0074] Data acquisition: Medical imaging equipment (such as CT, MRI, etc.) is used to perform detailed scans of the patient's surgical site to obtain three-dimensional structural data of the patient's bones.

[0075] Surgical Planning: The collected patient skeletal data is input into the preoperative planning institution. Based on the patient's condition, skeletal structure characteristics, and surgical goals, the preoperative planning institution uses specialized planning software to generate the surgical planning path and target drilling pose parameters. These parameters take into account factors such as bone density, the distribution of surrounding nerves and blood vessels, to ensure the safety and accuracy of the surgery.

[0076] Surgical procedure:

[0077] Parameter transmission: The surgical planning path and target drilling pose parameters generated by the preoperative planning mechanism are transmitted to the control unit of the self-aiming orthopedic surgical equipment to complete the preoperative preparation.

[0078] Surgical procedure: The surgical procedure is performed according to the operating method of the self-aiming orthopedic surgical equipment, from equipment assembly, system parameter setting, equipment start-up, automatic aiming and positioning, drilling operation to dealing with emergencies, etc. The pre-planned parameters are used to achieve precise orthopedic surgical drilling operation.

[0079] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A self-aiming orthopedic surgical device, characterized in that: include: An actuator, the actuator being used to perform bone drilling operations; as well as An attitude adjustment mechanism includes a base, at least three motion chains, and a mounting platform. The base is used for an operator to hold or integrate with a surgical robot. The mounting platform is used to mount the actuator, and the mounting platform is connected to the base through each of the motion chains. Each of the motion chains can move along a preset trajectory to drive the mounting platform and the actuator to perform at least pitch angle adjustment, yaw angle adjustment, and linear feed operation. The attitude adjustment mechanism includes three motion chains, two of which constitute a PRR-RRP chain and the other constitute a PU chain. The PRR-RRP chain is used to drive the mounting platform to adjust the yaw angle, and the PU chain is used to drive the mounting platform to adjust the pitch angle. The PRR-RRP chain and the PU chain move synchronously to achieve linear feed of the mounting platform. The PRR-RRP branch includes a first linear drive unit, a first slide plate, a first hinge seat, a first hinge rod, a second hinge seat, a second linear drive unit, a second slide plate, a third hinge seat, a second hinge rod, a fourth hinge seat, a fifth hinge seat, a third hinge rod, and a sixth hinge seat. The first linear drive unit and the second linear drive unit are respectively mounted on both sides of the base. The first slide plate is slidably connected to the base. The output end of the first linear drive unit is fixed to the first slide plate to drive the first slide plate to slide along a preset trajectory. The second slide plate is slidably connected to the base. The output end of the second linear drive unit is fixed to the second slide plate to drive the second slide plate to slide along a preset trajectory. The first hinge seat is mounted on the first... On the skateboard, the third hinge seat is mounted on the second skateboard. The second, fourth, and fifth hinge seats are integrally fixedly connected. The rotation axes of the first, second, third, and fourth hinge seats are arranged parallel to each other. One end of the first hinge rod is hinged to the first hinge seat and the other end is hinged to the second hinge seat. One end of the second hinge rod is hinged to the third hinge seat and the other end is hinged to the fourth hinge seat. The fifth hinge seat is perpendicular to the rotation axis of the second hinge seat. The sixth hinge seat is mounted on the mounting platform and is parallel to the rotation axis of the fifth hinge seat. One end of the third hinge rod is hinged to the fifth hinge seat and the other end is hinged to the sixth hinge seat. The PU branch chain includes a third linear drive unit, a third slide plate, a seventh hinge seat, and a universal joint connecting block. The third slide plate is slidably connected to the base. The output end of the third linear drive unit is fixed to the third slide plate to drive the third slide plate to slide along a preset trajectory. The seventh hinge seat is installed at one end of the third slide plate and is universally connected to the mounting platform through the universal joint connecting block to accommodate the attitude changes of the mounting platform during pitch and yaw angle adjustments.

2. The self-aiming orthopedic surgical device according to claim 1, characterized in that: The first linear drive unit, the second linear drive unit, and the third linear drive unit are electric actuators, linear motors, or ball screw modules.

3. The self-aiming orthopedic surgical device according to claim 1, characterized in that: The actuator includes a rotary motor, a quick-change chuck, and a surgical drill. The rotary motor is mounted on the side of the mounting platform away from the base. The quick-change chuck is connected to the output shaft of the rotary motor. The surgical drill is detachably mounted inside the quick-change chuck. The rotary motor can drive the quick-change chuck and the surgical drill to rotate synchronously to perform bone drilling operations.

4. The self-aiming orthopedic surgical device according to claim 1, characterized in that: It also includes a grip handle and a power bank. The grip handle is fixedly connected to the base, and the surface of the grip handle is provided with anti-slip texture. The power bank is installed at the end of the grip handle away from the base. The power bank is electrically connected to the actuator and the attitude adjustment mechanism to provide working power to the actuator and the attitude adjustment mechanism. The grip handle is provided with a switch button, an aiming function trigger button, and an emergency stop button. The switch button is used to connect to the actuator with an electrical signal to control its start and stop. The aiming function trigger button is used to connect to the attitude adjustment mechanism to activate the self-aiming mode. The emergency stop button is connected to the power bank to cut off the overall power supply to the device.

5. The self-aiming orthopedic surgical device according to claim 1, characterized in that: It also includes a control unit and a pose sensing unit. The control unit is electrically connected to the pose sensing unit, the attitude adjustment mechanism, and the actuator, respectively. The pose sensing unit is used to collect the current position coordinates and attitude angle information of the installation platform in real time and feed the collected data back to the control unit in real time. The control unit has pre-stored the surgical planning path and target drilling pose parameters. When the self-aiming mode is triggered, the control unit can receive the current pose information fed back by the pose sensing unit, compare and analyze it with the target drilling pose parameters, calculate the pose adjustment deviation, and then send control commands to the attitude adjustment mechanism to drive the coordinated movement of each kinematic chain, so that the pose of the installation platform and the actuator gradually approaches the target value, realizing automatic aiming and positioning.

6. An orthopedic surgical system, characterized in that, It includes the self-aiming orthopedic surgical device as described in any one of claims 1 to 5, and a preoperative planning mechanism for generating surgical planning paths and target drilling pose parameters.

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