Automatic sensing device suitable for orthopedic surgery

Abstract

The utility model provides an automatic sensing device suitable for orthopedic surgery. The automatic sensing device comprises a force sensor, a visual sensor and a drilling module which are used for being assembled on a mechanical arm of a surgical robot. Wherein the drilling module is used for assembling a drilling tool and pushing the drilling tool to execute drilling operation; the force sensor is used for detecting torque information of the drilling tool in the drilling operation; the visual sensor is used for acquiring image data of an operation area; wherein the force sensor, the visual sensor and the drilling module are respectively connected with a control system of the surgical robot; and the control system is used for receiving the moment information and the image data and controlling the drilling module to drill towards the surgical area at the target moment. By means of the device, the position and action of the drilling tool can be accurately controlled so as to assist a doctor in completing an operation, application in complex and fine operations is achieved, the complexity in the operation process is reduced, and the operation time is shortened.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and in particular to an automated sensing device suitable for orthopedic surgery. Background Art

[0002] In modern orthopedic surgery, surgical robots have become an important development trend. Surgical robots can assist physicians in performing surgical operations, improve surgical accuracy and reduce operation time. They are widely used in the fields of spinal surgery, joint surgery, trauma orthopedics, etc.

[0003] Traditional orthopedic surgery with the help of surgical robots has a low degree of automation. It still mainly relies on the manual operation of doctors, which consumes a lot of doctors' energy. In addition, orthopedic surgery requires high precision and lasts for a long time, and there is a risk of surgical errors. There are some automated mechanisms for orthopedic surgery today. Although they have replaced the manual operation of doctors to a certain extent, their operation accuracy is low and the operation is difficult, and they cannot achieve high-precision surgical operations. In addition, during orthopedic surgery, bone drills are prone to vibration and eccentricity during operation. Today's automated mechanisms can only ensure stability during drilling by replacing the drill bit or using a short drill bit, which increases the number of surgical steps and is time-consuming and labor-intensive. Utility Model Content

[0004] In response to the above problems, the utility model provides an automated sensing device suitable for orthopedic surgery, which can achieve precise control of the position and movement of the drill to assist the physician in completing the surgery. It can be applied in complex and delicate surgeries, reduces the experience requirements for the surgeon, reduces surgical trauma to the patient, reduces the complexity of the surgical process and shortens the operation time.

[0005] The technical solution of the utility model is:

[0006] An automated sensing device suitable for orthopedic surgery, comprising a force sensor, a visual sensor and a drilling module, all of which are used to be assembled on the mechanical arm of a surgical robot; wherein:

[0007] The drilling module is used to assemble a drilling tool and push the drilling tool to perform a drilling operation;

[0008] The force sensor is used to detect the torque information of the drilling tool during the drilling operation;

[0009] The visual sensor is used to obtain image data of the surgical area;

[0010] Wherein, the force sensor, the visual sensor and the drilling module are respectively connected to the control system of the surgical robot;

[0011] The control system is used to receive the torque information and the image data, and control the drilling module to drill toward the surgical area with a target torque.

[0012] As one of the preferred solutions, the drilling module includes a drilling component and a rotating component; wherein,

[0013] The drilling assembly comprises:

[0014] A slide table, used for being assembled on the mechanical arm;

[0015] A ball screw mechanism is mounted on the slide and connected to the rotating assembly;

[0016] A first driving mechanism, drivingly connected to the ball screw mechanism;

[0017] The ball screw mechanism converts the rotational motion of the first driving mechanism into the axial reciprocating motion of the rotating assembly, so that the rotating assembly drives the drilling tool shaft to drill downward.

[0018] As one of the preferred solutions, the rotating assembly includes:

[0019] A mounting frame connected to the ball screw mechanism;

[0020] A second driving mechanism is mounted on the top of the mounting frame, and an output end of the second driving mechanism is used to assemble the drilling tool to drive the drilling tool to rotate during the downward drilling process;

[0021] A bearing seat, mounted at the bottom of the mounting frame and accommodating the output end therein;

[0022] An elastic chuck connected to the bottom of the bearing seat, wherein an inner hole is formed in the middle thereof, and the inner hole is used to allow the drilling tool to pass through;

[0023] The locking nut is located at the outer periphery of the elastic collet, so that when the drilling tools of different specifications are inserted into the inner hole, the locking nut can be rotated to make the elastic collet clamp the drilling tools of corresponding specifications.

[0024] As one of the preferred solutions, the ball screw mechanism includes:

[0025] A screw rod, drivingly connected to the first driving mechanism;

[0026] A nut, drivingly connected to the screw rod, the outer side of the nut being connected to the rotating assembly;

[0027] Two first bearings, respectively located at two axial ends of the screw;

[0028] The spiral grooves of the screw and the nut together form a ball track, and a plurality of balls are filled in the ball track.

[0029] As one of the preferred solutions, the first driving mechanism includes:

[0030] A first servo motor, used to provide driving force;

[0031] A driving wheel connected to the output shaft of the first servo motor;

[0032] The driven wheel is connected to the driving wheel through a synchronous belt, and the driven wheel is drivingly connected to the screw.

[0033] As one of the preferred solutions, the drilling module further includes a sliding assembly, and the sliding assembly includes:

[0034] A slider connected to the outside of the nut;

[0035] A slide rail, arranged on the slide platform along the movement direction of the nut;

[0036] Wherein, the sliding block is slidably matched with the sliding rail.

[0037] As one of the preferred solutions, the second driving mechanism includes a second servo motor, and the output end of the second servo motor includes a coupling and the rotating spindle that are connected to each other, and the rotating spindle is used to install the drilling tool.

[0038] As one of the preferred solutions, second bearings are respectively provided at two axial ends of the rotating main shaft.

[0039] As one of the preferred solutions, the force sensor includes a six-axis force sensor; the visual sensor includes a 3D camera.

[0040] As one of the preferred solutions, the 3D camera is installed on the robotic arm through an angle adjustment bracket.

[0041] Compared with the prior art, this application has the following advantages:

[0042] The utility model proposes an automated sensing device suitable for orthopedic surgery, comprising a force sensor, a visual sensor and a drilling module, all of which are used to be assembled on the mechanical arm of a surgical robot; wherein the drilling module is used to assemble a drill and push the drill to perform a drilling operation; the force sensor is used to detect the torque information of the drill during the drilling operation; the visual sensor is used to obtain image data of the surgical area; wherein the force sensor, the visual sensor and the drilling module are respectively connected to the control system of the surgical robot; the control system is used to receive the torque information and the image data, and control the drilling module to drill towards the surgical area with a target torque

[0043] By adopting the technical solution of the present application, an automated surgical mechanism equipped with a visual sensor and a force sensor is installed on the mechanical arm of the surgical robot. The force sensor can measure the torque between the drill and the drilling site, and the pressure and speed of the drill can be adjusted through the force feedback of the control system; the visual sensor can capture the image of the surgical scene in real time, and through the image processing and analysis of the control system, the shape, position, direction and other information of the surgical area can be identified, so as to position the drilling module to the correct surgical area; in this way, based on the force and visual feedback functions, the feed and rotation of the drill can be controlled to achieve accurate and safe drilling, avoid the errors and instability of manual operation, reduce the trauma and risks of surgery, and also ensure the safety of interaction with patients, doctors, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 It is a schematic diagram of the assembly of an automated sensor device and a robotic arm suitable for orthopedic surgery according to an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of the overall structure of an automated sensing device suitable for orthopedic surgery according to another embodiment of the present application;

[0047] Figure 3 is a cross-sectional view of the overall structure of a drilling assembly according to another embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the overall structure of the rotating assembly described in yet another embodiment of the present application.

[0049] Description of reference numerals:

[0050] 1. Robotic arm; 2. Force sensor; 3. Visual sensor; 4. Drilling module; 5. Angle adjustment bracket; 6. Drilling assembly; 61. First servo motor; 62. Driving wheel; 63. Synchronous belt; 64. First bearing; 65. Screw; 66. Nut; 67. Buffer pad; 68. Slider; 69. Slide rail; 7. Rotating assembly; 71. Second servo motor; 72. Bearing seat; 73. Coupling; 74. Second bearing; 75. Rotating spindle; 76. Elastic chuck; 77. Locking nut; 8. Drilling tool. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] It can be understood that the surgical robot is usually composed of an operating system, a robotic arm 1 and other parts, wherein the operating system can control the robotic arm 1 to operate surgical tools to assist doctors in performing surgery, and the user interface of the operating system allows doctors to adjust and set operating parameters, monitor the progress of the surgery, and intervene when necessary, etc. According to the existing automation mechanisms mentioned in the background technology, they are usually not equipped with visual sensors 3 and force sensors 2, making it difficult to achieve intelligent adjustment and positioning of surgical tools, and difficult and long-term operations cannot be achieved.

[0053] In view of this, refer to Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the assembly of an automated sensor device and a robotic arm suitable for orthopedic surgery shown in the utility model; Figure 2 The overall structure diagram of the automated sensing device for orthopedic surgery shown in the utility model. The main purpose of the utility model is to solve the problem of low automation level of the automated mechanism used in orthopedic surgery today, such as Figure 1 and Figure 2 As shown, the utility model provides an automated sensing device suitable for orthopedic surgery, including a force sensor 2, a visual sensor 3 and a drilling module 4, all of which are used to be assembled on a mechanical arm 1 of a surgical robot; wherein the drilling module 4 is used to assemble a drill tool 8 and push the drill tool 8 to perform a drilling operation; the force sensor 2 is used to detect the torque information of the drill tool 8 during the drilling operation; the visual sensor 3 is used to obtain image data of the surgical area; wherein the force sensor 2, the visual sensor 3 and the drilling module 4 are respectively connected to the control system of the surgical robot; the control system is used to receive the torque information and the image data, and control the drilling module 4 to drill towards the surgical area with a target torque.

[0054] Specifically, in orthopedic surgery, drilling is usually used to fix implants for fracture repair, bone marrow transplantation, artificial joint replacement, etc. The drilling module 4 is used to accurately align the drill 8 with the surgical area to drill. In the drilling step of orthopedic surgery, the surgical area is usually the location where the drilling is required; and the drill 8 usually refers to a bone drill; the drilling operation usually refers to axial feeding and rotation at the drilling location to complete the bone drilling step.

[0055] The force sensor 2, the vision sensor 3 and the drilling module 4 can be installed at the end of the robot arm 1. In some embodiments, the drilling module 4 can be installed on the robot arm 1 through a specific interface, a connection workpiece or a direct bolt connection, and the force sensor 2 or the vision sensor 3 can be adjacent to or integrated with the drilling module 4. In some embodiments, the force sensor 2, the vision sensor 3 and the drilling module 4 can be installed on the robot arm 1 through a connection workpiece.

[0056] In some embodiments, the visual sensor 3 is installed at an appropriate position of the drilling module 4 or the robotic arm 1 to obtain a clear view of the surgical area.

[0057] It is worth mentioning that the robotic arm 1 can be a robotic arm 1 of a surgical robot of different brands and models, and the automated sensing device can be used in conjunction with a variety of different types and brands of robotic arms 1, which enhances the flexibility and application scope of the system. It can be installed at the end of any robotic arm 1, providing a high degree of versatility and adaptability.

[0058] The force sensor 2 can be understood as a device that measures the torque of the bone drill in the drilling process in real time, that is, the force and torque that the bone drill bears when it contacts the external environment or drills, and outputs torque information relative to its torque. The visual sensor 3 can be understood as a device that can capture images of the surgical scene in real time and output image data, wherein the image data includes information such as the shape, position, and direction of the bone where the drilling position is identified.

[0059] The force sensor 2 and the visual sensor 3 are both connected to the control system of the robot arm 1 in a communication manner, and the connection method may include a communication cable connection or a wireless connection. The force sensor 2 transmits the torque information to the control system, and adjusts the pressure and speed of the drill 8 through the force feedback and control of the control system, thereby reducing the trauma and risk of the operation; the visual sensor 3 transmits the image data to the control system, and brings the drill 8 to a suitable position through the visual feedback and control of the control system, thereby improving the accuracy and efficiency of drilling.

[0060] In this way, an automated surgical mechanism equipped with a visual sensor 3 and a force sensor 2 is installed on the robotic arm 1 to achieve force control and motion trajectory control of the robotic arm 1, helping the physician to more accurately position the drilling module 4 during surgery, so that the drilling module 4 drills toward the surgical area with a target torque, thereby allowing the drill 8 to axially feed and rotate at the correct position and force, complete accurate and safe drilling steps, and reduce surgical trauma and risks. In this way, in medical surgical applications, the physician's operating ability can be expanded, assisting the physician to complete difficult and long-term operations, while reducing surgical risks and shortening intraoperative time to adapt to various surgical environments and needs.

[0061] In some embodiments, the force sensor 2 is a six-axis force sensor 2 that can measure forces in six directions, namely forces along the x, y and z axes and torques rotating around these axes. In orthopedic surgery, the six-axis force sensor 2 can allow the robot to sense the torques in various directions applied by the bone drill to the bone.

[0062] In some embodiments, the visual sensor 3 is a 3D camera, which can obtain stereoscopic images of the surgical area and provide richer anatomical information. In some embodiments, the 3D camera is equipped with an angle adjustment bracket 5 to facilitate adjustment of the focal length and field of view before and during surgery.

[0063] Reference Figure 3 and Figure 4 As shown, Figure 3 It is a cross-sectional view of the overall structure of the drilling assembly, where Figure 3 The left side of the figure is the front view and the right side is the side view. Figure 4 is a schematic diagram of the overall structure of the rotating assembly, where Figure 4 The left side is a stereogram, and the right side is a side sectional view. In a further technical solution, in order to achieve the axial feeding of the drill 8 with the correct position and force, and complete, accurate and safe drilling steps, the drilling module 4 provided in this embodiment includes a drilling assembly 6 and a rotating assembly 7; please refer to Figure 3 The drilling assembly 6 includes: a slide for assembling onto the robotic arm 1; a ball screw mechanism mounted on the slide and connected to the rotating assembly 7; a first driving mechanism drivingly connected to the ball screw mechanism; the ball screw mechanism converts the rotational motion of the first driving mechanism into the axial reciprocating motion of the rotating assembly 7, so that the rotating assembly 7 drives the drilling tool 8 to drill axially downward.

[0064] Specifically, the slide can be understood as an intermediate connector connecting the drilling assembly 6 and the mechanical arm 1, which has a support surface for installing and supporting other parts of the drilling assembly 6, such as the ball screw mechanism and the first drive mechanism. For example, the support surface of the slide can be a vertically placed rectangular shape, and its length direction is the same as the axial direction of the screw 65 of the ball screw mechanism. In some embodiments, a slide rail 69 is also provided in its length direction, and the length direction of the slide rail 69 is also consistent with the axial direction of the slide. The ball screw mechanism includes: a screw 65, which is transmission-connected to the first drive mechanism; a nut 66, which is transmission-connected to the screw 65, and the outer side of the nut 66 is connected to the rotating assembly 7; two first bearings 64, respectively located at the axial ends of the screw 65; wherein the spiral grooves of the screw 65 and the nut 66 together form a ball path, and the ball path is filled with a plurality of balls.

[0065] Specifically, the ball screw mechanism includes a screw rod 65 and a nut 66 connected in a transmission manner and a plurality of balls. The screw rod 65 and the nut 66 are provided with spiral grooves respectively. The spiral groove in the nut 66 matches the spiral groove in the screw rod 65. The spiral grooves of the two can cooperate to form a spiral tubular channel with a nearly circular cross-section. The spiral groove between the two is replaced by a number of balls rolling along the spiral groove. There are two pairs of through holes on the side of the nut 66, and the balls can be inserted into the spiral channel through the through holes. At the same time, there are two conduits outside the nut 66. The two ends of each conduit are respectively inserted into a pair of through holes on the side of the nut 66, and the conduits are also filled with balls. The two conduits and the spiral tubular channel in the nut 66 are combined into two independent closed ball tracks. The screw 65 is connected to the first driving mechanism. When the first driving mechanism rotates, it drives the screw 65 to rotate, and transmits force to the nut 66 through the ball. The nut 66 moves along the axial direction of the screw 65. The nut 66 is connected to the rotating component 7, driving the rotating component 7 to move axially, thereby converting the rotational motion of the first driving mechanism into the axial reciprocating motion of the rotating component 7. The rotating component 7 then drives the drilling tool 8 to drill downward.

[0066] Wherein, first bearings 64 are respectively arranged on both sides of the screw rod 65 . The first bearings 64 are sleeved on the screw rod 65 , and the outer peripheral wall of the first bearings 64 is in contact with the slide table to support the axial and radial loads of the screw rod 65 during the rotation process.

[0067] In some embodiments, a buffer pad 67 is provided on one side of the two first bearings 64 facing the nut 66. The buffer pad 67 can be made of rubber, plastic, metal or other elastic materials, and its shape and size can be determined according to the structure and installation requirements of the bearing. The buffer pad 67 can reduce the impact and vibration between the bearing and the slide, and improve the stability and life of the transmission. At the same time, it plays a protective role, preventing the nut 66 from directly hitting the first bearing 64 when it moves to the extreme position, thereby extending the service life of the entire device and improving its reliability.

[0068] Further, the first driving mechanism includes: a first servo motor 61, for providing driving force;

[0069] The driving wheel 62 is connected to the output shaft of the first servo motor 61; the driven wheel is connected to the driving wheel 62 through a synchronous belt 63, and the driven wheel is in transmission connection with the screw 65. In this embodiment, the first driving mechanism is mounted on the slide, connected to the driving wheel 62 at the end of the first servo motor 61, the driving wheel 62 and the driven wheel transmit power through the synchronous belt 63, the driven wheel is connected to one end of the screw 65 of the ball screw mechanism, so that the screw 65 rotates, and the nut 66 reciprocates axially on the screw 65.

[0070] Furthermore, the drilling module 4 further includes a sliding assembly, which includes: a slider 68 connected to the outside of the nut 66; a slide rail 69, which is arranged on the slide along the movement direction of the nut 66;

[0071] The slider 68 is slidably matched with the slide rail 69. In this embodiment, the nut 66 on the ball screw is fixed to the slider 68 by bolts or other connectors, so that the slider 68 moves linearly along the screw 65 with the nut 66. The slide rail 69 is arranged on the slide, and the length direction of the slide rail 69, the axial direction of the screw 65, and the length direction of the slide are consistent, that is, when the nut 66 moves linearly, the slider 68 moves synchronously along the length direction of the slide rail 69, so that the sliding assembly provides guidance for the linear motion of the nut 66, and can also withstand the driving force of the first servo motor 61 and the reaction force of the external environment.

[0072] In some embodiments, the slider 68 can be sleeved on the outer peripheral surface of the nut 66. When the nut 66 moves along the screw 65, the slider 68 sleeved thereon is driven to move together. In this embodiment, the slider 68 can be a block structure with a through hole inside. In some embodiments, the slider 68 can be directly fixed to one side of the nut 66 by bolts or welding. For example, the slider 68 can be located on the side of the nut 66 close to the slide. In this embodiment, the slider 68 can be a plate-like structure with a small thickness inside. In some embodiments, the central axis of the slider 68 and the nut 66 can coincide; in some embodiments, the central axis of the slider 68 can be located next to the central axis of the nut 66.

[0073] Please continue reading Figure 4 In order to realize the rotation of the drill tool 8 with the correct position and force, and complete, accurate and safe drilling steps, the rotating assembly 7 provided in the embodiment of the present application includes: the rotating assembly 7 includes: a mounting frame, connected to the ball screw mechanism; a second driving mechanism, mounted on the top of the mounting frame, and its output end is used to assemble the drill tool 8 to drive the drill tool 8 to rotate during the downward drilling process; a bearing seat 72, mounted on the bottom of the mounting frame, and the output end is accommodated inside; an elastic chuck 76, connected to the bottom of the bearing seat 72, and an inner hole is formed in the middle thereof, and the inner hole is used to allow the drill tool 8 to pass through; a locking nut 77, located on the outer periphery of the elastic chuck 76, so that when the drill tools 8 of different specifications are inserted into the inner hole, the locking nut 77 is rotated to allow the elastic chuck 76 to clamp the drill tools 8 of corresponding specifications.

[0074] Specifically, the mounting frame can be understood as a frame connecting the rotating assembly 7 and the lower drilling assembly, and a weight-reducing hole is opened on the mounting frame to reduce the overall weight of the selection assembly. Figure 3As shown, the mounting frame is a frame structure with an opening on one side and a hollow interior. The second driving mechanism can be installed in the hollow interior. The frame structure includes two wedge-shaped plates that are arranged opposite to each other and have weight-reducing holes opened thereon.

[0075] In this embodiment, the second driving mechanism includes a second servo motor 71, and the output end of the second servo motor 71 includes a coupling 73 and the rotating spindle 75 connected to each other, and the rotating spindle 75 is used to install the drilling tool 8. The second servo motor 71 is connected to the rotating spindle 75 through the coupling 73, and the elastic collet 76 is located at the end of the rotating spindle 75 and installed at the bottom end of the bearing seat 72. Among them, the bearing seat 72 provides a stable support structure to ensure that the rotating spindle 75, the coupling 73 and other components run at a predetermined position and maintain their correct axis and positioning. At the same time, the bearing seat 72 shields the spindle, the coupling 73 and other components to protect them from dust, pollutants and other external environmental factors that may cause damage.

[0076] The coupling 73 transmits the torque generated by the second servo motor 71 to the rotating spindle 75, thereby driving the bone drill to rotate. The elastic chuck 76 located below the rotating spindle 75 clamps and fixes the bone drill. The inner wall of the elastic chuck 76 usually has a conical or circular inner hole, and the bone drill is usually inserted into the inner hole of the elastic chuck 76, and then the bone drill is clamped by manually rotating the locking nut 77. When pressure is applied to the outside of the elastic chuck 76 through the nut 66 or other mechanical mechanisms, the inner hole shrinks, thereby applying a clamping force to the inserted bone drill. The elastic chuck 76 is composed of elastic clips and can automatically achieve center positioning when clamped, thereby ensuring that the bone drill is always located on the axis of rotation, reducing vibration and eccentricity, ensuring its stability during high-speed rotation, and improving drilling accuracy.

[0077] The elastic clip can be made of high-strength, wear-resistant material, such as hardened steel or alloy, to ensure clamping force and durability.

[0078] For example, in the process of controlling the clamping and loosening of the elastic chuck 76 by the hand-tightening nut 66, the locking nut 77 is manually turned clockwise, and the elastic chuck 76 is squeezed so that the inner hole of the chuck shrinks, and a clamping force is applied to the bone drill, thereby clamping the middle and lower part of the bone drill; the locking nut 77 is manually turned counterclockwise, and the elastic chuck 76 recovers its deformation, so that the inner hole of the chuck expands, thereby loosening the clamping of the bone drill. Therefore, the bone drill can be loosened and clamped by rotating the locking nut 77, which is simple and quick, and the fast switching of drilling tools 8 of different sizes can be completed without special tools, while ensuring the accuracy of the center positioning of the bone drill installation, and preventing the vibration and eccentricity of the head of the drilling tool 8 from occurring when rotating at high speed.

[0079] In combination with the above embodiments, when the outer circumferential surface of the nut 66 is sleeved with a slider 68 , the mounting frame is directly connected to the slider 68 .

[0080] In some embodiments, the second bearings 74 are respectively disposed at both axial ends of the rotating main shaft 75. The second bearings 74 are sleeved on the rotating main shaft 75, and the outer peripheral wall contacts the bearing seat 72 to support the axial and radial loads of the rotating main shaft 75 during the rotation process.

[0081] In summary, by adopting the technical solution of the present application, by assembling an automated surgical mechanism equipped with a visual sensor 3 and a force sensor 2 on the mechanical arm 1 of the surgical robot, the force sensor 2 can measure the torque between the drill 8 and the drilling site, and the pressure and speed of the drill 8 can be adjusted through the force feedback of the control system; the visual sensor 3 can capture the image of the surgical scene in real time, and through the image processing and analysis of the control system, the shape, position, direction and other information of the surgical area can be identified, so as to position the drilling module 4 to the correct surgical area; in this way, based on the force and visual feedback functions, the feed and rotation of the drill 8 can be controlled to achieve accurate and safe drilling, avoid errors and instability in manual operation, reduce the trauma and risks of surgery, and also ensure the safety of interaction with patients, doctors, etc.

[0082] In addition, during orthopedic surgery, bone drills are prone to vibration and eccentricity during operation. The elastic chuck 76 of the embodiment of the utility model can be suitable for bone drills of different sizes, and the rapid switching of drill tools 8 of different sizes can be completed without special tools. At the same time, the center positioning can be automatically achieved when clamping the bone drill, thereby ensuring that the bone drill is always located on the axis of rotation, reducing vibration and eccentricity, ensuring its stability during high-speed rotation, and improving drilling accuracy, thereby improving the efficiency and quality of the operation.

[0083] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0084] It should also be noted that, in this article, the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations, nor can they be understood as indicating or implying relative importance. Moreover, the term "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device.

[0085] The above is a detailed introduction to an automated sensing device suitable for orthopedic surgery provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application, and the content of this specification should not be understood as limiting the present application. At the same time, for those of ordinary skill in the art, according to the present application, there will be different forms of changes in the specific implementation methods and application scopes. It is not necessary and impossible to list all the implementation methods here, and the obvious changes or modifications derived therefrom are still within the scope of protection of the present application.

Claims

1. An automated sensing device suitable for orthopedic surgery, characterized in that: It includes a force sensor, a visual sensor and a drilling module, all of which are used to be assembled on the mechanical arm of the surgical robot; wherein, The drilling module is used to assemble a drilling tool and push the drilling tool to perform a drilling operation; The force sensor is used to detect the torque information of the drilling tool during the drilling operation; The visual sensor is used to obtain image data of the surgical area; Wherein, the force sensor, the visual sensor and the drilling module are respectively connected to the control system of the surgical robot; The control system is used to receive the torque information and the image data, and control the drilling module to drill toward the surgical area with a target torque; The drilling module comprises a drilling assembly and a rotating assembly; The drilling assembly includes a ball screw mechanism; The rotating assembly comprises: A mounting frame connected to the ball screw mechanism; A second driving mechanism is mounted on the top of the mounting frame, and an output end of the second driving mechanism is used to assemble the drilling tool to drive the drilling tool to rotate during the downward drilling process; A bearing seat, mounted at the bottom of the mounting frame and accommodating the output end therein; An elastic chuck connected to the bottom of the bearing seat, wherein an inner hole is formed in the middle thereof, and the inner hole is used to allow the drilling tool to pass through; The locking nut is located at the outer periphery of the elastic collet, so that when the drilling tools of different specifications are inserted into the inner hole, the locking nut can be rotated to make the elastic collet clamp the drilling tools of corresponding specifications.

2. An automated sensing device suitable for orthopedic surgery according to claim 1, characterized in that: The drilling assembly comprises: A slide table, used for being assembled on the mechanical arm; A ball screw mechanism is mounted on the slide and connected to the rotating assembly; A first driving mechanism, drivingly connected to the ball screw mechanism; The ball screw mechanism converts the rotational motion of the first driving mechanism into the axial reciprocating motion of the rotating assembly, so that the rotating assembly drives the drilling tool shaft to drill downward.

3. The automated sensing device suitable for orthopedic surgery according to claim 2, characterized in that: The ball screw mechanism comprises: A screw rod, drivingly connected to the first driving mechanism; A nut, drivingly connected to the screw rod, the outer side of the nut being connected to the rotating assembly; Two first bearings, respectively located at two axial ends of the screw; The spiral grooves of the screw and the nut together form a ball track, and a plurality of balls are filled in the ball track.

4. The automated sensing device suitable for orthopedic surgery according to claim 3, characterized in that: The first driving mechanism comprises: A first servo motor, used to provide driving force; A driving wheel connected to the output shaft of the first servo motor; The driven wheel is connected to the driving wheel through a synchronous belt, and the driven wheel is drivingly connected to the screw.

5. The automated sensing device suitable for orthopedic surgery according to claim 3, characterized in that: The drilling module also includes a sliding assembly, and the sliding assembly includes: A slider connected to the outside of the nut; A slide rail, arranged on the slide platform along the movement direction of the nut; Wherein, the sliding block is slidably matched with the sliding rail.

6. The automated sensing device suitable for orthopedic surgery according to claim 1, characterized in that: The second driving mechanism comprises a second servo motor, and an output end of the second servo motor comprises a coupling and a rotating spindle connected to each other, and the rotating spindle is used to install the drilling tool.

7. An automated sensing device suitable for orthopedic surgery according to claim 6, characterized in that: Second bearings are respectively arranged at two axial ends of the rotating main shaft.

8. The automated sensing device suitable for orthopedic surgery according to claim 1, characterized in that: The force sensor includes a six-axis force sensor; and the visual sensor includes a 3D camera.

9. The automated sensing device suitable for orthopedic surgery according to claim 8, characterized in that: The 3D camera is mounted on the robotic arm via an angle adjustment bracket.

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