Intelligent osteotomy system and osteotomy device

Abstract

The osteotomy device comprises an osteotomy tool and at least two moving mechanisms connected in sequence, the at least two moving mechanisms provide linear reciprocating movement variables in different directions for the osteotomy tool respectively, and the axes of the at least two moving mechanisms are perpendicular to each other. The application makes the operation more convenient, stable, precise, efficient, reduces the doctor's suffering and the uncontrollable operation risk during manual operation, and increases the controllability and safety of the operation. The intelligent osteotomy system comprises the osteotomy device and a control center, the control center is connected to and controls the driving motor of the osteotomy device, thereby realizing more intelligent and precise operation control.

Description

[Technical Field]

[0001] This application relates to the field of medical device technology, and in particular to an intelligent osteotomy system and osteotomy device that can be used for grinding, bone cutting and other functions in orthopedic surgery. [Background Technology]

[0002] In orthopedic surgery, the precision and stability of surgical control are extremely important. The key to the success of osteotomy lies in whether the operation can be accurately positioned and performed according to the pre-set surgical plan without damaging human nerve tissue, so as to achieve the surgical treatment goal.

[0003] Currently, there are no intelligent automated osteotomy tools directly applicable to orthopedic surgical robots. In most cases, surgeons still manually perform osteotomies using existing orthopedic electric grinders or ultrasonic osteotomies. Poor control over the amount of grinding or the depth of cut with the ultrasonic osteotomy tool can easily lead to nerve damage. Some orthopedic surgical robots have osteotomy tools mounted on the robotic arm end, using a follow-up method during surgery, coupled with a binocular vision navigation system. However, the surgeon still needs to manually hold the osteotomy tool, although this method offers relatively stable tool handling. While using an orthopedic surgical robot to hold the osteotomy tool increases its spatial stability, it still requires manual operation by the surgeon, who must rely on real-time navigation system prompts. This method lacks intelligence and requires the surgeon to closely monitor the navigation system, resulting in a significant workload.

[0004] Therefore, there is a need for an osteotomy device that is easy to operate, highly accurate, stable, and can improve surgical efficiency and reduce surgical damage, as well as an intelligent automatic osteotomy system that can avoid the difficulty and risks of manual operation. [Summary of the Invention]

[0005] The purpose of this application is to provide an osteotomy device that is easy to operate, highly accurate, stable, and can improve surgical efficiency.

[0006] Another objective of this application is to provide an intelligent osteotomy system that is easy to operate, highly accurate, stable, and can improve surgical efficiency.

[0007] To achieve the purpose of this application, the following technical solution is provided:

[0008] This application provides an osteotomy device, which includes an osteotomy tool and at least two moving mechanisms connected in sequence. The at least two moving mechanisms provide linear reciprocating movement variables in different directions for the osteotomy tool, and the at least two moving mechanisms are perpendicular to each other along the axes of their respective different directions.

[0009] This application employs a mechanical moving mechanism that improves control precision, accuracy, and stability to achieve linear reciprocating motion variables in different directions. Through the mutually perpendicular linear reciprocating motion variables provided by at least two moving mechanisms, automatic movement control of the osteotomy tool in at least two directions is achieved, thereby making the surgical operation simpler and easier, more stable, more precise, and improving surgical efficiency. The controllable motion variables provided by the moving mechanism reduce the doctor's fatigue and uncontrollable surgical risks during freehand operation, and increase the controllability and safety of the surgery.

[0010] In some embodiments, the osteotomy device includes three moving mechanisms, the osteotomy tool and the three moving mechanisms are connected in sequence, the three moving mechanisms provide linear reciprocating movement variables in different directions for the osteotomy tool, and the three moving mechanisms are perpendicular to each other along their respective axes.

[0011] In some embodiments, each of the moving mechanisms includes a drive motor, a slide rail, and a moving platform. The moving platform can reciprocate linearly along the slide rail under the drive of the drive motor. The osteotomy tool and the at least two moving mechanisms are connected in the following manner: the osteotomy tool is mounted on the moving platform of one of the moving mechanisms, and the moving mechanism connected to the osteotomy tool and other moving mechanisms are respectively mounted on the moving platform of the adjacent moving mechanism.

[0012] There are many different implementation methods to enable the mobile platform to perform linear reciprocating motion along the slide rail under the drive of the drive motor. In some implementation methods, a cross roller guide rail is installed between the mobile platform and the slide rail.

[0013] In some embodiments, the moving mechanism further includes a lead screw assembly, which includes a ball screw arranged along the slide rail direction and a lead screw nut that cooperates with the ball screw. The moving platform is fixed on the lead screw nut, and the drive motor is connected to and drives the ball screw, so that the moving platform and the ball screw generate a linear reciprocating relative motion.

[0014] In some embodiments, a rotary clamping mechanism is further provided between the osteotomy tool and the connected moving mechanism. The rotary clamping mechanism is mounted on the moving mechanism connected to the osteotomy tool, and the osteotomy tool is connected to the rotary clamping mechanism. In some specific embodiments, the rotary clamping mechanism includes a drive motor and a gear set connected to the output of the drive motor, and the output of the gear set is connected to the osteotomy tool.

[0015] In some embodiments, the osteotomy tool includes an electric burr or an ultrasonic bone scalpel.

[0016] In some embodiments, the osteotomy device is also equipped with a camera for real-time close-range monitoring of the surgical site.

[0017] This application also provides an intelligent osteotomy system, which includes the osteotomy device as described above and a control center. The moving mechanism of the osteotomy device includes a drive motor, and the drive motor is connected to the control center.

[0018] In some embodiments, the osteotomy device is equipped with a sensor connected to the control center, the osteotomy tool is equipped with a navigation surface recognizable by a vision system, and the intelligent osteotomy system further includes a binocular vision system that can recognize the navigation surface.

[0019] In some specific embodiments, the sensor is a six-axis sensor and is mounted on the moving mechanism.

[0020] Compared with the prior art, this application has the following advantages:

[0021] This application employs a mechanical moving mechanism that improves control precision, accuracy, and stability to achieve linear reciprocating motion variables in different directions. Through the mutually perpendicular linear reciprocating motion variables provided by at least two moving mechanisms, automatic movement control of the osteotomy tool in at least two directions is achieved, thereby making the surgical operation simpler and easier, more stable, more precise, and improving surgical efficiency. The controllable motion variables provided by the moving mechanism reduce the doctor's fatigue and uncontrollable surgical risks during freehand operation, and increase the controllability and safety of the surgery.

[0022] This application can be used with orthopedic surgical robots to perform functions such as automatic grinding and bone cutting in orthopedic surgery. [Attached Image Description]

[0023] Figure 1 This is an exploded view of Embodiment 1 of the osteotomy device of this application;

[0024] Figure 2 This is a side view of Embodiment 1 of the osteotomy device of this application;

[0025] Figure 3 This is a perspective view of Embodiment 1 of the osteotomy device of this application;

[0026] Figure 4 This is an exploded view of Embodiment 2 of the osteotomy device of this application;

[0027] Figure 5 This is a side view of Embodiment 2 of the osteotomy device of this application;

[0028] Figure 6 This is a perspective view of Embodiment 2 of the osteotomy device of this application;

[0029] Figure 7 This is an exploded view of Embodiment 3 of the osteotomy device of this application;

[0030] Figure 8 This is a side view of Embodiment 3 of the osteotomy device of this application;

[0031] Figure 9 This is a perspective view of Embodiment 3 of the osteotomy device of this application;

[0032] Figure 10 This is an exploded view of Embodiment 4 of the osteotomy device of this application;

[0033] Figure 11 This is a side view of Embodiment 4 of the osteotomy device of this application;

[0034] Figure 12 This is a perspective view of Embodiment 4 of the osteotomy device of this application;

[0035] Figure 13 This is an exploded view of Embodiment 5 of the osteotomy device of this application;

[0036] Figure 14 This is a side view of Embodiment 5 of the osteotomy device of this application;

[0037] Figure 15 This is a perspective view of Embodiment 5 of the osteotomy device of this application;

[0038] Figure 16 This is one of the schematic diagrams of the spatial region in which the osteotomy device of this application operates;

[0039] Figure 17 This is the second schematic diagram of the spatial area in which the osteotomy device of this application operates;

[0040] Figure 18 This is one of the planar schematic diagrams showing the operation of the osteotomy device described in this application;

[0041] Figure 19 The second schematic diagram shows the operation of the osteotomy device described in this application.

Detailed Implementation Methods

[0042] The technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0043] It is worth noting that the directional terms mentioned in this application, such as "lateral", "longitudinal", "depth direction", "up", "down", "front", "back", "left", "right", "inner", "outer", "side", etc., are only for reference to the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] To provide a more detailed description of this application, the embodiments of the osteotomy device provided in this application will be described in detail below with reference to the accompanying drawings.

[0045] The osteotomy apparatus of embodiments one, two, and four of this application includes an osteotomy tool and three moving mechanisms. The osteotomy tool and the three moving mechanisms are connected sequentially. Each of the three moving mechanisms provides a linear reciprocating movement variable in a different direction for the osteotomy tool. The three moving mechanisms are mutually perpendicular along their respective axes. The connection method of the osteotomy tool and the three moving mechanisms is as follows: the osteotomy tool is mounted on the moving platform of one of the moving mechanisms, and the moving mechanism connected to the osteotomy tool and the other moving mechanisms are respectively mounted sequentially on the moving platform of the adjacent moving mechanism. The osteotomy apparatus of embodiment three includes an osteotomy tool and two moving mechanisms. Each of the two moving mechanisms provides a linear reciprocating movement variable in a different direction for the osteotomy tool. The two moving mechanisms are mutually perpendicular along their respective axes. The connection method of the osteotomy tool and the two moving mechanisms is as follows: the osteotomy tool is mounted on the moving platform of one of the moving mechanisms, and the moving mechanism connected to the osteotomy tool is mounted on the moving platform of the other moving mechanism. Additionally, Embodiment 3 adds a camera for real-time close-range monitoring of the surgical site. Embodiment 5 is a replacement embodiment based on Embodiment 1, specifically replacing the osteotomy tool in Embodiment 1 with an ultrasonic bone scalpel.

[0046] Figure 1 , 3 In Figures 4, 6, 7, 9, 10, and 12, a right-handed Cartesian coordinate system used in engineering is adopted. As shown in the figure, the positive direction of the X-axis is to the right; the positive direction of the Y-axis is forward; and the positive direction of the Z-axis is downward. X represents the horizontal direction, Y represents the vertical direction, and Z represents the depth direction. The definitions of these coordinate axes (front, back, left, right, up, down) are only for reference to the directions in the accompanying diagrams. The directional terminology used is for better and clearer explanation and understanding of this application, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0047] Please see Figures 1-3In a specific embodiment, the three moving mechanisms are a longitudinal moving mechanism 100, a lateral moving mechanism 300, and a depth moving mechanism 200, which respectively provide linear reciprocating movement variables along the longitudinal, lateral, and depth directions. Figure 1 In the coordinate axis, X represents the horizontal direction, Y represents the vertical direction, and Z represents the depth direction. The superposition of linear reciprocating movement variables in the three directions of vertical, horizontal, and depth allows the osteotomy tool to reach any point within a certain range, thereby enabling convenient, simple, precise, and stable surgical operations, improving surgical efficiency, and reducing surgical risks.

[0048] The longitudinal movement mechanism 100 includes a longitudinal drive motor 102, a longitudinal slide rail mounting base 101 with a longitudinal slide rail, and a longitudinal movement platform 103. Driven by the longitudinal drive motor 102, the longitudinal movement platform 103 can perform linear reciprocating motion along the longitudinal slide rail mounting base 101. In this embodiment, the longitudinal slide rail mounted on the longitudinal slide rail mounting base 101 is a cross roller guide rail (not labeled). A connecting platform 503 and a mounting interface 501 are mounted on the longitudinal slide rail mounting base 101. Through the mounting interface 501, the osteotomy device can be mounted on the surgical robot, allowing for precise control of the grinding and cutting position and depth according to the preoperative surgical plan, reducing deviations caused by manual operation and ensuring surgical accuracy.

[0049] The osteotomy device is also equipped with a six-axis sensor 502, which can accurately measure the force and torque in each direction during the osteotomy process, sense the movement variables in each dimension, avoid surgical accidents, and improve control accuracy.

[0050] The depth movement mechanism 200 includes a depth drive motor 202, a depth slide rail mounting base 201 with a depth slide rail, and a depth movement platform. Driven by the depth drive motor 202, the depth movement platform can perform linear reciprocating motion along the depth slide rail mounting base 201. In this embodiment, the depth slide rail mounted on the depth slide rail mounting base 201 is a cross roller guide rail (not labeled). The depth slide rail mounting base 201 is mounted on the longitudinal movement platform 103. Specifically, the depth slide rail mounting base 201 and the longitudinal movement platform 103 are detachably mounted via a quick-release bracket 105.

[0051] The lateral movement mechanism 300 includes a lateral drive motor 302, a lateral slide rail mounting base 301 with a lateral slide rail, and a lateral movement platform 303. Driven by the lateral drive motor 302, the lateral movement platform 303 can perform linear reciprocating motion along the lateral slide rail mounting base 301. In this embodiment, the lateral slide rail mounted on the lateral slide rail mounting base 301 is a cross roller guide rail (not labeled). The lateral slide rail mounting base 301 directly serves as the depth movement platform of the depth movement mechanism, mounted on the depth slide rail mounting base 201, and driven by the depth drive motor 202.

[0052] Furthermore, each drive motor can be connected and driven via a coupling.

[0053] In this embodiment, the osteotomy tool is mounted on the transverse moving platform 303 of the transverse moving mechanism. A depth-advancing rotary clamping mechanism 400 is also provided between the osteotomy tool and the connected transverse moving platform 303. The rotary clamping mechanism 400 is mounted on the transverse moving platform 303 connected to the osteotomy tool, and the osteotomy tool is connected to the rotary clamping mechanism 400. The rotary clamping mechanism 400 includes a rotary drive motor 401, a mounting base 404, a meshing drive gear 402, and a driven gear 403. The drive motor connects to and drives the drive gear 402, and the output of the driven gear 403 is connected to the osteotomy tool. Furthermore, the rotary clamping mechanism 400 is equipped with a quick-release screw for rapid clamping of the osteotomy tool.

[0054] The osteotomy tool includes an electric grinding head 601 driven by an orthopedic electric drill and an osteotomy tool mounting base 602, the latter being connected to the rotary clamping mechanism 400. The osteotomy tool mounting base 602 is provided with a navigation surface 603, which can be identified by a vision system for real-time tracking. In other embodiments, the osteotomy tool may also be an ultrasonic bone scalpel.

[0055] Please refer to the following: Figures 16-19 With the osteotomy device of this application, the osteotomy tool can achieve linear reciprocating movement in three directions: longitudinal, transverse, and depth. The superposition of movement variables in these three directions allows the osteotomy tool to reach any point within a certain range, such as... Figure 16 and 17 For the spinal column 700 to be operated on, the osteotomy device of this application allows the osteotomy tool to move at any point in three-dimensional space a on the surgical site of the spinal column 700, or, as needed, to achieve movement at such points as... Figure 18 and 19The osteotomy tool can be moved to any point within the plane space b of the surgical site of the spinal cord 700, thereby enabling convenient, simple, precise, and stable surgical operation, and improving surgical efficiency and reducing surgical risks.

[0056] Please see Figures 4-6 In the second specific embodiment, the three moving mechanisms are a longitudinal moving mechanism 110, a lateral moving mechanism 310, and a depth moving mechanism 210, which respectively provide linear reciprocating movement variables along the longitudinal, lateral, and depth directions. Figure 4 In the coordinate axis, X represents the horizontal direction, Y represents the vertical direction, and Z represents the depth direction. The superposition of linear reciprocating movement variables in the three directions of vertical, horizontal, and depth allows the osteotomy tool to reach any point within a certain range, thereby enabling convenient, simple, precise, and stable surgical operations, improving surgical efficiency, and reducing surgical risks.

[0057] The longitudinal moving mechanism 110 includes a longitudinal drive motor 112, a longitudinal slide rail mounting base 111 on which a longitudinal slide rail is mounted, and a longitudinal moving platform 115. The longitudinal moving mechanism 110 also includes a longitudinal screw assembly, which includes a longitudinal ball screw 114 arranged along the longitudinal slide rail direction and a longitudinal screw nut 113 that cooperates with the longitudinal ball screw 114. The longitudinal moving platform 115 is fixed on the longitudinal screw nut 113. The longitudinal drive motor 112 is connected to and drives the longitudinal ball screw 114, so that a linear reciprocating relative motion is generated between the longitudinal moving platform 115 and the longitudinal ball screw 114.

[0058] The longitudinal slide rail mounting base 111 is equipped with a connecting platform 513 and a mounting interface 501. The osteotomy device can be mounted on the surgical robot via the mounting interface 501, allowing for precise control of the grinding and cutting position and depth according to the preoperative surgical plan. This reduces deviations caused by manual operation and ensures surgical accuracy. The osteotomy device is also equipped with a six-axis sensor 502, which can accurately measure the forces and torques in various directions during the osteotomy process, sense movement variables in various dimensions, prevent surgical accidents, and improve control precision.

[0059] The lateral movement mechanism 310 includes a lateral drive motor 312, a lateral slide rail mounting base 311 with a lateral slide rail, and a lateral movement platform 315. The lateral movement mechanism 310 also includes a lateral lead screw assembly, which includes a lateral ball screw 314 arranged along the lateral slide rail direction and a lateral lead screw nut 313 cooperating with the ball screw 314. The lateral movement platform 315 is fixed to the lateral lead screw nut 313. The lateral drive motor 312 is connected to and drives the lateral ball screw 314, causing a linear reciprocating relative motion between the lateral movement platform 315 and the lateral ball screw 314. The lateral slide rail mounting base 311 is mounted on the longitudinal movement platform 115.

[0060] The depth movement mechanism 210 includes a depth drive motor 212, a depth slide rail mounting base 211 with a depth slide rail, and a depth movement platform 213. The depth movement mechanism 210 also includes a depth screw assembly, which includes a depth ball screw 214 arranged along the depth slide rail direction. The depth movement platform 213 has an internal thread that mates with the depth ball screw 214. The depth drive motor 212 connects to and drives the depth ball screw 214, causing a linear reciprocating relative motion between the depth movement platform 213 and the depth ball screw 214. The depth slide rail mounting base 211 is mounted on the transverse movement platform 315.

[0061] Furthermore, each drive motor can be connected and driven via a coupling.

[0062] In this embodiment, the osteotomy tool is mounted on the depth movement platform 213 of the depth movement mechanism 210. A rotary clamping mechanism 410 is also provided between the osteotomy tool and the connected depth movement platform 213. The rotary clamping mechanism 410 is mounted on the depth movement platform 213 connected to the osteotomy tool, and the osteotomy tool is connected to the rotary clamping mechanism 410. The rotary clamping mechanism 410 includes a rotary drive motor 411, a mounting base 414, a meshing drive gear 412, and a driven gear 413. The drive motor is connected to and drives the drive gear 412, and the output of the driven gear 413 is connected to the osteotomy tool. Furthermore, the rotary clamping mechanism 410 is equipped with a hand-tightening quick-release screw, which allows for quick clamping of the osteotomy tool.

[0063] The osteotomy tool includes an electric grinding head 601 driven by an orthopedic electric drill and an osteotomy tool mounting base 602, which is connected to the rotary clamping mechanism 410. The osteotomy tool mounting base 602 is provided with a navigation surface 603, which can be identified by a vision system for real-time tracking. In other embodiments, the osteotomy tool may also be an ultrasonic bone scalpel.

[0064] Please see Figures 7-9 Unlike Embodiments 1 and 2, the osteotomy device in Embodiment 3 includes an osteotomy tool and two moving mechanisms connected in sequence. The two moving mechanisms provide linear reciprocating movement variables in different directions for the osteotomy tool, and the two moving mechanisms are perpendicular to each other along their respective axes.

[0065] In specific embodiment three, the two moving mechanisms are a lateral moving mechanism 320 and a depth moving mechanism 220, which respectively provide linear reciprocating movement variables along the lateral and depth directions. Figure 7 In the coordinate axis, X represents the horizontal direction, Y represents the vertical direction, and Z represents the depth direction. The superposition of linear reciprocating movement variables in the horizontal and depth directions allows the osteotomy tool to reach any point within a certain plane range, thereby enabling convenient, simple, precise, and stable surgical operations, improving surgical efficiency, and reducing surgical risks.

[0066] The lateral movement mechanism 320 includes a lateral drive motor 322, a lateral slide rail mounting base 321 on which a lateral slide rail is mounted, and a lateral movement platform 325. The lateral movement mechanism 320 also includes a lateral lead screw assembly, which includes a lateral ball screw 324 arranged along the lateral slide rail direction and a lateral lead screw nut 323 that cooperates with the ball screw 324. The lateral movement platform 325 is fixed on the lateral lead screw nut 323. The lateral drive motor 322 is connected to and drives the lateral ball screw 324, so that a linear reciprocating relative motion is generated between the lateral movement platform 325 and the lateral ball screw 324.

[0067] The lateral movement mechanism 320 is equipped with a connecting platform 523 and a mounting interface 501. The osteotomy device can be mounted on the surgical robot via the mounting interface 501, allowing for precise control of the grinding and cutting position and depth according to the preoperative surgical plan. This reduces deviations caused by manual operation and ensures surgical accuracy. The osteotomy device is also equipped with a six-axis sensor 502, which can accurately measure the forces and torques in various directions during the osteotomy process, sense movement variables in various dimensions, prevent surgical accidents, and improve control precision.

[0068] The depth movement mechanism 220 includes a depth drive motor 222, a depth slide rail mounting base 221 with a depth slide rail, and a depth movement platform 223. The depth movement mechanism 220 also includes a depth screw assembly, which includes a depth ball screw 224 arranged along the depth slide rail direction. The depth movement platform 223 has an internal thread that mates with the depth ball screw 224. The depth drive motor 222 connects to and drives the depth ball screw 224, causing a linear reciprocating relative motion between the depth movement platform 223 and the depth ball screw 224. One end of the depth slide rail mounting base 221 is mounted on the transverse movement platform 325, and the other end is connected to a slider 327 on a guide rail 326 fixed on the connecting platform 523. This structure can better improve the rigidity of the depth movement mechanism 220.

[0069] Furthermore, each drive motor can be connected and driven via a coupling.

[0070] In this embodiment, the osteotomy tool is mounted on the depth movement platform 223 of the depth movement mechanism 220. A rotary clamping mechanism 420 is also provided between the osteotomy tool and the connected depth movement platform 223. The rotary clamping mechanism 420 is mounted on the depth movement platform 223 connected to the osteotomy tool, and the osteotomy tool is connected to the rotary clamping mechanism 420. The rotary clamping mechanism 420 includes a rotary drive motor 421, a mounting base 424, a meshing drive gear 422, and a driven gear 423. The drive motor is connected to and drives the drive gear 422, and the output of the driven gear 423 is connected to the osteotomy tool. Furthermore, the rotary clamping mechanism 420 is equipped with a hand-tightening quick-release screw for quick clamping of the osteotomy tool.

[0071] The osteotomy tool includes an electric grinding head 601 driven by an orthopedic electric drill and an osteotomy tool mounting base 602, the latter being connected to the rotary clamping mechanism 420. The osteotomy tool mounting base 602 is provided with a navigation surface 603, which can be identified by a vision system for real-time tracking. In other embodiments, the osteotomy tool may also be an ultrasonic bone scalpel.

[0072] In addition, a camera 328 is fixed on the lateral moving platform 325 for real-time close monitoring of the surgical site during surgery.

[0073] Please see Figures 10-12 In specific embodiment four, the three moving mechanisms are a longitudinal moving mechanism 130, a lateral moving mechanism 330, and a depth moving mechanism 230, which respectively provide linear reciprocating movement variables along the longitudinal, lateral, and depth directions. Figure 10In the coordinate axis, X represents the horizontal direction, Y represents the vertical direction, and Z represents the depth direction. The superposition of linear reciprocating movement variables in the three directions of vertical, horizontal, and depth allows the osteotomy tool to reach any point within a certain range, thereby enabling convenient, simple, precise, and stable surgical operations, improving surgical efficiency, and reducing surgical risks.

[0074] The lateral movement mechanism 330 includes a lateral drive motor 332, a lateral slide rail mounting base 331 with a lateral slide rail, and a lateral movement platform 335. The lateral movement mechanism 330 also includes a lateral lead screw assembly, which includes a lateral ball screw 334 arranged along the lateral slide rail direction and a lateral lead screw nut 333 that cooperates with the ball screw 334. The lateral movement platform 335 is fixed on the lateral lead screw nut 333. The lateral drive motor 332 is connected to and drives the lateral ball screw 334, so that the lateral movement platform 335 and the lateral ball screw 334 generate a linear reciprocating relative motion.

[0075] The lateral movement mechanism 330 is equipped with a connecting platform 533 and a mounting interface 501. The osteotomy device can be mounted on the surgical robot via the mounting interface 501, allowing for precise control of the grinding and cutting position and depth according to the preoperative surgical plan. This reduces deviations caused by manual operation and ensures surgical accuracy. The osteotomy device is also equipped with a six-axis sensor 502, which can accurately measure forces and torques in various directions during the osteotomy process, sense movement variables in various dimensions, prevent surgical accidents, and improve control precision.

[0076] The depth movement mechanism 230 includes a depth drive motor 232, a depth slide rail mounting base 231 with a depth slide rail, and a depth movement platform 235. The depth movement mechanism 230 also includes a depth screw assembly, which includes a depth ball screw 234 arranged along the depth slide rail direction and a depth screw nut 233 cooperating with the depth ball screw 234. The depth movement platform 235 is fixed to the depth screw nut 233. The depth drive motor 232 is connected to and drives the depth ball screw 234, causing a linear reciprocating relative motion between the depth movement platform 235 and the depth ball screw 234. The depth slide rail mounting base 231 is mounted on the transverse movement platform 335.

[0077] The longitudinal moving mechanism 130 includes a longitudinal drive motor 132, a longitudinal slide rail mounting base 131 with a longitudinal slide rail, and a longitudinal moving platform 135. The longitudinal moving mechanism 130 also includes a longitudinal lead screw assembly, which includes a longitudinal ball screw 134 arranged along the longitudinal slide rail direction and a longitudinal lead screw nut 133 cooperating with the longitudinal ball screw 134. The longitudinal moving platform 135 is fixed to the longitudinal lead screw nut 133. The longitudinal drive motor 132 connects to and drives the longitudinal ball screw 134, causing a linear reciprocating relative motion between the longitudinal moving platform 135 and the longitudinal ball screw 134. The longitudinal slide rail mounting base 131 is mounted on the depth moving platform 235. Specifically, the depth moving platform 235 has a laterally extended shoulder (not labeled), and the longitudinal slide rail mounting base 131 is mounted on the shoulder of the depth moving platform 235.

[0078] Furthermore, each drive motor can be connected and driven via a coupling.

[0079] In this embodiment, the osteotomy tool is mounted on the longitudinal moving platform 135 of the longitudinal moving mechanism 130. A rotary clamping mechanism 430 is also provided between the osteotomy tool and the connected longitudinal moving platform 135. The rotary clamping mechanism 430 is mounted on the longitudinal moving platform 135 connected to the osteotomy tool, and the osteotomy tool is connected to the rotary clamping mechanism 430. The rotary clamping mechanism 430 includes a rotary drive motor 431, a mounting base 434, a meshing drive gear 432, and a driven gear 433. The drive motor is connected to and drives the drive gear 432, and the output of the driven gear 433 is connected to the osteotomy tool. Furthermore, the rotary clamping mechanism 430 is equipped with a quick-release screw for fast clamping of the osteotomy tool.

[0080] The osteotomy tool includes an electric grinding head 601 driven by an orthopedic electric drill and an osteotomy tool mounting base 602, which is connected to the rotary clamping mechanism 430. The osteotomy tool mounting base 602 is provided with a navigation surface 603, which can be identified by a vision system for real-time tracking. In other embodiments, the osteotomy tool may also be an ultrasonic bone scalpel.

[0081] like Figures 13-15 As shown, the difference between Example 5 and Example 1 is that the osteotomy tool used is an ultrasonic bone scalpel 604.

[0082] As an alternative embodiment, the osteotomy device may also consist of at least two moving mechanisms, which may be a lateral moving mechanism and a longitudinal moving mechanism, or a longitudinal moving mechanism and a depth moving mechanism.

[0083] This application also provides an intelligent osteotomy system, which includes an osteotomy device as described in any of the embodiments above, and a control center. Each moving mechanism of the osteotomy device includes a drive motor, and the drive motor is connected to the control center. The sensors of the osteotomy device are six-axis sensors, mounted on the moving mechanisms and connected to the control center. The osteotomy tool is provided with a navigation surface 603 that can be recognized by a vision system. The intelligent osteotomy system also includes a binocular vision system that can recognize the navigation surface. The binocular vision system can be mounted on the osteotomy device, placed beside the operating table by a bracket, or fixed above the operating table by a support. The control circuit of the control center is connected to a computer via RSS485 or CAN communication to complete the pre-planned grinding or resection actions. The intelligent osteotomy system of this application automatically completes the osteotomy action by the tool, without the need for doctor operation. The doctor can focus mainly on monitoring the entire process, reducing the doctor's workload.

[0084] The above description is only a preferred embodiment of this application. The scope of protection of this application is not limited thereto. Any equivalent transformation based on the technical solution of this application shall fall within the scope of protection of this application.

Claims

1. An osteotomy device, characterized by It includes a bone-cutting tool and at least two moving mechanisms connected in sequence. The at least two moving mechanisms provide linear reciprocating movement variables in different directions for the bone-cutting tool. The at least two moving mechanisms are perpendicular to each other along their respective axes. A rotating clamping mechanism is also provided between the bone-cutting tool and the connected moving mechanisms. The bone-cutting tool, the rotating clamping mechanism, and the moving mechanisms are directly connected. The rotating clamping mechanism is mounted on the moving mechanism connected to the bone-cutting tool. The bone-cutting tool is connected to the rotating clamping mechanism. The rotating clamping mechanism includes a drive motor, a meshing drive gear, and a driven gear. The drive motor is connected to and drives the drive gear. The output of the driven gear is connected to the bone-cutting tool. The rotating clamping mechanism is equipped with a quick-release screw for quickly clamping the bone-cutting tool. The bone-cutting tool includes an electric grinding head or an ultrasonic bone scalpel. The bone-cutting tool is equipped with a navigation surface that can be recognized by a vision system.

2. The osteotomy device of claim 1, wherein, It includes three moving mechanisms, the osteotomy tool and the three moving mechanisms are connected in sequence, the three moving mechanisms provide linear reciprocating movement variables in different directions for the osteotomy tool, and the three moving mechanisms are perpendicular to each other along their respective axes in different directions.

3. The osteotomy device of claim 1 or 2, wherein, Each of the moving mechanisms includes a drive motor, a slide rail, and a moving platform. The moving platform can reciprocate linearly along the slide rail under the drive of the drive motor. The osteotomy tool and the at least two moving mechanisms are connected in sequence as follows: the osteotomy tool is mounted on the moving platform of one of the moving mechanisms, and the moving mechanism connected to the osteotomy tool and other moving mechanisms are respectively mounted on the moving platform of the adjacent moving mechanism.

4. The osteotomy device as described in claim 3, characterized in that, The moving mechanism further includes a lead screw assembly, which includes a ball screw arranged along the slide rail direction and a lead screw nut that cooperates with the ball screw. The moving platform is fixed on the lead screw nut, and the drive motor is connected to and drives the ball screw, so that the moving platform and the ball screw generate a linear reciprocating relative motion.

5. The osteotomy device as described in claim 1 or 2, characterized in that, The osteotomy device is also equipped with a camera for real-time close-range monitoring of the surgical site.

6. An intelligent osteotomy system, characterized in that, It includes the osteotomy device as described in any one of claims 1 to 5, and a control center, wherein the moving mechanism of the osteotomy device includes a drive motor, and the drive motor is connected to the control center.

7. The intelligent osteotomy system as described in claim 6, characterized in that, The osteotomy device is equipped with a sensor, which is connected to the control center. The intelligent osteotomy system also includes a binocular vision system, which can identify the navigation surface.

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