A bone cement assisted injection robotic arm

Abstract

The present invention discloses a bone cement assisted injection robotic arm, belonging to the technical field of medical auxiliary equipment. It includes: The angle adjustment device includes an angle adjustment housing and a rotating shaft installed in the angle adjustment housing, and the rotating shaft can rotate around its axial direction; The guide rail device includes a guide rail housing, a guide rail provided on the guide rail housing, and a slider that can reciprocate along the length direction of the guide rail. In addition, one end of the guide rail housing is drivingly connected to the rotating shaft; The injection fixing device is arranged on the slider; The locking device includes a first degree of freedom fitting at one end, and the other end is connected to the guide rail device; The degree of freedom device includes a second degree of freedom fitting that matches the first degree of freedom fitting, and the first degree of freedom fitting and the second degree of freedom fitting form a universal movable connection mechanism; The auxiliary operation device is detachably connected to the degree of freedom device. The bone cement assisted injection robotic arm provided by the present invention is convenient for the operator to remotely operate and is simple to control.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, and in particular to a bone cement auxiliary injection mechanical arm. Background Art

[0002] Percutaneous vertebroplasty (PVP) is a minimally invasive spinal surgery technique that injects bone cement into the vertebral body through the pedicle or outside the pedicle to increase vertebral strength and stability, prevent collapse, relieve pain, and even partially restore vertebral height.

[0003] Percutaneous bone cement vertebroplasty has been used to treat spinal diseases for nearly 30 years. This technology has been widely used to treat spinal osteoporosis or tumors. Although it has relatively fewer complications than open surgery, there are still some special complications, mainly including bone cement leakage and pulmonary embolism. Although reports show that the incidence of bone cement leakage is low, averaging about 0.3% to 10%, once it occurs, the consequences may be extremely serious. In order to reduce the probability of the above complications, under the premise of ensuring the correct surgical indications and standardized surgical operations, strengthening intraoperative radiation monitoring is one of the key methods to minimize bone cement leakage. Practice has also proved that "strengthening intraoperative radiation monitoring" can indeed reduce the occurrence of bone cement leakage, but at the same time it also brings new problems.

[0004] In recent years, there has been an increasing number of studies on radiation exposure of surgeons during vertebroplasty. Studies have shown that 90% of radiation exposure of surgeons during orthopedic surgery comes from vertebroplasty. Some scholars have found that without protective measures, an average of 34 vertebroplasties will exceed the total annual radiation exposure allowed by the regulations. To this end, scholars have summarized many suggestions in the hope of minimizing the radiation exposure of surgeons, including wearing lead clothing, protective glasses, protective headgear, placing shielding facilities between the surgeon and the X-ray tube, and controlling the number of radiation exposures as much as possible.

[0005] The above measures can indeed greatly reduce the radiation exposure of the surgeon, but even so, the surgeon will still be exposed to high radiation damage. Moreover, reducing the number of intraoperative X-ray exposures will invisibly increase the risk of surgical operations. In order to effectively avoid the surgeon's radiation exposure without increasing the incidence of related complications, if a surgical robot for vertebroplasty positioning and bone cement injection can be designed, the robot can replace the surgeon's operation, which can obviously avoid the surgeon's radiological exposure during the operation, improve the safety of the operation, and increase the protection of the surgeon.

[0006] CN201721000984.9 discloses a medical auxiliary operation device, which mainly includes a main arm, a positioning unit and an instrument driving unit. However, it does not mention that the telescopic component and the movable component with degrees of freedom in the positioning unit are locked by an electric control device, and the telescopic component and the movable component with degrees of freedom are locked at the same time by a single locking component. The control form is single and flexible regulation cannot be achieved. In addition, the application does not involve a guide rail device or an injection fixing device, but is only a single auxiliary operation device.

[0007] CN201721000985.3 discloses a bone cement auxiliary injection device, which mainly includes a first arm, a second arm and a shaft vertically arranged on a box body, and the first arm and the second arm are respectively connected to the shaft. The auxiliary injection device requires two separate support arms for injection, and has a complex structure. In addition, the application does not mention an injection fixing device, and remote control injection of bone cement cannot be achieved. Summary of the invention

[0008] In view of the above-mentioned problems existing in the prior art, an object is to provide a bone cement assisted injection robotic arm, which is convenient for the surgeon to operate remotely, has simple control, and is convenient for locking or unlocking and replacing the various components.

[0009] The specific technical solutions are as follows:

[0010] A bone cement-assisted injection mechanical arm mainly comprises an angle adjustment device, a guide rail device, an injection fixing device, a locking device, a degree of freedom device and an auxiliary operation device.

[0011] The angle adjustment device includes an angle adjustment housing and a rotating shaft installed in the angle adjustment housing;

[0012] The guide rail device includes a guide rail housing, a guide rail arranged in the guide rail housing, and a slider capable of reciprocating along the length direction of the guide rail. In addition, one end of the guide rail housing is movably connected to one end of the angle adjustment device, and the guide rail housing can rotate around the axial direction of the rotation axis.

[0013] The injection fixture is arranged on the slide block, and the injection fixture is detachably connected to the bone cement injection device and is drivingly connected to the bone cement injection device;

[0014] The locking device comprises a first degree of freedom accessory arranged at one end, a first locking member arranged in the first degree of freedom accessory, and a second locking member arranged at the other end, the end of the locking device facing away from the first degree of freedom accessory is fixedly connected to the slider, and the second locking member is unlockably contacted and locked with the guide rail device;

[0015] The degree-of-freedom device includes a second-degree-of-freedom fitting that matches the first-degree-of-freedom fitting, and the first-degree-of-freedom fitting and the second-degree-of-freedom fitting form a universal movable connection mechanism, and the first locking member is unlockably locked with the second-degree-of-freedom fitting;

[0016] The auxiliary operation device is detachably connected to the degree-of-freedom device. The auxiliary operation device includes a first auxiliary operation fitting for limiting and driving the bone cement injection channel device, and a second auxiliary operation fitting for limiting the puncture component.

[0017] In the above-mentioned bone cement assisted injection robotic arm, there is also such a feature that the angle adjustment device further includes an angle locking drive component and a drive limiting member arranged in the angle adjustment housing. The angle locking drive component is sleeved on the outer side wall of the rotating shaft, and the drive limiting member is fixedly connected to one end of the rotating shaft;

[0018] Among them, the angle locking drive component includes a first angle locking drive member, a second angle locking drive member, and a rotating connection member. The first angle locking drive member and the second angle locking drive member can attract or separate from each other, and the first angle locking drive member is fixedly connected to the rotating shaft. The second angle locking drive member can rotate axially around the rotating shaft, and the second angle locking drive member is fixedly connected to one end of the guide rail device through the rotating connection member.

[0019] In the above-mentioned bone cement assisted injection robotic arm, there is also such a feature that a transfer member is provided at one end of the guide rail device, and the transfer member is fixedly connected to the second angle locking drive member through the rotating connection member;

[0020] A locking cooperation member is provided at the other end of the guide rail device, and the locking cooperation member matches the second locking member.

[0021] In the above-mentioned bone cement assisted injection robotic arm, there is also such a feature that the guide rail is a chute arranged along the length direction of the guide rail housing, and the slider matches the chute;

[0022] Or the guide rail includes a guide rail drive component and a drive rod drivingly connected to the guide rail drive component. The drive rod can reciprocate along its length direction, and the slider is connected to the drive rod.

[0023] In the above-mentioned bone cement assisted injection robotic arm, there is also such a feature that the injection fixing device includes an injection drive component and an injection component drivingly connected to the injection drive component. The injection component is connected to one end of the bone cement injection device;

[0024] The injection fixing device further includes a locking drive component, a connecting member, and a locking component. The locking drive component is drivingly connected to the locking component through the connecting member. Among them, there are at least two locking components, which are respectively arranged on both sides of the other end of the bone cement injection device, and several locking components can lock or loosen the bone cement injection device.

[0025] The above-mentioned bone cement assisted injection robot arm also has such a feature that the locking device also includes a plurality of locking device driving components, which are respectively driven and connected to the first locking member and the second locking member, and the locking device is provided with a connecting frame at one end of the second locking member, and the connecting frame extends into the interior of the guide rail housing.

[0026] The above-mentioned bone cement-assisted injection robotic arm also has such a feature that the degree of freedom device also includes an operating drive device, the second degree of freedom accessory includes a second degree of freedom accessory shell, a ball head and a matching preload, one end of the ball head extends into the second degree of freedom accessory shell, and the other end of the ball head matches the first degree of freedom accessory, the matching preload is embedded in the second degree of freedom accessory shell and is detachably connected to the operating drive device.

[0027] The above-mentioned bone cement assisted injection robot arm also has such a feature that the degree of freedom device also includes an operating drive device, and the second degree of freedom accessory includes a first locking drive component, a locking drive connecting component, a first locking matching component, a second locking drive component, a second locking matching component, a rotating shaft and a connecting component.

[0028] The first locking fitting is fixedly connected to the operating drive device, and the first locking drive component can rotate or lock relative to the first locking fitting, and the first locking drive component is connected to a locking drive connecting piece on the side away from the first locking fitting.

[0029] The locking drive connecting piece is sleeved on the circumferential side wall of the rotating shaft and is movably connected to the rotating shaft, the connecting component is sleeved on the axial side wall of the rotating shaft and is fixedly connected to the rotating shaft, and the second locking drive component is fixed on the rotating shaft, the second locking matching component is fixed on the locking drive connecting piece, the second locking drive component is locked or separated from the second locking matching component, and one end of the connecting component matches the first degree of freedom accessory.

[0030] The above-mentioned bone cement assisted injection robot arm also has such a feature that the operating drive device includes a matching drive member, an operating drive member, an auxiliary operating device unlocking member, a matching pre-tightening accessory, a first button and a second button, the matching pre-tightening accessory matches one end of the second degree of freedom accessory, and the matching drive member is detachably connected to the auxiliary operating device;

[0031] The first button is in communication connection with the angle locking driving component and the locking device driving component;

[0032] or the first button is in communication connection with the angle locking drive component, the locking device drive component, the first locking drive component and the second locking drive component;

[0033] The second button is in communication with the mating drive member.

[0034] In the above-mentioned bone cement assisted injection robotic arm, there is also such a feature that the first auxiliary operation accessory is locked or separated from the cooperating driving part. The first auxiliary operation accessory includes several meshing gears. The operation driving part in the operation driving device is drivingly connected to the gears. An assembly hole is formed in the middle of the gears, and the assembly hole matches the side wall of the bone cement injection channel device;

[0035] The first auxiliary operation accessory further includes a gear locking structure. One end of the gear locking structure can swing up and down and be inserted into or disengaged from between two adjacent teeth of the gear. The other end of the gear locking structure matches the unlocking part of the auxiliary operation device;

[0036] The second auxiliary operation accessory is locked or separated from the cooperating driving part. The second auxiliary operation accessory includes a first limiting part and a second limiting part, and an eccentric clip is provided at the end of the first limiting part. At least two first limiting parts and second limiting parts are respectively arranged on both sides of the puncturing part and are cooperatively connected to the puncturing part.

[0037] The positive effects of the above technical solutions are:

[0038] A bone cement assisted injection robotic arm provided by the present invention has the following technical effects.

[0039] 1. The auxiliary operation device and the degree-of-freedom device adopt a detachable connection structure. The auxiliary operation device includes various models and categories for the surgeon to choose. Preferably, an electromagnetic chuck connection form is adopted, which is more convenient and fast for the assembly and replacement of the head-end execution component and is convenient for the operation of medical staff.

[0040] 2. Motors, electromagnetic chucks, and electric control telescopic rods are used as the locking mechanisms at the relative rotation positions of the auxiliary injection robotic arm, avoiding manual operation, making the surgical instruments safer and more stable, avoiding secondary injuries, and facilitating the operation and control of doctors at the same time.

[0041] 3. By adjusting the relative positions between the angle adjustment device and the guide rail device, and between the locking device and the degree-of-freedom device, the relative positions of the bone cement injection channel device and the puncturing part relative to the patient are adjusted. At the same time, each locking part is uniformly controlled by the operation driving device, and the operation is more convenient, facilitating single-handed locking by the doctor, reducing the number of surgeons, saving the operating room space, and reducing the operation time.

[0042] 4. The auxiliary operation device can enable the surgeon to perform long-distance surgical operations outside the operating room or in an area far from the C-arm X-ray machine, reducing the accumulated radiation dose received by the surgeon during the operation, improving the surgical operation environment of the surgeon, and protecting the health of the surgeon.

[0043] 5. The angle adjustment device in the auxiliary injection robotic arm can be adapted to robotic arm bodies of different types and specifications, so as to expand the applicable range and meet various usage requirements.

[0044] 6. The auxiliary injection robotic arm is also integrated with an injection fixing device, which is used for the limit of the bone cement injection device and the drive of bone cement injection during the operation. The structure is simple and the control is convenient, and remote control by the operator can be realized.

[0045] 7. The auxiliary operation device is a disposable sterilized consumable, which is convenient for the operator to operate and reduces the operation time. In addition, the aseptic operation is simplified, the pollution is reduced, and the occurrence of bacterial infection and cross-infection caused by improper disinfection is avoided. Description of the Drawings

[0046] Figure 1 It is a schematic diagram of the overall structure of an embodiment of a bone cement auxiliary injection robotic arm;

[0047] Figure 2 It is a cross-sectional view of the angle adjustment device in an embodiment of a bone cement auxiliary injection robotic arm;

[0048] Figure 3 It is a front view of the angle adjustment device in an embodiment of a bone cement auxiliary injection robotic arm;

[0049] Figure 4 It is a perspective view of the angle adjustment device in an embodiment of a bone cement auxiliary injection robotic arm;

[0050] Figure 5a It is a perspective view of the guide rail device in an embodiment of a bone cement auxiliary injection robotic arm;

[0051] Figure 5b It is a cross-sectional view of the guide rail device in an embodiment of a bone cement auxiliary injection robotic arm;

[0052] Figure 6 It is a schematic diagram of the structure of the slider drive of the guide rail device in another embodiment of a bone cement auxiliary injection robotic arm;

[0053] Figure 7 It is a perspective view of the injection fixing device in an embodiment of a bone cement auxiliary injection robotic arm;

[0054] Figure 8 It is a cross-sectional view of the injection fixing device in an embodiment of a bone cement auxiliary injection robotic arm;

[0055] Figure 9 It is a perspective view of the bone cement injection device in an embodiment of a bone cement auxiliary injection robotic arm;

[0056] Figure 10 It is a perspective view of the locking device in an embodiment of a bone cement auxiliary injection robotic arm;

[0057] Figure 11 It is a cross-sectional view of a locking device in an embodiment of a bone cement assisted injection robotic arm;

[0058] Figure 12a It is a perspective view of a degree-of-freedom device in an embodiment of a bone cement assisted injection robotic arm;

[0059] Figure 12b It is a cross-sectional view of a degree-of-freedom device in an embodiment of a bone cement assisted injection robotic arm;

[0060] Figure 13a It is a perspective view of a degree-of-freedom device in another embodiment of a bone cement assisted injection robotic arm;

[0061] Figure 13b It is a cross-sectional view of a degree-of-freedom device in another embodiment of a bone cement assisted injection robotic arm;

[0062] Figure 13c It is a schematic structural diagram of a degree-of-freedom device in another embodiment of a bone cement assisted injection robotic arm;

[0063] Figure 13d1 It is a schematic diagram of a first locking member in another embodiment of a bone cement assisted injection robotic arm;

[0064] Figure 13d2 It is a cross-sectional view of a first locking member in another embodiment of a bone cement assisted injection robotic arm;

[0065] Figure 13e It is a schematic diagram of the mating state of a first locking member and a degree-of-freedom device in another embodiment of a bone cement assisted injection robotic arm;

[0066] Figure 14 It is a perspective view of a first auxiliary operation fitting in an embodiment of a bone cement assisted injection robotic arm;

[0067] Figure 15 It is a cross-sectional view of a first auxiliary operation fitting in an embodiment of a bone cement assisted injection robotic arm;

[0068] Figure 16 It is a schematic diagram of the initial state of a gear locking structure in an embodiment of a bone cement assisted injection robotic arm;

[0069] Figure 17 It is a schematic diagram after the gear locking structure in an embodiment of a bone cement assisted injection robotic arm is mated with the unlocking component of the auxiliary operation device;

[0070] Figure 18 It is a perspective view of a second auxiliary operation device fitting in an embodiment of a bone cement assisted injection robotic arm;

[0071] Figure 19 It is a cross-sectional view of the accessories of the second auxiliary operation device in an embodiment of a bone cement assisted injection robotic arm;

[0072] Figure 20 It is a schematic assembly structure diagram of an auxiliary operation device, a bone cement injection channel device and a puncture component in an embodiment of a bone cement assisted injection robotic arm.

[0073] In the attached drawings:

[0074] 1. Angle adjustment device; 11. Rotation shaft; 12. First angle locking drive; 13. Second angle locking drive; 14. Rotating connection piece; 15. Drive limiting piece; 16. Box body connecting piece; 17. Angle adjustment housing;

[0075] 2. Guide rail device; 21. Guide rail; 211. Guide rail drive component; 212. Drive rod; 22. Slide block; 23. Locking fitting; 24. Guide rail housing; 25. Adapter;

[0076] 3. Injection fixing device; 31. Injection drive component; 32. Injection component; 33. Locking drive component; 34. Connecting piece; 35. Locking component; 36. Button; 37. Injection fixing housing; 38. Bone cement injection device;

[0077] 4. Locking device; 41. Locking device drive component; 42. First locking piece; 43. Second locking piece; 44. First degree of freedom fitting; 45. Connecting frame;

[0078] 5. Degree of freedom device; 51. Second degree of freedom fitting; 511. Ball head; 512. Fitting preloading piece; 513. Second degree of freedom fitting housing; 5131. Button; 511'. First locking drive component; 512'. Locking drive connecting piece; 513'. First locking fitting; 514'. Rotating sleeve; 515'. Rotating sleeve fitting; 516'. Second locking drive component; 517'. Second locking fitting; 518'. Rotation shaft; 519'. Connecting component; 520'. First degree of freedom fitting connecting piece; 521'. End cover; 52. Operation drive device; 521. Fitting drive piece; 522. Operation drive piece; 523. Operation drive fitting; 524. Auxiliary operation device unlocking component; 525. Fitting preloading fitting; 526. First button; 527. Second button; 528. Operation drive housing;

[0079] 6. Auxiliary operating device; 61. First auxiliary operating fitting; 611. First gear; 612. Second gear; 613. Ball; 614. Gear locking structure; 615. First mating drive component; 616. Auxiliary operating housing; 62. Second auxiliary operating fitting; 621. Second mating drive fitting; 622. First limiting member; 623. Second limiting member; 624. Second auxiliary operating fitting housing; 63. Bone cement injection channel device; 64. Puncture component. Detailed implementation manner

[0080] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the following embodiments are described in conjunction with the attached Figure 1 to the attached Figure 20 A bone cement assisted injection robotic arm provided by the present invention is specifically described.

[0081] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. And the "connection" and "coupling" mentioned in this application, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention 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 to the present invention.

[0082] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0083] In the bone cement assisted injection robotic arm,

[0084] See Figure 1, the angle adjustment device 1 includes an angle adjustment housing 17 and a rotating shaft 11 installed inside the angle adjustment housing 17. Specifically, the rotating shaft 11 is fixedly arranged inside the angle adjustment housing 17. By rotating a part of the angle locking drive component sleeved outside the rotating shaft 11, the relative rotation between the angle adjustment device 1 and the guide rail device 2 is driven. The guide rail device 2 is movably connected to the angle adjustment housing 17 and can rotate relative to each other. The relative rotation between the angle adjustment device 1 and the guide rail device 2 is finally realized manually.

[0085] Specifically, the angle adjustment device 1 further includes an angle locking drive component and a drive limit member 15 arranged inside the angle adjustment housing 17. The angle locking drive component is sleeved on the outer side wall of the rotating shaft 11. The drive limit member 15 is fixedly connected to one end of the rotating shaft 11. The drive limit member 15 is used to limit the position of the rotating shaft 11 in the length direction to prevent the angle locking drive component from detaching from the rotating shaft 11.

[0086] More specifically, the angle locking drive component includes a first angle locking drive member 12, a second angle locking drive member 13, and a rotating connection member 14. The first angle locking drive member 12 is fixedly connected to the rotating shaft 11. The second angle locking drive member 13 can rotate axially around the rotating shaft 11. The second angle locking drive member 13 is fixedly connected to one end of the guide rail device 2 through the rotating connection member 14. Generally, the first angle locking drive member 12 and the second angle locking drive member 13 are arranged vertically and sleeved on the circumferential side wall of the rotating shaft 11. The first angle locking drive member 12 and the second angle locking drive member 13 can attract or separate from each other. Preferably, an electromagnet form is adopted. When the first angle locking drive member 12 and the second angle locking drive member 13 are energized, they generate magnetism and adsorb each other, that is, the second angle locking drive member 13 cannot rotate around the rotating shaft 11, thereby realizing the relative position locking between the angle adjustment device 1 and the guide rail device 2. When the first angle drive member 12 and the second angle locking drive member 13 stop being energized, they lose magnetism and separate from each other under the action of gravity, that is, the second angle locking drive member 13 returns to being able to rotate around the rotating shaft 11, thereby realizing the relative position unlocking between the angle adjustment device 1 and the guide rail device 2.

[0087] Furthermore, the angle adjustment housing 17 is sleeved outside each component to limit the position of each component and protect each component. In addition, the angle adjustment device 1 further includes a box body connecting member 16. The box body connecting member 16 is arranged at the top of the angle adjustment housing 17. The rotating shaft 11 is fixedly connected to the box body connecting member 16. One end of the box body connecting member 16 can be connected to an external mechanism.

[0088] The guide rail device 2 includes a guide rail housing 24, a guide rail 21 arranged on the guide rail housing 24, and a slider 22 that can slide back and forth along the length direction of the guide rail 21. The position adjustment of the injection fixing device 3 in the length direction of the guide rail 21 is achieved by moving the slider 22. In addition, one end of the guide rail housing 24 is movably connected to one end of the angle adjustment device 1, and the guide rail housing 24 can rotate axially around the rotating shaft 11, thereby achieving the adjustment of the relative position between the guide rail device 2 and the angle adjustment device 1.

[0089] Specifically, an adapter 25 is provided at one end of the guide rail device 2, and the adapter 25 is fixedly connected to the second angle locking drive member 13 through the rotating connecting member 14. Furthermore, a plurality of connecting holes are opened on the end faces of the adapter 25 and the rotating connecting member 14, and the adapter 25 and the rotating connecting member 14 can be fixedly connected by aligning the connecting holes with each other and inserting fasteners. A locking fitting 23 is provided at the other end of the guide rail device 2, and the locking fitting 23 matches the second locking member 43, wherein an "I"-shaped cavity is formed at one end of the guide rail device 2 where the locking fitting 23 is provided, and the locking fitting 23 is a boss protruding toward the middle on both sides.

[0090] Optionally, the guide rail 21 is a slide groove arranged along the length direction of the guide rail housing 24, and the slider 22 matches the slide groove. The slider 22 slides along the length direction of the slide groove to adjust the specific position. Furthermore, the slider 22 can be driven by an external displacement actuator to achieve position movement or locking, wherein the displacement actuator can be a cylinder, an electric cylinder, etc.

[0091] Optionally, the guide rail 21 includes a guide rail driving component 211 and a driving rod 212 driven and connected to the guide rail driving component 211, the driving rod 212 can reciprocate along its length direction, and the slider 22 is connected to the driving rod 212, the slider 22 and the driving rod 212 are threaded or fixedly connected, and the position movement and locking of the slider 22 are achieved by the displacement of the driving rod 212. The guide rail driving component 211 is a motor or a hydraulic device, etc., and the driving rod 212 is a screw or a hydraulic rod, etc.

[0092] The injection fixture 3 is arranged on the slider 22, and the injection fixture 3 is detachably connected to the bone cement injection device 38. The injection fixture 3 is used to limit the specific position of the bone cement injection device 38 during the operation, and is driven and connected to the bone cement injection device 38. The injection operation of the bone cement injection device 38 is realized through the injection fixture 3.

[0093] Specifically, the injection fixing device 3 includes an injection driving component 31 and an injection component 32 drivingly connected to the injection driving component 31, and the injection component 32 is connected to one end of the bone cement injection device 38. The injection driving component 31 and the injection component 32 are arranged at one end of the injection fixing housing 37, the injection driving component 31 is fixedly connected to the injection fixing housing 37, the injection component 32 can be extended or retracted relative to the injection driving component 31, the injection driving component 31 can be selected as a motor, the injection driving component 31 is threadedly connected to the injection component 32, or the output power part of the injection driving component 31 is fixedly connected to the injection component 32, and matches the tail shape of the bone cement injection device 38.

[0094] Specifically, the injection fixation device 3 also includes a locking drive component 33, a connecting piece 34 and a locking component 35. The locking component 35 is used to limit the head of the bone cement injection device 38. The locking drive component 33 is driven and connected to the locking component 35 through the connecting piece 34, wherein at least two locking components 35 are provided, which are respectively arranged on both sides of the other end (head) of the bone cement injection device 38. Several locking components 35 can be locked or released with the bone cement injection device 38. In addition, a button 36 is also provided on the injection fixation shell 37. The button 36 is communicatively connected with the locking drive component 33 for adjusting the working state of the locking drive component 33, and medical staff can control the position locking and unlocking of the bone cement injection device 38 through the button 36.

[0095] The locking device 4 includes a first degree of freedom accessory 44 arranged at one end, and a first locking piece 42 arranged in the first degree of freedom accessory 44, wherein an installation cavity is formed inside the first degree of freedom accessory 44, and the first locking piece 42 is arranged in the installation cavity, and the first locking piece 42 can slide along the length direction of the installation cavity, and the connection and locking of the locking device 4 and the degree of freedom device 5 are realized by the extension of the first locking piece 42, thereby limiting the degree of freedom rotation between the locking device 4 and the degree of freedom device 5, and a second locking piece 43 arranged at the other end, the end of the locking device 4 away from the first degree of freedom accessory 44 is connected to the end of the guide rail device 2 away from the rotation axis 11, and the second locking piece 43 can be unlocked and contacted with the guide rail device 2 and locked, and the second locking piece 43 is extended to press against the surface of the locking mating piece 23, thereby increasing the sliding friction between the locking device 4 and the guide rail device 2, thereby realizing the relative position locking between the locking device 4 and the guide rail device 2. Generally, two second locking members 43 are provided, and the extended end faces of the two second locking members 43 are in opposite directions, and after being extended, they are in contact with the two opposite surfaces of the locking fitting 23 respectively.

[0096] Specifically, the locking device 4 further includes a number of locking device driving components 41. Generally, the number of the locking device driving components 41 is the same as the sum of the numbers of the first locking member 42 and the second locking member 43, that is, each locking device driving component 41 corresponds to one of the first locking member 42 or the second locking member 43. The locking device driving components 41 are respectively drivingly connected to the first locking member 42 and the second locking member 43. The movement of the first locking member 42 or the second locking member 43 is controlled by the expansion and contraction of the locking device driving components 41, so as to realize the contact or separation from other corresponding components. One end of the locking device 4 where the second locking member 43 is provided is provided with an adapter frame 45. The adapter frame 45 extends into the inside of the guide rail housing 24 to ensure the connection stability between the locking device 4 and the guide rail device 2, and to prevent the guide rail device 2 and the locking device 4 from being disengaged during the adjustment of the relative movement of the two positions. Further, the adapter frame 45 is fixedly connected to the slider 22, and the movement of the locking device 4 and the injection fixing device 3 is driven by the sliding of the slider 22 in the chute.

[0097] Optionally, the head of the first locking member 42 can be set as a conical cavity, preferably a cone, and the conical cavity can match the ball head of the second-degree-of-freedom fitting 51.

[0098] Optionally, the head of the first locking member 42 can be set as a semi-circular arc shape, and the side surface of the semi-circular arc shape can match the cylindrical surface of the second-degree-of-freedom fitting 51.

[0099] The degree-of-freedom device 5 includes a second-degree-of-freedom fitting 51 that matches the first-degree-of-freedom fitting 44, and the first-degree-of-freedom fitting 44 and the second-degree-of-freedom fitting 51 form a universal movable connection mechanism, that is, the first-degree-of-freedom fitting 44 and the second-degree-of-freedom fitting 51 can realize the degree-of-freedom rotation to adjust the specific position of the degree-of-freedom device 5 during the operation. The first locking member 42 is lockably locked with the second-degree-of-freedom fitting 51, that is, after the relative position adjustment between the locking device 4 and the degree-of-freedom device 5 is completed, the positions of the two can be maintained by locking.

[0100] Optionally, the freedom device 5 further includes an operating drive device 52, the second freedom accessory 51 includes a second freedom accessory housing 513, a ball head 511 and a matching preload member 512, one end of the ball head 511 extends into the second freedom accessory housing 513, and a connecting column is generally provided on one side of the ball head 511, and a portion of the connecting column extends into the second freedom accessory housing 513. The ball head 511 is located outside the second freedom accessory housing 513 as a whole, so as to facilitate connection with the first freedom accessory 44 of the locking device 4, so as to realize the ball head 51 The first degree of freedom accessory 44 can be rotated arbitrarily, and the other end of the ball head 511 matches with the first degree of freedom accessory 44. The matching preload member 512 is embedded in the second degree of freedom accessory housing 513 and is detachably connected with the operating drive device 52. The second degree of freedom accessory 51 can be disassembled and replaced as a whole according to actual use requirements, and the connection and replacement are convenient. In addition, a button 5131 is arranged on the outside of the second degree of freedom accessory housing 513, and the matching locking and unlocking of the second degree of freedom accessory 51 and the operating drive device 52 are controlled by the button 5131.

[0101] Optionally, the degree of freedom device 5 also includes an operating drive device 52, and the second degree of freedom accessory 51 includes a first locking drive component 511', a locking drive connecting piece 512', a first locking fitting 513', a second locking drive component 516', a second locking fitting 517', a rotating shaft 518' and a connecting component 519', wherein the first locking fitting 513' is fixedly connected to the operating drive device 52, and the first locking drive component 511' can rotate or lock relative to the first locking fitting 513', and further, the first locking drive component 511' and the first locking fitting 513' can be in the form of an electromagnetic suction cup, and when the two have magnetism, the two are attracted and locked, and when the two lose magnetism, the two are attracted and locked. The two are separated and unlocked when lost, with a compact structure and convenient use. A rotary joint is formed by the relative rotation of the first locking driving component 511' and the first locking matching component 513'. The first locking driving component 511' is connected to a locking driving connecting component 512' on the side away from the first locking matching component 513'. Furthermore, the first locking driving component 511' and the first locking matching component 513' are sleeved on the circumferential outer side wall of the rotating sleeve 514' for limiting support of the two, and the locking driving connecting component 512' and the rotating sleeve matching component 515' are arranged on both sides of the length direction of the rotating sleeve 514'. The rotating sleeve matching component 515' is used for the connection between the rotating sleeve 514' and the operating driving device 52;

[0102] The locking drive connecting member 512' is sleeved on the circumferential side wall of the rotating shaft 518' and is movably connected to the rotating shaft 518'. The relative rotation between the locking drive connecting member 512' and the rotating shaft 518' forms a second rotating joint. The rotation axes of the two rotating joints are perpendicular to each other. The connecting member 519' is sleeved on the axial side wall of the rotating shaft 518' and is fixedly connected to the rotating shaft 518'. The connecting member 519' rotates together with the rotating shaft 518', so as to realize the relative rotation between the connecting member 519' and the locking drive connecting member 512'. The second locking drive member 516' is fixedly arranged on the rotating shaft 518', and the second locking fitting 517' is fixedly arranged on the locking drive connecting member 512'. The second locking drive member 516' and the second locking fitting 517' are locked or separated. Further, the second locking drive member 516', the rotating shaft 518' and the connecting member 519' are fixedly connected to each other; the second locking fitting 517' and the locking drive connecting member 512' are fixedly connected; the second locking fitting 517' can rotate around the rotating shaft 518'. When locking is required, the two ends of the second locking drive member 516' generate suction force on the second locking fitting 517' through electric control, and the two are attracted to each other, so that the second locking fitting 517' cannot rotate around the rotating shaft 518', thereby completing the locking of the second rotating joint. One end of the connecting member 519' is matched with the first-degree-of-freedom fitting 44. Further, a first-degree-of-freedom fitting connecting member 520' is sleeved on the side wall of the connecting member 519'. The first-degree-of-freedom fitting connecting member 520' can rotate around its own axis direction and generate relative rotation with the connecting member 519', so as to form a third rotating joint. That is, the axis direction of the first rotating joint is the front-back direction, the axis direction of the second rotating joint is the left-right direction, and the axis direction of the third rotating joint is the up-down direction. The combination of the three rotating joints realizes the universal adjustment of the second-degree-of-freedom fitting 51. In addition, the first-degree-of-freedom fitting connecting member 520' is connected to the first-degree-of-freedom fitting 44, and the first locking member 42 with a semi-circular arc-shaped side surface can extend into the connecting member 519' from the opening of the first-degree-of-freedom fitting connecting member 520' and abut against the side wall of the connecting member 519', so as to lock the relative rotation between the first-degree-of-freedom fitting connecting member 520' and the connecting member 519'. One end of the first-degree-of-freedom fitting connecting member 520' is provided with an end cover 521' for restricting the movement of the first-degree-of-freedom fitting connecting member 520' in the axial direction of the connecting member 519'.

[0103] Specifically, the degree-of-freedom device 5 further includes an operation driving device. The operation driving device includes a mating driving member 521, an operation driving member 522, an auxiliary operation device unlocking member 524, and a mating pre-tightening fitting 525. An operation driving fitting 523 is sleeved outside the operation driving member 522. The mating driving member 521, the operation driving fitting 523, the auxiliary operation device unlocking member 524, the mating pre-tightening fitting 525, a first button 526, and a second button 527 are disposed outside the operation driving housing 528. The operation driving member 522 is disposed inside the operation driving housing 528. There are two mating driving members 521 disposed up and down. The upper mating driving member 521 is used to lock with the first auxiliary operation fitting 61, and the lower mating driving member 521 is used to lock with the second auxiliary operation fitting 62. The mating pre-tightening fitting 525 matches with the pre-tightening member 512 at one end of the second degree-of-freedom fitting 51. The first button 526 is communicatively connected to the angle locking driving component and the locking device driving component 41. In addition, in some embodiments, the first button 526 is communicatively connected to the angle locking driving component, the first locking driving component 511', the second locking driving component 516', and the locking device driving component 41. That is, the first button 526 controls the locking and unlocking of the positional relationship between the degree-of-freedom device 5 and the locking device 4, and the locking and unlocking of the positional relationship between the angle adjusting device 1 and the guide rail device 2. The second button 527 is communicatively connected to the mating driving member 521, and the second button 527 is used to achieve the mating locking and unlocking between the degree-of-freedom device 5 and the auxiliary operation device 6.

[0104] In this application, the auxiliary operation device 6 uses disposable sterilized consumables, which is convenient for the operator to operate, reduces the operation time, simplifies the aseptic operation, reduces pollution, and avoids the occurrence of bacterial infection and cross-infection caused by improper disinfection. The auxiliary operation device 6 is detachably connected to the degree-of-freedom device 5, which is convenient for disassembling and replacing the auxiliary operation device 6. The auxiliary operation device 6 includes a first auxiliary operation fitting 61 for limiting and driving the bone cement injection channel device 63, and a second auxiliary operation fitting 62 for limiting the puncture component 64.

[0105] Specifically, the first auxiliary operation accessory 61 is locked or separated from the matching drive member 521, and the first auxiliary operation accessory 61 includes a plurality of mutually meshing gears (611, 612) and a first matching drive component 615, and the first matching drive component 615 is used to be detachably connected to the matching drive member 521 located above, wherein the operation drive device 522 is drivingly connected to the gears (611, 612), and generally two gears are provided, namely, a first gear 611 and a second gear 612, wherein the middle parts of the first gear 611 and the second gear 612 are provided with an assembly hole, and the assembly hole matches the side wall of the bone cement injection channel device 63, and generally the hole wall of the assembly hole is provided with a limiting groove, and the side wall of the bone cement injection channel device 63 is provided with a limiting rib, and the limiting rib is clamped in the limiting groove, so that the bone cement injection channel device 63 rotates with the gear;

[0106] More specifically, the first auxiliary operation accessory 61 also includes a gear locking structure 614, one end of which can swing up and down to fit in or out of two adjacent teeth of the first gear 611 or the second gear 612, and the other end of the gear locking structure 614 matches the auxiliary operation device unlocking component 524. Furthermore, a U-shaped groove is provided at one end of the auxiliary operation shell 616 of the first auxiliary operation accessory 61, and the U-shaped groove is hinged to the middle part of the gear locking structure 614, that is, the two ends of the gear locking structure 614 can swing along the middle part as the rotation center. When the first auxiliary operation accessory 61 has not yet been assembled with the degree of freedom device 5, the auxiliary operation device unlocking component 524 does not contact the gear locking device 614, and the gear locking device 614 hangs down toward one end of the U-shaped groove opening, and the end of the gear locking device 614 away from the U-shaped groove opening is upturned and extends into two adjacent teeth of the first gear 611. The first gear 611 is engaged with the second gear 612, thereby limiting the rotation of the first gear 611, thereby defining the initial position between the first gear 611 and the second gear 612. When the first auxiliary operating accessory 61 and the degree of freedom device 5 are assembled, the auxiliary operating device unlocking component 524 contacts the gear locking device 614 and lifts the gear locking device 614 toward one end of the U-shaped groove opening, and then the gear locking device 614 is away from the end of the U-shaped groove opening and descends to disengage from the position between the adjacent teeth of the first gear 611, thereby releasing the initial position lock between the first gear 611 and the second gear 612.

[0107] In addition, a plurality of balls 613 are arranged between the upper and lower end surfaces of the first gear 611 and the second gear 612 and the auxiliary operation shell 616. The balls 613 can be used to reduce the friction between the auxiliary operation shell 616 and the first gear 611 and the second gear 612, thereby reducing the friction between the first gear 611 and the second gear 612 and making the rotation smoother.

[0108] Specifically, the second auxiliary operation accessory 62 is locked or separated from the mating driving part 521. The second auxiliary operation accessory 62 includes a first limiting part 622, a second limiting part 623, and a second mating driving part 621. The second mating driving part 621 is used for detachably connecting with the mating driving part 521 located below. The first limiting part 622 and the second limiting part 623 are located outside the housing 624 of the second auxiliary operation accessory. An eccentric clip is provided at the end of the first limiting part 622. The two eccentric clips are clamped with the puncture part 64. The two eccentric clips face each other. The puncture part 64 located in the middle is clamped by the first limiting part 622 and the second limiting part 623. Preferably, the eccentric clip can be made of a slightly elastic material, such as hard rubber, or a soft material is nested outside a hard material.

[0109] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0110] Hereinafter, a specific implementation manner will be described. It should be noted that the structures, processes, and material selections described in the following implementation manners are only used to illustrate the feasibility of the implementation manners, and have no intention of limiting the protection scope of the present invention.

[0111] The working process of the bone cement assisted injection robotic arm mainly includes the following steps:

[0112] Step 1: Puncture the patient with the puncture part 64 to establish a surgical working channel;

[0113] Step 2: Adjust the entire injection robotic arm to a suitable height (which needs to be achieved by using the host machine connected to the robotic arm in cooperation);

[0114] Step 3: The second degree-of-freedom accessory 51 and the operation driving device 52 cooperate, and the position between them is locked through the operation button 5131;

[0115] Step 4: The operation driving device 52 cooperates with the auxiliary operation device 6, and the position between them is locked by operating the second button 527;

[0116] Step 5: Hold the operation driving device 52 and freely adjust the guide rail device 2 and the angle adjustment device 1, so that the auxiliary operation accessory 62 cooperates with the puncture part 64. After cooperation, operate the first button 526 to lock the position between the angle adjustment device 1 and the guide rail device 2 and the position between the locking device 4 and the degree-of-freedom adjustment device 5;

[0117] Step Six: After the bone cement injection channel device 63 and the first auxiliary operation fitting 61 are fitted to the designated position, one end of the bone cement injection channel device 63 is inserted into the puncture component 64 and is cooperatively locked with the puncture component 64;

[0118] Step Seven: Through other components such as the operation handle, operate the auxiliary operation device 6 to enable the bone cement injection channel device 63 to enter the diseased part of the patient;

[0119] Step Eight: After the bone cement injection device 38 and the injection fixing device 3 are connected in cooperation, operate the button 36 to complete the locking of the connection between the bone cement injection device 38 and the injection fixing device 3;

[0120] Step Nine: Connect the bone cement injection device 38 and the bone cement injection channel device 63;

[0121] Step Ten: Through other components such as the operation handle, operate the injection driving component 31 to inject bone cement into the diseased part of the patient;

[0122] Step Eleven: After the operation is completed, disassemble the device and remove the robotic arm.

[0123] The above are only the preferred embodiments of the present invention, and thus do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all the equivalent replacements and obvious changes made by using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A bone cement assisted injection robot arm, It is characterized in that include: An angle adjustment device, the angle adjustment device comprising an angle adjustment housing and a rotating shaft installed in the angle adjustment housing; A guide rail device, the guide rail device comprising a guide rail housing, a guide rail disposed on the guide rail housing, and a slider capable of reciprocating along the length direction of the guide rail, in addition, one end of the guide rail housing is movably connected to one end of the angle adjustment device, and the guide rail housing can rotate around the axial direction of the rotation axis; An injection fixture, which is disposed on the slider and is detachably connected to a bone cement injection device and is drivingly connected to the bone cement injection device; A locking device, the locking device comprising a first degree of freedom accessory arranged at one end, a first locking member arranged in the first degree of freedom accessory, and a second locking member arranged at the other end, the locking device having an end facing away from the first degree of freedom accessory fixedly connected to the slider, and the second locking member contacting and locking with the guide rail device in an unlockable manner; A degree of freedom device, wherein the degree of freedom device comprises a second degree of freedom accessory matching the first degree of freedom accessory, wherein the first degree of freedom accessory and the second degree of freedom accessory form a universal movable connection mechanism, and the first locking member is unlockably locked with the second degree of freedom accessory; An auxiliary operating device is detachably connected to the degree of freedom device, and includes a first auxiliary operating accessory for limiting and driving the bone cement injection channel device, and a second auxiliary operating accessory for limiting the puncture component.

2. A bone cement assisted injection robot according to claim 1, It is characterized in that The angle adjustment device further comprises an angle locking driving component and a driving limiter arranged in the angle adjustment housing, wherein the angle locking driving component is sleeved on the outer side wall of the rotating shaft, and the driving limiter is fixedly connected to one end of the rotating shaft; The angle locking drive component includes a first angle locking drive component, a second angle locking drive component and a rotating connecting component. The first angle locking drive component and the second angle locking drive component can be attracted to or separated from each other, and the first angle locking drive component is fixedly connected to the rotating shaft, the second angle locking drive component can rotate axially around the rotating shaft, and the second angle locking drive component is fixedly connected to one end of the guide rail device through the rotating connecting component.

3. A bone cement assisted injection robot according to claim 2, It is characterized in that A transfer member is provided at one end of the guide rail device, and the transfer member is fixedly connected to the second angle locking driving member through the rotating connecting member; The other end of the guide rail device is provided with a locking fitting, which matches the second locking fitting.

4. A bone cement assisted injection robot according to claim 1, It is characterized in that The guide rail is a slide groove arranged along the length direction of the guide rail housing, and the slider matches the slide groove; Or the guide rail includes a guide rail driving component and a driving rod drivingly connected to the guide rail driving component, the driving rod can reciprocate along its length direction, and the slider is connected to the driving rod.

5. A bone cement assisted injection robot according to claim 1, It is characterized in that The injection fixation device comprises an injection drive component and an injection component drivingly connected to the injection drive component, and the injection component is connected to one end of the bone cement injection device; The injection fixation device also includes a locking drive component, a connecting piece and a locking component, wherein the locking drive component is driven and connected to the locking component via the connecting piece, wherein at least two locking components are provided, which are respectively arranged on both sides of the other end of the bone cement injection device, and several of the locking components can be locked or released with the bone cement injection device.

6. A bone cement assisted injection robot according to claim 1, It is characterized in that The locking device also includes a plurality of locking device driving components, which are respectively drivingly connected to the first locking member and the second locking member, and a connecting frame is provided at one end of the locking device provided with the second locking member, and the connecting frame extends into the interior of the guide rail housing.

7. A bone cement assisted injection robot according to claim 2, It is characterized in that The degree-of-freedom device also includes an operating drive device, and the second degree-of-freedom accessory includes a second degree-of-freedom accessory housing, a ball head and a matching preload, one end of the ball head extends into the second degree-of-freedom accessory housing, and the other end of the ball head matches the first degree-of-freedom accessory, the matching preload is embedded in the second degree-of-freedom accessory housing, and is detachably connected to the operating drive device.

8. The bone cement-assisted injection robot according to claim 2, It is characterized in that The freedom device also includes an operating drive device, and the second freedom accessory includes a first locking drive component, a locking drive connecting component, a first locking matching component, a second locking drive component, a second locking matching component, a rotating shaft and a connecting component. The first locking fitting is fixedly connected to the operating drive device, and the first locking drive component can rotate or lock relative to the first locking fitting, and the locking drive connecting member is connected to the side of the first locking drive component facing away from the first locking fitting. The locking drive connecting piece is sleeved on the circumferential side wall of the rotating shaft and is movably connected to the rotating shaft, the connecting component is sleeved on the axial side wall of the rotating shaft and is fixedly connected to the rotating shaft, and the second locking driving component is fixed on the rotating shaft, the second locking matching component is fixed on the locking drive connecting piece, the second locking driving component is locked or separated from the second locking matching component, and one end of the connecting component matches the first degree of freedom accessory.

9. A bone cement assisted injection robot according to claim 7 or 8, It is characterized in that The operation driving device includes a mating driving member, an operation driving member, an auxiliary operation device unlocking member, a mating pre-tightening fitting, a first button, and a second button. The mating pre-tightening fitting is matched with one end of the second-degree-of-freedom fitting, and the mating driving member is detachably connected to the auxiliary operation device; The first button is communicatively connected to the angle locking driving member and the locking device driving member; or the first button is communicatively connected to the angle locking driving member, the locking device driving member, the first locking driving member, and the second locking driving member; The second button is communicatively connected to the mating driving member.

10. An arm for assisting bone cement injection according to claim 9, wherein, The first auxiliary operation fitting is locked or separated from the mating driving member. The first auxiliary operation fitting includes a plurality of meshing gears. The operation driving member in the operation driving device is drivingly connected to the gears. An assembly hole is formed in the middle of the gears, and the assembly hole is matched with the side wall of the bone cement injection channel device; The first auxiliary operation fitting further includes a gear locking structure. One end of the gear locking structure can swing up and down and be inserted into or disengaged from between two adjacent teeth of the gear. The other end of the gear locking structure is matched with the auxiliary operation device unlocking member; The second auxiliary operation fitting is locked or separated from the mating driving member. The second auxiliary operation fitting includes a first limiting member and a second limiting member, and an eccentric clip is provided at the end of the first limiting member. At least two of the first limiting member and the second limiting member are provided, and are respectively arranged on both sides of the puncture member and are cooperatively connected to the puncture member.

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