A lifting bone groove decompression head device for a minimally invasive spine surgery robot

Abstract

The present invention relates to a lifting type bone groove decompression machine head device for a minimally invasive spinal surgery robot, comprising a machine head connection seat, a step-shaped cavity is arranged on the machine head connection seat, a telescopic guide device is installed in the step-shaped cavity, the telescopic guide device comprises a telescopic column, an adjustment space is arranged in the step-shaped cavity and between the telescopic column, an upper end and a lower telescopic spring are arranged at the upper end and the lower end of the adjustment space respectively, a working channel is arranged below the telescopic column, and a bone cutting power device and a lifting adjustment mechanism used in conjunction with the same are connected to the upper end of the telescopic column. Thus, the clamp structure formed by the cooperation between the clip and the working channel is convenient for clamping the spinous process for positioning. The hook at the end of the electric knife is hooked under the bone (vertebral plate) to automatically indicate the depth of bone cutting, and the bone cutting power device is lifted and lowered according to a certain stroke and frequency to grind through the bone, which is conducive to opening a bone groove on the vertebral plate and achieving safe decompression.

Description

Technical Field

[0001] The invention relates to a bone groove decompression handpiece device, in particular to a lifting type bone groove decompression handpiece device for a minimally invasive spine surgery robot. Background Art

[0002] In recent years, the field of spinal surgery has made some major progress, and the surgical treatment of intervertebral disc herniation will undergo a revolutionary change: the mode of "removing" the herniated disc as the main treatment method will enter a mode of "retaining" the herniated disc and allowing it to absorb naturally. Literature reports that manual double-opening spinal enlargement and plasty (CMEL) can widely "induce" the herniated disc to undergo natural absorption (RHNP), with an absorption ratio of up to 81.3% and an absorption rate of 100%. However, manual double-opening spinal enlargement and plasty (CMEL) has the problems of large incisions and cumbersome surgical operations, especially the installation of steel plates, which affects the promotion of this new technology. Although spinal surgical robots have been successfully applied in clinical practice, including Israel's Mazor spinal assistant, South Korea's SPINEBOT spinal robot, the United States' Mazor X spinal surgical robot, and my country's Tianji spinal surgical robot, they basically use the method of intraoperative X-ray image registration with preoperative CT images, which can only be used for pedicle screw placement and have very single functions. Currently, there is no minimally invasive spinal surgical robot that can complete the CMEL procedure, achieve double-open decompression of the spinal canal, posteriorly expand the spinous process ligament complex, and thus "induce" extensive natural absorption (RHNP) of the herniated intervertebral disc.

[0003] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create a vertically adjustable bone groove decompression head device for a minimally invasive spinal surgery robot, making it more valuable for industrial use. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a lifting type bone groove decompression handpiece device for a minimally invasive spinal surgery robot.

[0005] A lifting type bone groove decompression head device for a minimally invasive spinal surgery robot of the present invention comprises a head connecting seat, wherein: a step-shaped cavity is arranged on the head connecting seat, a telescopic guide device is installed in the step-shaped cavity, the telescopic guide device comprises a telescopic column, an adjustment space is arranged in the step-shaped cavity and between the telescopic column, an upper telescopic spring is arranged at the upper end of the adjustment space, a lower telescopic spring is arranged at the lower end of the adjustment space, a working channel is arranged below the telescopic column, a fixed plate is connected to the upper end of the telescopic column, a bone cutting power device and a lifting and adjusting mechanism used in conjunction therewith are installed on the fixed plate, and a surgical device is arranged in the working channel.

[0006] Furthermore, the above-mentioned lifting type bone groove decompression head device for a spinal minimally invasive surgical robot, wherein the lifting adjustment mechanism includes a motor, a screw assembly is provided on the motor, a movable connecting plate 11 is provided at the upper end of the fixed plate through a guide column sleeve, the screw assembly is connected to the movable connecting plate 11, and the bone cutting power device is connected to the movable connecting plate 11.

[0007] Furthermore, in the above-mentioned lifting type bone groove decompression handpiece device for a minimally invasive spinal surgery robot, a clip is installed on the handpiece connecting seat, main scale lines are arranged on the clip, and secondary scale lines are arranged on the working channel.

[0008] Furthermore, in the above-mentioned lifting type bone groove decompression handpiece device for a minimally invasive spinal surgery robot, an endoscope is installed on the telescopic column.

[0009] Furthermore, in the above-mentioned lifting and vertically adjustable bone groove decompression head device for the spinal minimally invasive surgical robot, a clamping opening is provided at the junction of the telescopic column and the fixed plate, and the tail section of the surgical device passes through the clamping opening and is limited by the clamping opening.

[0010] Furthermore, in the above-mentioned lifting type bone groove decompression handpiece device for a minimally invasive spinal surgery robot, the surgical device includes an electric knife and an aspirator, and the lower end of the electric knife is a hook-shaped structure.

[0011] Furthermore, in the above-mentioned lifting type bone groove decompression handpiece device for a minimally invasive spinal surgery robot, the handpiece connecting seat is connected to the handpiece fixing seat 20 by a locking screw.

[0012] By means of the above scheme, the present invention has at least the following advantages:

[0013] 1. The clamping piece and the working channel cooperate with each other to form a clamp structure, which is convenient for clamping the spinous process for positioning during use, and determining the position of the bilateral bone grooves with the spinous process as a reference.

[0014] 2. Through the vertex of the clamp, the handpiece can be rotated around the X-axis. By referring to the main scale lines set on the clamp and the secondary scale lines set on the working channel, it can be determined whether the handpiece is perpendicular to the human body's bones, so as to improve the accuracy of the surgery.

[0015] 3. The lower end of the electric knife is equipped with a hook structure, which can automatically indicate the depth of bone cutting. At the same time, it can be hooked under the bone (vertebral plate), and can "float" with the upper and lower telescopic springs to automatically indicate the depth of bone cutting. The bone cutting power device rises and falls at a certain stroke and frequency to grind through the bone, and can safely open a bone groove on the vertebral plate to achieve decompression.

[0016] 4. Through the cooperation of the step-shaped cavity and the corresponding telescopic spring, the lower ends of the telescopic column and the electric knife are provided with a hook-shaped structure which can automatically adapt to the height change of the lower surface of the bone. The telescopic column, the electric knife and the osteotomy power device float up and down together. The osteotomy power device rises and falls at a certain stroke and frequency to grind through the bone. The random head rotates around the Y-axis at a certain time interval and a certain distance. The alternating action of the osteotomy power device and the machine head can realize the decompression of the bone groove and ensure the safety of the surgical operation.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the left side structure of the lifting type bone groove decompression handpiece device used in the minimally invasive spine surgery robot.

[0019] Figure 2 It is a schematic diagram of the right side partial cross-sectional structure of the lifting type bone groove decompression handpiece device used in the minimally invasive spine surgery robot.

[0020] Figure 3 It is a schematic diagram of the partial front cross-sectional structure of a lifting bone groove decompression handpiece device for a minimally invasive spinal surgery robot.

[0021] Figure 4 This is a schematic diagram of the working status of the electric knife and the suction device.

[0022] The meanings of the reference numerals in the drawings are as follows.

[0023] 1 Head connector 2 Step-shaped cavity

[0024] 3 Telescopic column 4 Upper telescopic spring

[0025] 5 Lower telescopic spring 6 Working channel

[0026] 7 Fixing plate 8 Motor

[0027] 9 Screw assembly 10 Guide column

[0028] 11 Active connection plate 12 Bone cutting power device

[0029] 13 Clip 14 Main scale line

[0030] 15 Secondary scale line 16 Endoscope

[0031] 17 Electrosurgical unit 18 Suction device

[0032] 19 Hook structure 20 Head fixing seat

[0033] 21 Lower shaft hole 22 Upper shaft hole

[0034] 23 Locking screw DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0036] like Figures 1 to 4 A lifting bone groove decompression head device for a minimally invasive spine surgery robot includes a head connection seat 1, which is different in that: in order to achieve stable guide storage, a step-shaped cavity 2 is provided on the head connection seat 1, and a telescopic guide device is installed in the step-shaped cavity 2. Specifically, the telescopic guide device used in the present invention includes a telescopic column 3, and an adjustment space is provided in the step-shaped cavity 2 and between the telescopic column 3. At the same time, an upper telescopic spring 4 is provided at the upper end of the adjustment space, and a lower telescopic spring 5 is provided at the lower end of the adjustment space. Thus, effective positioning and buffering are achieved through two groups of telescopic springs. In addition, a working channel 6 is provided below the telescopic column 3, so that the working channel 6 can well block soft tissue through the compression of two groups of telescopic springs during use, preventing soft tissue from entering the channel. Furthermore, in order to achieve the lifting and lowering of the bone cutting power device 12 during use, the present invention is connected to a fixed plate 7 at the upper end of the telescopic column 3, and the bone cutting power device 12 and the lifting and lowering adjustment mechanism used in conjunction with it are installed on the fixed plate 7, and a surgical device is provided in the working channel 6.

[0037] In combination with a preferred embodiment of the present invention, in order to achieve continuous and stable lifting operation, the lifting adjustment mechanism includes a motor 8, and a screw assembly 9 is provided on the motor 8. At the same time, in order to cooperate with the operation of the screw assembly 9 to achieve guidance, the present invention is provided with a movable connecting plate 11 at the upper end of the fixed plate 7 through a guide column 10, and the screw assembly 9 is connected to the movable connecting plate 11. In addition, considering that the bone cutting power device 12 can also achieve synchronous height adjustment, the bone cutting power device 12 is connected to the movable connecting plate 11.

[0038] Further, a clip 13 is installed on the head connection seat 1, and a main scale line 14 is set on the clip 13, and a secondary scale line 15 is set on the working channel 6. In this way, the clip 13 and the lower end of the working channel 6 can form a clamp structure, which can clamp the spinous process for positioning, and is used for subsequent determination of the bone groove position. In addition, relying on the mutual cooperation of the main scale line 14 and the secondary scale line 15, effective position reference calibration can be met, providing a precise operating point, and ensuring that the head is perpendicular to the vertebral surface.

[0039] In view of actual implementation, in order to facilitate the operator to see a clear surgical operation surface, effective manual intervention can be achieved, and subtle parameter adjustments can be made according to the current surgical situation under the premise of autonomous operation of the robot. In the present invention, an endoscope 16 can be installed on the telescopic column 3.

[0040] At the same time, considering that the surgical device can be docked with external components to meet various functional configuration requirements such as retraction and suction, a clamping opening is provided at the junction of the telescopic column 3 and the fixed plate 7 (not shown in the figure because the actual opening is very small), and the tail section of the surgical device passes through the clamping opening and is limited by the clamping opening. In this way, the surgical device located in the working channel 6 can move synchronously with the up and down movement of the telescopic column 3 through the clamping opening limitation.

[0041] Further, considering the implementation needs of conventional minimally invasive spinal surgery, the surgical devices used include an electric knife 17 and an aspirator 18, and the lower end of the electric knife 17 is a hook-shaped structure 19. In this way, the current bone cutting depth can be accurately indicated, which is convenient for the adaptive positioning of the robot.

[0042] In view of the actual assembly, considering the convenient replacement according to different surgical needs, the present invention has a head fixing seat 20 connected to one side of the head connecting seat 1 by a connecting bolt. During actual use, the head connecting seat 1 can be locked with the head fixing seat 20 of the tunnel-type steel plate mounted spinal minimally invasive surgical robot based on clamp-type positioning by using a locking screw 23. In this way, convenient replacement and use can be achieved. Of course, for different structures or implementation methods, screws, connecting rods, magnetic suction and other methods can also be used. Any structure that can realize the combination of the head connecting seat 1 and the head fixing seat 20 can be adopted, which will not be repeated here. At the same time, the head connecting seat 1 can also be directly connected to the robot by docking in some extreme ways.

[0043] The working principle of the present invention is as follows:

[0044] The working channel 6 and the clip 13 form a clamp-like structure that can effectively clamp the spinous process of the human vertebra. In this way, the edge of the spinous process can be used to achieve the positioning of the left and right decompression bone grooves. With the vertex of the clip 13 as the fulcrum, the head of the machine is rotated around the X-axis, and the main scale line 14 and the auxiliary scale line 15 are used to determine whether the head of the machine is perpendicular to the bone (vertebral plate surface) of the human body. During operation, the hook-shaped structure 19 of the electric knife 17 can be hooked under the bone (vertebral plate). In this way, the depth of bone cutting can be automatically indicated.

[0045] Furthermore, since the handpiece has the upper telescopic spring 4 and the lower telescopic spring 5, when the handpiece rotates around the Y axis, if the lower surface of the bone becomes deeper, the lower surface of the bone squeezes the hook-shaped structure 19 of the electric knife 17, and the upper telescopic spring 4 and the lower telescopic spring 5 are compressed. Otherwise, when the lower surface of the bone becomes shallower, the upper telescopic spring 4 and the lower telescopic spring 5 lift up the hook-shaped structure 19 of the electric knife 17, so that the telescopic column 3 can automatically "float" up and down. In this way, the hook-shaped structure 19 of the electric knife 17 can always be in close contact with the lower surface of the bone, and can automatically adapt to the height change of the bone. As a result, the knife rod of the bone cutting power device 12 rises and falls at a certain stroke and a certain frequency, and the random head rotates around the Y axis at a certain time interval and a certain distance. The alternating actions of the bone cutting power device 12 and the handpiece can achieve bone groove decompression and ensure the safety of the surgical operation.

[0046] It can be seen from the above textual description and the accompanying drawings that the present invention has the following advantages:

[0047] 1. The clamping piece and the working channel cooperate with each other to form a clamp structure, which is convenient for clamping the spinous process for positioning during use, and determining the position of the bilateral bone grooves with the spinous process as a reference.

[0048] 2. Through the vertex of the clamp, the handpiece can be rotated around the X-axis. By referring to the main scale lines set on the clamp and the secondary scale lines set on the working channel, it can be determined whether the handpiece is perpendicular to the human body's bones, so as to improve the accuracy of the surgery.

[0049] 3. The lower end of the electric knife is equipped with a hook structure, which can automatically indicate the depth of bone cutting. At the same time, it can be hooked under the bone (vertebral plate), and can "float" with the upper and lower telescopic springs to automatically indicate the depth of bone cutting. The bone cutting power device rises and falls at a certain stroke and frequency to grind through the bone, and can safely open a bone groove on the vertebral plate to achieve decompression.

[0050] 4. Through the cooperation of the step-shaped cavity and the corresponding telescopic spring, the lower ends of the telescopic column and the electric knife are provided with a hook-shaped structure which can automatically adapt to the height change of the lower surface of the bone. The telescopic column, the electric knife and the osteotomy power device float up and down together. The osteotomy power device rises and falls at a certain stroke and frequency to grind through the bone. The random head rotates around the Y-axis at a certain time interval and a certain distance. The alternating action of the osteotomy power device and the machine head can realize the decompression of the bone groove and ensure the safety of the surgical operation.

[0051] In addition, the indicated orientations or positional relationships described in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or structure referred to must have a specific orientation or be operated with a specific orientation structure. Therefore, they cannot be understood as limitations on the present invention.

[0052] The terms "primary" and "secondary" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "primary" or "secondary" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0053] Likewise, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "setting" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. And it can be directly on another component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0055] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A lifting bone groove decompression head device for a minimally invasive spinal surgery robot, comprising a head connection seat, characterized in that: The head connection seat is provided with a step-shaped cavity, a telescopic guide device is installed in the step-shaped cavity, the telescopic guide device includes a telescopic column, an adjustment space is provided in the step-shaped cavity and between the telescopic column, an upper telescopic spring is provided at the upper end of the adjustment space, a lower telescopic spring is provided at the lower end of the adjustment space, a working channel is provided below the telescopic column, a fixing plate is connected to the upper end of the telescopic column, a bone cutting power device and a lifting mechanism used in conjunction therewith are installed on the fixing plate, and a surgical device is provided in the working channel; The lifting mechanism comprises a motor, a screw rod assembly is arranged on the motor, a movable connecting plate is arranged on the upper end of the fixed plate through a guide column sleeve, the screw rod assembly is connected to the movable connecting plate, and the bone cutting power device is connected to the movable connecting plate; A clip is installed on the machine head connection seat, a main scale line is arranged on the clip, and a secondary scale line is arranged on the working channel; The surgical device comprises an electric knife and an aspirator, and the lower end of the electric knife is a hook-shaped structure.

2. The lifting type bone groove decompression handpiece device for a minimally invasive spine surgery robot according to claim 1, characterized in that: An endoscope is installed on the telescopic column.

3. The lifting bone groove decompression head device for a minimally invasive spine surgery robot according to claim 1, characterized in that: A clamping opening is provided at the junction of the telescopic column and the fixing plate, and the tail section of the surgical device passes through the clamping opening and is limited by the clamping opening.

4. The lifting bone groove decompression handpiece device for a minimally invasive spine surgery robot according to claim 1, characterized in that: The machine head connecting seat is connected to the machine head fixing seat through a locking screw.

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