A safety control method for a powered spinal lamina surface grinding robot device

Abstract

The present invention relates to a dynamic spinal lamina surface grinding robot device, comprising a two-degree-of-freedom grinding positioning module, a safety control module, a bearing module and accessory accessories, wherein the two-degree-of-freedom grinding positioning module comprises a rotary motion drive unit and a linear motion drive unit, the safety control module comprises a grinding feedback force acquisition device and a safety control strategy, the bearing module comprises a double-edge outer V-arc track 180° standard segment and a bearing lubricating device, the rotary motion drive unit is fixed to the bearing lubricating device through corresponding threaded holes, the driving gear in the rotary motion drive unit is engaged with the outer gear of the double-edge outer V-arc track 180° standard segment, the linear motion drive unit is fixed to the bearing lubricating device through corresponding threaded holes; the sensor fixing surface connector in the grinding feedback force acquisition device is connected to the ball screw cap in the linear motion drive unit. The present invention is based on the 180° circular track standard segment, the rotary motion drive unit and the linear motion drive unit to coordinately control the ultrasonic knife, so as to realize the automatic cutting of the ultrasonic knife end along an arbitrary curve in a plane, save equipment space, and meet the needs of laminectomy.

Description

Technical Field

[0001] The invention relates to a spinal lamina grinding device, in particular to a power type spinal lamina surface grinding robot device and a safety control method thereof. Background Art

[0002] The lamina grinding device is a device that controls the grinding tool to achieve radial and axial linear grinding at a specific position of the lamina. With the development of surgical robot technology, the use of surgical robots to realize intelligent spinal surgery has become one of the research hotspots. At present, all commercial spinal surgical robot products are navigation and positioning type; dexterous operation robots have broad prospects but have not yet been truly applied to clinical spinal laminectomy surgery. Precise operation performance is the key to affecting the safety of laminectomy surgery. From the perspective of surgical actions, the actual operation actions required for spinal surgery are usually completed in a small area around the anatomical site; this provides a way of thinking for the development of surgical robots: first, use a general robot platform to navigate and locate the surgical area, and then use a specially designed robotized end device to perform dexterous operations in a small range of the surgical area. This is also in line with the development direction of the functional modularization of surgical robots.

[0003] In response to the above-mentioned development issues of the robotic end device, the present invention designs a powered spinal lamina surface grinding robot device, which can be installed at the end of a universal robotic arm to achieve automatic lamina grinding operations along an arbitrary curved path in a plane. Summary of the invention

[0004] The present invention provides a powered spinal lamina surface grinding robot device for lamina grinding surgery. The present invention has universality and can be used in conjunction with a universal robot arm or independently.

[0005] The present invention includes a two-degree-of-freedom grinding positioning module, a safety control module, a bearing module and auxiliary accessories. The two-degree-of-freedom grinding positioning module includes a rotary motion drive unit and a linear motion drive unit, the safety control module includes a grinding feedback force acquisition device and a safety control strategy, the bearing module includes a double-edge outer V-arc track 180° standard segment and a bearing lubrication device, the rotary motion drive unit is fixed to the bearing lubrication device through corresponding threaded holes, the driving gear in the rotary motion drive unit is engaged with the outer gear of the double-edge outer V-arc track 180° standard segment, and the linear motion drive unit is fixed to the bearing lubrication device through corresponding threaded holes; the sensor fixing surface connector in the grinding feedback force acquisition device is connected to the ball screw cap in the linear motion drive unit.

[0006] The rotary motion drive unit comprises a servo motor A, a motor flange A, a motor coupling A, a brake A, a reducer input shaft, a reducer front flange, a harmonic reducer, a reducer output shaft, a driving gear (14), and a gear shaft top. The motor flange A is provided with a plurality of assembly holes on the side, through which the connecting wires of the servo motor A, the brake A and the harmonic reducer pass, and the motor coupling A and the shaft of the servo motor A can be fixed by means of set screws through the holes. The motor coupling A is composed of a brake rotor hub structure and a shaft, one end of which has a light hole with the same diameter as the motor shaft, and the rotor hub part cooperates with the brake A. The motor coupling A shaft is inserted into the reducer input shaft, the reducer input shaft is fixed to the reducer input end by screws, and the reducer output end is fixed to the reducer output shaft by screws.

[0007] The linear motion drive unit includes a servo motor B, a motor flange B, a motor coupling B, a brake B, a flange base, a coupling, a gasket, and a ball screw. A plurality of assembly holes are provided on the side of the motor flange B, through which the connecting wires of the servo motor B and the brake B pass, and the motor coupling B and the shaft of the servo motor B can be fixed through the hole using set screws; the motor coupling B is composed of a brake rotor hub structure and a shaft, one end of which has a light hole with the same diameter as the motor shaft, the rotor hub part cooperates with the brake B, the motor coupling B shaft is connected to the ball screw shaft through a coupling, and the motor coupling B has a stepped shaft for positioning when connected to the coupling.

[0008] The grinding feedback force acquisition device includes a six-dimensional force / torque sensor, a sensor working surface connecting piece, a sensor fixed surface connecting piece, an ultrasonic knife, and a linear guide rail. The front side of the sensor fixed surface connecting piece is connected to the sensor by screws, and the back side has two threaded holes connected to the linear guide rail. The ultrasonic knife is placed in the slot of the sensor working surface connecting piece, and the sensor working surface connecting piece is locked with screws after adjusting the appropriate length. The sensor working surface connecting piece includes a connecting surface directly connected to the sensor tool surface and an ultrasonic knife clamping component. The sensor fixed surface connecting piece includes a connecting surface connected to the sensor fixed surface and a component connected to the ball screw cap.

[0009] The bearing module includes a 180° standard segment of a double-edge outer V-arc track and a bearing lubricating device, and the bearing lubricating device includes a concentric bearing, an eccentric bearing, a lubricating block, a bearing plate, and a linear slide rail; the concentric bearing and the eccentric bearing are fixed on the bearing plate, the bearings cooperate with the 180° standard segment of the double-edge outer V-arc track, and the bearing plate is installed with a lubricating block that can move along the track.

[0010] The two-degree-of-freedom grinding positioning module is an arc remote motion center mechanism based on two degrees of freedom, and the two degrees of freedom respectively include rotation along the arc track in the plane and movement of the ultrasonic knife along the radial direction. The rotation is driven by the servo motor A of the rotary motion drive unit and cooperates with the concentric bearing and the eccentric bearing to realize the rotation of the bearing plate along the 180° standard segment of the double-edge outer V-arc track. The radial direction movement is driven by the servo motor B of the linear motion drive unit to drive the ball screw, and the ball screw drives the grinding feedback force collection device connected to the ball screw cap to realize the radial movement of the ultrasonic knife along the 180° standard segment of the double-edge outer V-arc track. The position of the RCM is located at the center of the arc track. The ultrasonic knife always passes through this position during the grinding process to ensure that the grinding angle of the ultrasonic knife is perpendicular to the grinding surface.

[0011] The safety control module adopts an automatic grinding strategy, which safely controls the real-time grinding feedback force of the grinding feedback force acquisition device, including an overall grinding strategy, a single-layer grinding, a soft tissue protection strategy, and a bone tissue state recognition strategy. The overall grinding strategy uses the grinding force through the SVM binary classifier to decide whether to perform the next layer of grinding. The single-layer grinding strategy uses a fuzzy logic controller to keep the tangential force constant and uses the change in axial force to determine whether to perform the next layer of grinding. The respiratory factor is expressed as a change in the axial speed of the ultrasonic knife through the fuzzy logic controller. The soft tissue protection strategy immediately stops grinding when the end of the ultrasonic knife accidentally penetrates the vertebral plate. The state recognition strategy uses the fusion of axial force and amplitude decision level to determine the current bone tissue state.

[0012] The grinding feedback force acquisition device includes a six-dimensional force sensor and is connected to the ultrasonic knife and the ball screw through a designed fixed surface and working surface connector, so that real-time feedback of the grinding feedback force is provided during the grinding process; the designed sensor fixed surface connector can realize that the ultrasonic knife always moves in the radial direction of the circular arc track during the movement of the bearing plate along the circular track.

[0013] The advantages of the present invention are: the dynamic spinal lamina surface grinding robot device has a driving device that can work independently or be installed at the end of a robotic arm for combined work. The device has a simple and flexible structure, saves equipment space, can realize automatic cutting of spinal lesions, and implement small incision surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a front perspective structural schematic diagram of the present invention.

[0015] Figure 1A It is a rear-view stereoscopic structural schematic diagram of the present invention.

[0016] Figure 1B It is another perspective three-dimensional structural schematic diagram of the present invention.

[0017] Figure 2 It is a perspective three-dimensional structural schematic diagram of the rotary motion drive unit in the present invention.

[0018] Figure 2A It is a perspective cross-sectional schematic diagram of the rotary motion drive unit in the present invention.

[0019] Figure 2B It is a perspective three-dimensional structural schematic diagram of the coupling A and the reducer input shaft in the present invention.

[0020] Figure 3 It is a perspective three-dimensional structural schematic diagram of the linear motion drive unit in the present invention.

[0021] Figure 3A It is a perspective cross-sectional schematic diagram of the linear motion drive unit in the present invention.

[0022] Figure 3B It is a perspective three-dimensional structural schematic diagram of the coupling B in the present invention.

[0023] Figure 4 It is a perspective three-dimensional structural schematic diagram of the grinding feedback force acquisition device in the present invention.

[0024] Figure 4A It is a perspective three-dimensional structural schematic diagram of the sensor working surface connecting piece in the present invention.

[0025] Figure 4B It is a perspective three-dimensional structural schematic diagram of the sensor fixing surface connecting piece in the present invention.

[0026] Figure 5 It is a perspective three-dimensional structural schematic diagram of the load-bearing lubrication device in the present invention.

[0027] Figure 6 It is a flow chart of the automatic grinding strategy in the present invention.

[0028] In the figure, 1. Double-edge outer V circular track 180° standard segment, 2. Rotary motion drive unit, 3. Load bearing lubrication device, 4. Linear motion drive unit, 5. Grinding feedback force acquisition device, 6. Servo motor A, 7. Motor flange A, 8. Motor coupling A, 9. Brake A, 10. Reducer input shaft, 11. Reducer front flange, 12. Harmonic reducer, 13. Reducer output shaft, 14. Driving gear, 15. Gear shaft top, 16 .Servo motor B, 17. Motor flange B, 18. Motor coupling B, 19. Brake B, 20. Flange base, 21. Coupling, 22. Gasket, 23. Ball screw, 24. Linear guide, 25. Sensor fixed surface connector, 26. Six-dimensional force / torque sensor, 27. Sensor working surface connector, 28 Ultrasonic knife, 29. Concentric bearing, 30. Eccentric bearing, 31. Concentric bearing, 32. Lubrication block, 33. Load plate. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with specific embodiments and drawings.

[0030] Example: Combination Figure 1 , Figure 1A and Figure 1B As shown, a dynamic spinal lamina surface grinding robot device and its safety control method include a two-degree-of-freedom grinding positioning module, a safety control module, a bearing module and auxiliary accessories. The two-degree-of-freedom grinding positioning module includes a rotational motion drive unit 2 and a linear motion drive unit 4. The safety control module includes a grinding feedback force acquisition device 5 and a safety control strategy. The bearing module includes a double-edge outer V-arc track 180° standard segment 1 and a bearing lubrication device 3. The rotational motion drive unit 2 is fixed to the bearing lubrication device through corresponding threaded holes. The driving gear 14 in the rotational motion drive unit 2 is meshed with the outer gear of the double-edge outer V-arc track 180° standard segment 1. The linear motion drive unit 4 is fixed to the bearing lubrication device through corresponding threaded holes; the sensor fixing surface connector 25 in the grinding feedback force acquisition device 5 is connected to the ball screw 23 cap in the linear motion drive unit 4. The dynamic spinal lamina surface grinding robot device is through Figure 6 The automatic grinding strategy is based on the coordinated control of the ultrasonic knife by the 180° circular track standard segment 1, the rotary motion drive unit (2) and the linear motion drive unit (4), so that the ultrasonic knife tip can automatically cut along any curve in a plane, saving equipment space and meeting the needs of laminectomy.

[0031] When in use, the combination of the present invention meets the operational requirements of laminectomy surgery. Based on the coordinated control of the ultrasonic knife by the 180° circular track standard segment 1, the rotary motion drive unit (2) and the linear motion drive unit (4), automatic cutting of the lesioned part of the spine can be achieved. Automatic grinding is achieved by using an automatic grinding strategy to protect the nerves and spinal cord in the spinal canal, thus saving equipment space and achieving small incision surgery.

[0032] For ordinary technicians in this field, the specific embodiments are only illustrative descriptions of the present invention. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concepts and technical solutions of the present invention, or the concepts and technical solutions of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A safety control method for a dynamic spinal lamina surface grinding robot device, characterized in that: The invention comprises a two-degree-of-freedom grinding positioning module, a safety control module, a bearing module and auxiliary accessories, wherein the two-degree-of-freedom grinding positioning module comprises a rotary motion drive unit (2) and a linear motion drive unit (4), the safety control module comprises a grinding feedback force acquisition device (5) and a safety control strategy, the bearing module comprises a double-edge outer V-arc track 180° standard segment (1) and a bearing lubricating device (3), the bearing lubricating device (3) comprises a concentric bearing (30), an eccentric bearing (29), a lubricating block (32), a bearing plate (33), and a linear slide rail (31); the concentric bearing (30) and the eccentric bearing (29) are fixed to On the bearing plate, the bearing cooperates with the 180° standard segment of the double-edge outer V-arc track, and the bearing plate is mounted on a lubrication block that can move along the track; the rotary motion drive unit (2) is fixed to the bearing lubrication device via corresponding threaded holes, the driving gear (14) in the rotary motion drive unit (2) meshes with the outer gear of the 180° standard segment (1) of the double-edge outer V-arc track, and the linear motion drive unit (4) is fixed to the bearing lubrication device via corresponding threaded holes; the sensor fixing surface connector (25) in the grinding feedback force acquisition device (5) is connected to the cap of the ball screw (23) in the linear motion drive unit (4); The grinding feedback force acquisition device comprises a six-dimensional force sensor and is connected to the ultrasonic knife and the ball screw through a designed fixed surface and working surface connector, so as to provide real-time feedback of the grinding feedback force during the grinding process; the designed sensor fixed surface connector can realize the ultrasonic knife always moving along the radial direction of the circular track during the movement of the bearing plate along the circular track; The grinding feedback force acquisition device (5) comprises: a six-dimensional force / torque sensor (26), a sensor working surface connecting piece (27), a sensor fixed surface connecting piece (25), an ultrasonic knife (28), and a linear guide rail (24); the front side of the sensor fixed surface connecting piece is connected to the sensor via screws, and the back side has two threaded holes connected to the linear guide rail; the ultrasonic knife is placed in the slot of the sensor working surface connecting piece, and the sensor working surface connecting piece is locked using screws after adjusting the appropriate length; the sensor working surface connecting piece comprises a connecting surface (27B) directly connected to the sensor tool surface and an ultrasonic knife clamping component (27A); the sensor fixed surface connecting piece (25) comprises a connecting surface (25A) connected to the sensor fixed surface and a component (25B) connected to the ball screw cap; The safety control module adopts an automatic grinding strategy, which safely controls the real-time grinding feedback force of the grinding feedback force acquisition device, including an overall grinding strategy, a single-layer grinding, a soft tissue protection strategy, and a bone tissue state recognition strategy. The overall grinding strategy uses the grinding force through an SVM binary classifier to determine whether to perform the next layer of grinding. The single-layer grinding strategy uses a fuzzy logic controller to keep the tangential force constant and uses the change in axial force to determine whether to perform the next layer of grinding. The respiratory factor is expressed as a change in the axial speed of the ultrasonic knife through the fuzzy logic controller. The soft tissue protection strategy immediately stops grinding when the end of the ultrasonic knife accidentally penetrates the vertebral plate. The state recognition strategy uses the axial force and amplitude decision-making level fusion method to determine the current bone tissue state.

2. The safety control method of a dynamic spinal lamina surface grinding robot device according to claim 1 is characterized in that: The rotary motion drive unit comprises a servo motor A (6), a motor flange A (7), a motor coupling A (8), a brake A (9), a reducer input shaft (10), a reducer front flange (11), a harmonic reducer (12), a reducer output shaft (13), a driving gear (14), and a gear shaft top (15). The motor flange A is provided with a plurality of assembly holes on its side, through which the connecting wires of the servo motor A, the brake A and the harmonic reducer pass, and through which the motor coupling A and the shaft of the servo motor A can be fixed by means of set screws. The motor coupling A is composed of a brake rotor hub structure and a shaft, one end of which has a light hole with the same diameter as the motor shaft, the rotor hub part cooperates with the brake A, the motor coupling A shaft is inserted into the reducer input shaft, the reducer input shaft is fixed to the reducer input end by means of screws, and the reducer output end is fixed to the reducer output shaft by means of screws.

3. The safety control method of a dynamic spinal lamina surface grinding robot device according to claim 1 is characterized in that: The linear motion drive unit (4) comprises a servo motor B (16), a motor flange B (17), a motor coupling B (18), a brake B (19), a flange base (20), a coupling (21), a gasket (22), and a ball screw (23). The side of the motor flange B (17) is provided with a plurality of assembly holes, through which the connecting wires of the servo motor B and the brake B pass, and through which the motor coupling B and the shaft of the servo motor B can be fixed using set screws; the motor coupling B is composed of a brake rotor hub structure and a shaft, one end of which has a light hole with the same diameter as the motor shaft, the rotor hub part cooperates with the brake B, the motor coupling B shaft is connected to the ball screw shaft through the coupling, and the motor coupling B has a stepped shaft for positioning when connected to the coupling.

4. The safety control method of a dynamic spinal lamina surface grinding robot device according to claim 1 is characterized in that: The two-degree-of-freedom grinding positioning module is based on a two-degree-of-freedom circular arc remote motion center mechanism, wherein the two degrees of freedom respectively include rotation along the circular arc track in the plane and movement of the ultrasonic knife along the radial direction, wherein the rotation is driven by the servo motor A of the rotary motion driving unit and matched with the concentric bearing, and the eccentric bearing realizes the rotation of the bearing plate along the 180° standard segment of the double-edge outer V-circular arc track, and the radial direction movement is driven by the servo motor B of the linear motion driving unit to drive the ball screw, and the ball screw drives the grinding feedback force collection device connected to the ball screw cap, so as to realize the radial movement of the ultrasonic knife along the 180° standard segment of the double-edge outer V-circular arc track, wherein the remote motion center is located at the center of the circular arc track, and the ultrasonic knife always passes through this position during the grinding process, so as to ensure that the grinding angle of the ultrasonic knife is perpendicular to the grinding surface.

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