A cartilage defect shape trimming device and a surgical vehicle having the same

Abstract

The present invention relates to a cartilage defect shape trimming device and a surgical vehicle with the device. The device comprises a trimming ring, a connecting portion and a handle, wherein the trimming ring and the handle are connected together through the connecting portion; the angle between the central axis of the trimming ring and the length direction of the handle is greater than 0 degree and less than 90 degrees; the trimming ring comprises a first circular blade portion, a second circular blade portion and a connecting wall connected between the first blade portion and the second blade portion; the blade tip of the first blade portion and the blade tip of the second blade portion are both inclined toward the direction of the central axis of the trimming ring; the connecting wall has an arc-shaped bulging portion convex outward toward a direction away from the central axis of the trimming ring; the connecting wall and the first blade portion and the second blade portion except the blade tip are all smooth and blunt structures without sharp edges.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, and in particular to a cartilage defect shape trimming device and a surgical vehicle with the device. Background Art

[0002] In the process of performing surgery on the knee joint, shoulder joint and other parts clinically, it is necessary to trim the shape of the cartilage defect in the knee joint, shoulder joint and other parts. There is no special trimming tool in the prior art, and doctors can only use conventional tools such as scalpels, bone knives, bone files, and curettes for trimming. Since these conventional tools are not specially designed for trimming the shape of cartilage defects, they are inconvenient to use, and tools such as scalpels and bone knives have sharp blades, which are easy to hurt the patient's body. In addition, since the density of cartilage and subchondral bone is different, the strength that can be borne is also different. In the prior art, the trimming strength is controlled only by relying on the doctor's personal experience, which is also easy to hurt the patient's body during the trimming process.

[0003] The mobile operating vehicle is a special vehicle commonly used to facilitate doctors to perform surgery in the field environment. Generally, a mobile operating vehicle is equipped with relatively complete surgical facilities to meet general surgical needs. However, the mobile operating vehicle in the prior art does not have the function of shaping cartilage defects, and the support for some special surgeries is not complete enough, and there is room for improvement.

[0004] During the process of experimentation and research and development, the applicant found that the mobile surgical carts in the prior art are generally equipped with a robotic arm. If the robotic arm can be applied to the cartilage defect shape trimming device, the force can be accurately controlled by the robotic arm, which can get rid of the heavy reliance on the doctor's personal experience and avoid medical accidents caused by poor force control. However, the robotic arm of the mobile surgical cart in the prior art is not designed for the cartilage defect shape trimming device and cannot be directly used in combination with the cartilage defect shape trimming device. Summary of the invention

[0005] The present invention aims to provide a cartilage defect shape trimming device and a surgical vehicle having the device. The technical problems to be solved include at least how to combine the cartilage defect shape trimming device with a mobile surgical vehicle and control the strength of the mechanical arm of the mobile surgical vehicle, so as to utilize the mechanical arm of the mobile surgical vehicle and the cartilage defect shape trimming device to achieve cartilage defect shape trimming and avoid harm to the patient's body due to poor strength control.

[0006] The technical problem to be solved by the cartilage defect shape trimming device described in the present invention also includes how to rationally design the structure of the cartilage defect shape trimming device to make it more convenient to operate.

[0007] In order to achieve the above-mentioned purpose, the present invention provides a cartilage defect shape trimming device, comprising a cartilage defect shape trimming device comprising a trimming ring, a connecting portion and a handle, wherein the trimming ring and the handle are connected together by the connecting portion; the angle between the central axis of the trimming ring and the length direction of the handle is greater than 0 degrees and less than 90 degrees; the trimming ring comprises a first circular blade portion, a second circular blade portion and a connecting wall connected between the first blade portion and the second blade portion; the blade tip of the first blade portion and the blade tip of the second blade portion are both inclined toward the direction of the central axis of the trimming ring; the connecting wall has an arc-shaped bulge portion convex outward in the direction away from the central axis of the trimming ring; the connecting wall and the first blade portion and the second blade portion except the blade tip are all smooth and blunt structures without sharp edges.

[0008] Preferably, the angle between the central axis of the trimming ring and the length direction of the handle is greater than 10 degrees and less than 30 degrees.

[0009] Preferably, the trimming ring and the handle are welded to the connecting portion.

[0010] Preferably, the trimming ring and the handle are integrally formed with the connecting portion.

[0011] Preferably, the handle is further provided with a gripping handle extending along the length direction of the handle, and the gripping handle is provided with an anti-slip groove.

[0012] Preferably, the grip handle is made of acrylonitrile-butadiene-styrene plastic or KRO-3 resin.

[0013] Preferably, the angle between the extending direction of the blade tip of the first blade portion and the direction of the central axis of the dressing ring is greater than 0 degrees and less than 12 degrees.

[0014] Preferably, an angle between an extension direction of the blade tip of the second blade portion and a direction of a central axis of the dressing ring is greater than 0 degrees and less than 10 degrees.

[0015] Preferably, the relationship between the thickness h of the connecting wall and the angle α between the extension direction of the blade tip of the first blade portion and the direction of the central axis of the dressing ring or the angle β between the extension direction of the blade tip of the second blade portion and the direction of the central axis of the dressing ring satisfies a thickness-angle function, and the thickness-angle function is specifically:

[0016]

[0017] Wherein, h is the thickness of the connecting wall, in millimeters;

[0018] θ is the angle α between the extending direction of the blade tip of the first blade portion and the direction of the central axis of the dressing ring or the angle β between the extending direction of the blade tip of the second blade portion and the direction of the central axis of the dressing ring, in degrees.

[0019] The present invention also provides a mobile surgical vehicle having the cartilage defect shape trimming device, wherein the mobile surgical vehicle has a mechanical arm, and the mechanical arm is used to apply force to the handle 3 of the cartilage defect shape trimming device to achieve cartilage defect shape trimming; when the cartilage defect shape trimming device is used in conjunction with the mobile surgical vehicle, the force F applied to the handle by the mechanical arm of the mobile surgical vehicle satisfies an extreme value relationship, and the extreme value relationship is specifically:

[0020]

[0021] Wherein, F is the force applied to the handle by the robot arm of the mobile surgical vehicle, in Newtons.

[0022] Beneficial Effects

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The cartilage defect shape trimming device described in the present invention can be combined with a mobile operating vehicle. By controlling the strength of the mobile operating vehicle's robotic arm, the mobile operating vehicle's robotic arm and the cartilage defect shape trimming device can be used to achieve cartilage defect shape trimming, thereby avoiding harm to the patient's body due to poor strength control.

[0025] In addition, the cartilage defect shape trimming device described in the present invention has a rationally designed structure to make it more convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the specific implementation methods of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0027] Figure 1 It is a structural schematic diagram of the cartilage defect shape trimming device described in the present invention.

[0028] Figure 2 It is a structural schematic diagram of the dressing ring of the present invention.

[0029] Figure 3 It is a partially enlarged schematic diagram of the first blade portion of the present invention.

[0030] Figure 4 It is a partially enlarged schematic diagram of the second blade portion of the present invention.

[0031] Figure 5 is the fitting curve of the thickness-angle function. DETAILED DESCRIPTION

[0032] The present invention is described in more detail hereinafter to facilitate understanding of the present invention.

[0033] like Figures 1 to 5 As shown, the cartilage defect shape trimming device of the present invention includes a trimming ring 1, a connecting portion 2 and a handle 3, and the trimming ring 1 and the handle 3 are connected together through the connecting portion 2; the angle A between the central axis of the trimming ring 1 and the length direction of the handle 3 is greater than 0 degree and less than 90 degrees; the trimming ring 1 includes a circular first blade portion 11, a circular second blade portion 12 and a connecting wall 13 connected between the first blade portion 11 and the second blade portion 12; the blade tip of the first blade portion 11 and the blade tip of the second blade portion 12 are both inclined toward the direction of the central axis of the trimming ring 1; the connecting wall 13 has an arc-shaped bulge portion convex outward in the direction away from the central axis of the trimming ring 1; the connecting wall 13 and the first blade portion 11 and the second blade portion 12 except the blade tip are all smooth and blunt structures without sharp edges.

[0034] Since the tip of the first blade 11 and the tip of the second blade 12 are both inclined toward the direction of the central axis of the trimming ring 1, the tip of the blade can be prevented from hurting the patient's body to the greatest extent. In addition, since the connecting wall 13 and the first blade 11 and the second blade 12 are all smooth and blunt structures except the tip of the blade, there is no sharp edge, which can also improve safety and will not accidentally hurt the patient's body during the operation. The design of the arc-shaped bulge ensures that the appearance of the entire trimming ring 1 is a smooth structure, which improves safety. On the other hand, it improves the mechanical structure of the entire trimming ring 1, so that the connecting wall 13 has a stronger support effect on the first blade 11 and the second blade 12, and can withstand greater cutting force (including the force applied by the robot arm to the tip of the first blade 11 and the second blade 12 of the trimming ring 1 through the handle 3 and the connecting part 2 when trimming the shape of the cartilage defect, and the reaction force applied by the cartilage to the tip of the first blade 11 and the second blade 12).

[0035] like Figure 2 As shown, the interior of the structure surrounded by the first blade portion 11, the second blade portion 12 and the connecting wall 13 is hollow.

[0036] Preferably, an outer circumferential wall of one end portion 31 of the handle is provided with an external thread for being threadedly connected to a robotic arm of a mobile surgical vehicle.

[0037] Preferably, one end portion 31 of the handle is connected to the mechanical arm of the mobile surgical vehicle by welding or clamping.

[0038] Preferably, the angle A between the central axis of the trimming ring 1 and the length direction of the handle 3 is greater than 10 degrees and less than 30 degrees.

[0039] Preferably, the trimming ring 1 and the handle 3 are welded to the connecting portion 2 .

[0040] Preferably, the trimming ring 1 and the handle 3 are integrally formed with the connecting portion 2 .

[0041] Preferably, the handle 3 is further provided with a gripping handle 32 extending along the length direction of the handle, and the gripping handle 32 is provided with an anti-slip groove.

[0042] Preferably, the grip handle 32 is made of acrylonitrile butadiene styrene plastic or KRO-3 resin.

[0043] like Figure 3 and Figure 4 As shown, the angle α between the extending direction of the tip of the first blade portion 11 and the direction of the central axis of the dressing ring 1 is greater than 0 degrees and less than 12 degrees.

[0044] Preferably, an angle β between an extending direction of the blade tip of the second blade portion 12 and a direction of a central axis of the dressing ring 1 is greater than 0 degrees and less than 10 degrees.

[0045] Preferably, the angle α between the extending direction of the blade tip of the first blade 11 and the direction of the central axis of the dressing ring 1 is the same as the angle β between the extending direction of the blade tip of the second blade 12 and the direction of the central axis of the dressing ring 1 .

[0046] Preferably, the angle α between the extending direction of the blade tip of the first blade 11 and the direction of the central axis of the dressing ring 1 is different from the angle β between the extending direction of the blade tip of the second blade 12 and the direction of the central axis of the dressing ring 1 .

[0047] During the research and development process, the applicant found that there is a close correlation between the thickness h of the connecting wall 13, the angle α between the extension direction of the tip of the first blade 11 and the direction of the central axis of the trimming ring 1, the angle β between the extension direction of the tip of the second blade 12 and the direction of the central axis of the trimming ring 1, and the force F applied to the handle 3 by the robot arm of the mobile surgical vehicle. In order to determine the relationship between the above parameters, the applicant conducted a large number of experiments.

[0048] In order to simplify the analysis model, the applicant conducted an experiment using a dressing ring 1 in which the angle α between the extension direction of the tip of the first cutting edge 11 and the direction of the central axis of the dressing ring 1 and the angle β between the extension direction of the tip of the second cutting edge 12 and the direction of the central axis of the dressing ring 1 were the same size.

[0049] Since α and β are of the same size, they are uniformly recorded as the angle θ during the experiment. Under the same θ value, the thickness h of the connecting wall 13 and the force F applied to the handle 3 by the robot arm of the mobile surgical vehicle are changed in the form of an arithmetic progression until the force F can cause the first blade 11 or the second blade 12 to be damaged and cannot be used any more, and a set of corresponding values ​​of θ, h and F are recorded. Then, the value of θ is gradually increased in the form of an arithmetic progression, and the corresponding values ​​of h and F of different groups corresponding to different θ values ​​are recorded according to the same experimental conditions and experimental steps, so as to obtain a data table that can characterize the mathematical relationship between θ, h and F.

[0050] Then, the thickness h at which the maximum force F that can be sustained without damaging the first blade 11 or the second blade 12 is selected from the above data table at the same θ value, and the θ value and thickness h at this time are recorded separately and listed in a rectangular coordinate system, and are fitted by SCILAB software to form Figure 5 The curve shown in Figure 1 shows the function corresponding to the thickness-angle function:

[0051]

[0052] Wherein, h is the thickness of the connecting wall 13, in millimeters;

[0053] θ is the angle α between the extending direction of the blade tip of the first blade portion 11 and the direction of the central axis of the dressing ring 1 or the angle β between the extending direction of the blade tip of the second blade portion 12 and the direction of the central axis of the dressing ring 1, in degrees.

[0054] By establishing the above-mentioned thickness-angle function, on the one hand, the connecting wall 13 has sufficient supporting force for the first blade 11 and the second blade 12, and on the other hand, the connecting wall 13 is too thick, which will not cause waste of raw materials and the overall weight of the cartilage defect shape trimming device to be too large. The lightness of the entire device is improved and the operation is more convenient.

[0055] Further, according to a similar idea, the critical value of the force F that can normally cut the cartilage without damaging the subchondral bone when the trimming ring 1 with the same θ value and the same thickness h is trimmed for the shape of the cartilage defect is recorded (due to the different densities of the cartilage and the subchondral bone, the forces that can be borne are also different). By changing the θ value and the thickness h according to the arithmetic progression, a set of corresponding data of the critical value of the force F, θ and the thickness h can be obtained. These corresponding data are listed in a three-dimensional rectangular coordinate system and fitted by SCILAB software to obtain the extreme value relationship of the force F applied by the robot arm of the mobile surgical vehicle to the handle 3. The extreme value relationship is specifically:

[0056]

[0057] Wherein, F is the force applied to the handle 3 by the robot arm of the mobile surgical vehicle, in Newton.

[0058] The extreme value relationship between the thickness-angle function and the force F is a fitting curve formula fitted based on a large amount of test data. It should be pointed out that the units (millimeter, Newton) of the physical quantities (the thickness h of the connecting wall 13, the force F applied to the handle 3 by the mechanical arm of the mobile surgical vehicle) in the extreme value relationship between the thickness-angle function and the force F are only used to indicate the magnitude of the numerical value and do not participate in the calculation in the formula. This is because the extreme value relationship between the thickness-angle function and the force F is a fitting function obtained by data fitting, rather than a physical formula or mathematical formula obtained by strict mathematical derivation. For example, assuming that h is 10 mm, if the unit is changed to centimeter, then h becomes 1 centimeter, and the unit "millimeter" is only used to indicate the magnitude of the numerical value "10" and does not participate in the calculation in the function. If the unit "millimeter" is not limited to the formula, it may cause the technicians in this field to use the numerical value "1 centimeter" into the formula calculation, resulting in confusing calculation results. The unit "Newton" is the same and does not participate in the calculation in the formula.

[0059] When the cartilage defect shape trimming device described in the present invention is used, the doctor can hold the gripping handle 32 on the handle 3 by hand to manually trim the cartilage defect shape, or the cartilage defect shape trimming device described in the present invention can be used in conjunction with a mobile operating vehicle, so that one end portion 31 of the handle is connected to the mechanical arm of the mobile operating vehicle by threaded connection, welding or clamping, and the mechanical arm of the mobile operating vehicle applies force to the cartilage defect shape trimming device to trim the cartilage defect shape. Since the density of cartilage and subchondral bone is different, the forces that can be borne are also different. By accurately controlling the force by the mechanical arm, the force applied by the mechanical arm to the handle 3 satisfies the extreme value relationship, which can avoid harming the patient's body.

[0060] The above describes the preferred embodiments of the present invention, but it is not intended to limit the present invention. Those skilled in the art may make improvements and changes to the embodiments disclosed herein without departing from the scope and spirit of the present invention.

Claims

1. A cartilage defect shaping device, characterized in that: The cartilage defect shape trimming device comprises a trimming ring, a connecting portion and a handle, wherein the trimming ring and the handle are connected together through the connecting portion; the angle between the central axis of the trimming ring and the length direction of the handle is greater than 0 degrees and less than 90 degrees; the trimming ring comprises a first circular blade portion, a second circular blade portion and a connecting wall connected between the first blade portion and the second blade portion; the blade tip of the first blade portion and the blade tip of the second blade portion are both inclined toward the direction of the central axis of the trimming ring; the connecting wall has an arc-shaped bulge portion convex outward in the direction away from the central axis of the trimming ring; the connecting wall and the first blade portion and the second blade portion, except for the blade tip, are all smooth and blunt structures without sharp edges; The angle between the extending direction of the tip of the first blade portion and the direction of the central axis of the dressing ring is greater than 0 degrees and less than 12 degrees; The angle between the extension direction of the tip of the second blade portion and the direction of the central axis of the dressing ring is greater than 0 degrees and less than 10 degrees; The relationship between the thickness h of the connecting wall and the angle α between the extension direction of the blade tip of the first blade portion and the direction of the central axis of the dressing ring or the angle β between the extension direction of the blade tip of the second blade portion and the direction of the central axis of the dressing ring satisfies the thickness-angle function, and the thickness-angle function is specifically: ； Wherein, h is the thickness of the connecting wall, in millimeters; θ is the angle α between the extending direction of the tip of the first blade and the direction of the central axis of the dressing ring or the angle β between the extending direction of the tip of the second blade and the direction of the central axis of the dressing ring, in degrees; The cartilage defect shape trimming device also includes a mobile surgical vehicle, the mobile surgical vehicle has a mechanical arm, and the mechanical arm is used to apply force to the handle of the cartilage defect shape trimming device to achieve cartilage defect shape trimming; when the cartilage defect shape trimming device is used in conjunction with the mobile surgical vehicle, the force F applied to the handle by the mechanical arm of the mobile surgical vehicle satisfies an extreme value relationship, and the extreme value relationship is specifically: ； Wherein, F is the force applied to the handle by the robot arm of the mobile surgical vehicle, in Newton; h is the thickness of the connecting wall, in millimeters; θ is the angle α between the extending direction of the blade tip of the first blade portion and the direction of the central axis of the dressing ring or the angle β between the extending direction of the blade tip of the second blade portion and the direction of the central axis of the dressing ring, in degrees.

2. The cartilage defect shaping device according to claim 1, characterized in that: The angle between the central axis of the trimming ring and the length direction of the handle is greater than 10 degrees and less than 30 degrees.

3. The cartilage defect shaping device according to claim 1, characterized in that: The trimming ring and the handle are welded together with the connecting portion.

4. The cartilage defect shaping device according to claim 1, characterized in that: The trimming ring and the handle are integrally formed with the connecting portion.

5. The cartilage defect shaping device according to claim 1, characterized in that: The handle is also provided with a gripping handle extending along the length direction of the handle, and the gripping handle is provided with an anti-slip groove.

6. The cartilage defect shaping device according to claim 5, characterized in that: The material of the gripping handle is acrylonitrile-butadiene-styrene plastic or KRO-3 resin.

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