An automatic bone tissue biopsy robot device and its fixation method

Abstract

The present invention provides an automatic bone tissue biopsy robot device, which includes a flange at the end of the robotic arm, an outer annular saw, an inner annular saw electric feeding device, and an inner annular saw. The flange at the end of the robotic arm is connected to an external robotic arm, the outer annular saw is connected to the end of the flange at the end of the robotic arm, the inner annular saw electric feeding device is connected to the inner annular saw, and the inner annular saw electric feeding device drives the inner annular saw to perform rotational motion and linear reciprocating motion within the outer annular saw. The present invention can solve the problem of contact drift between the cutting tool and the bone tissue during the annular saw bone cutting operation of the orthopedic surgical navigation robot, and realize the operation of electric bone cutting. The present invention also provides a fixing method for the automatic bone tissue biopsy robot device.

Description

Technical Field

[0001] The present invention relates to the field of computer-aided medical technology, and particularly to an electric operation sampling device for assisting puncture of hard tissues such as bones and its fixing method. Background Art

[0002] With the advent of population aging, the incidence of bone tissue diseases is increasing, such as bone tumors, osteoporosis, bone tissue infections, etc. A clear diagnosis is the premise for treating such diseases. In addition to medical history, symptoms and signs, and imaging examinations, bone tissue biopsy and pathological examination results are the gold standards for clinical diagnosis. There are mainly two types of existing bone tissue biopsy methods. One is open biopsy. This type of biopsy has a large amount of biopsy material, but it will cause a large wound and is likely to cause the spread of tumors and infection foci. The other is minimally invasive biopsy guided by fluoroscopic images.

[0003] Surgical robots have great potential in minimally invasive orthopedic surgery. However, in the current bone tissue biopsy operation guided by fluoroscopic images, the biopsy operator only uses the surgical robot to achieve orthopedic surgery positioning guidance and performs bone cutting operations manually, and is still unable to perform electric bone cutting operations. In the operation of bone cutting manually, there is a problem of lack of stability of the cutting tool, that is, the problem that the cutting tool drifts when contacting the bone tissue, resulting in accidental injury to normal tissues. In addition, since the biopsy operator cannot directly visualize the target, the biopsy operator needs to repeatedly confirm the sampling position through fluoroscopic images, so there is still a relatively high radiation risk for the biopsy operator during the operation. Summary of the Invention

[0004] Object of the Invention: The technical problem to be solved by the present invention is to provide an automatic bone tissue biopsy robot device and its fixing method in view of the deficiencies of the prior art.

[0005] To solve the above technical problem, the present invention discloses an automatic bone tissue biopsy robot device, including a flange at the end of the robotic arm, an outer ring saw, an inner ring saw electric feeding device, and an inner ring saw. The flange at the end of the robotic arm is connected to an external robotic arm. The outer ring saw is connected to the end of the flange at the end of the robotic arm. The inner ring saw electric feeding device is connected to the inner ring saw, and the inner ring saw electric feeding device drives the inner ring saw to perform rotational motion and linear reciprocating motion within the outer ring saw.

[0006] Specifically, a guiding hole is provided at the end of the flange at the end of the robotic arm. The outer ring saw includes an outer ring saw body, and the outer ring saw body is detachably connected to the guiding hole.

[0007] Specifically, the inner ring saw electric feeding device includes an electric push rod base, an electric push rod, a hollow shaft rotating motor, and an electric push rod upper cover; the electric push rods are located at both ends of the electric push rod base; the fixed end of the electric push rod is fixedly connected to the top of the electric push rod base, and the movable end of the electric push rod supports the electric push rod upper cover; the hollow shaft rotating motor penetrates through the electric push rod upper cover and is rigidly connected to the electric push rod upper cover; the electric push rod base is connected to the outer ring saw; the hollow rotating shaft of the hollow shaft rotating motor is coaxially arranged with the outer ring saw body; the inner ring saw includes an inner ring saw tubular saw body, one end of the inner ring saw tubular saw body is detachably coaxially sleeved inside the hollow rotating shaft, and the other end is coaxially sleeved inside the outer ring saw body; the electric push rod can drive the hollow shaft rotating motor to perform linear reciprocating motion along the axis of the outer ring saw body, thereby driving the inner ring saw tubular saw body to perform rotational motion and linear reciprocating motion inside the outer ring saw body.

[0008] Further, the inner ring saw electric feeding device further includes a thrust sensor, one end of the thrust sensor is connected to the movable end of the electric push rod, and the other end of the thrust sensor is connected to the electric push rod upper cover.

[0009] Further, the outer ring saw further includes an outer ring saw handle located at the top of the outer ring saw body, and the electric push rod base is installed on the outer ring saw handle.

[0010] Further, it includes a first elastic cylindrical hole and an outer ring saw fastening nut, and the outer ring saw fastening nut is rotationally connected to the first elastic cylindrical hole by threads to form a fastening mechanism for detachably connecting the outer ring saw body and the guiding hole.

[0011] Further, a pair of positioning and mounting holes are symmetrically arranged on the outer ring saw handle along the axis of the outer ring saw body. The bottom of the electric push rod base is provided with positioning fastening studs adapted to the positioning and mounting holes and a feeding device fastening nut adapted to the positioning fastening studs. The positioning fastening studs can pass through the positioning and mounting holes and be screwed tightly with the feeding device fastening nut, so that the electric push rod base and the outer ring saw handle form a rigid connection.

[0012] Further, it includes a second elastic cylindrical hole and an inner ring saw fastening nut, and the inner ring saw fastening nut is rotationally connected to the second elastic cylindrical hole by threads to form a fastening mechanism for detachably connecting the inner ring saw tubular saw body and the hollow rotating shaft.

[0013] Further, the inner ring saw further includes an inner ring saw handle located at the top of the inner ring saw tubular saw body, and the bottom of the inner ring saw tubular saw body is integrally connected to the top of the inner ring saw tubular saw body.

[0014] The present invention also provides a fixing method for an automatic bone tissue biopsy robot device, which successively includes the following steps:

[0015] Step 1. Positioning of the guide hole; the robotic arm drives the guide hole of the flange at the end of the robotic arm to reach the target operation position;

[0016] Step 2. Forming a stable connection among the target bone tissue, the trephine, and the flange at the end of the robotic arm;

[0017] Insert the saw body of the trephine into the guide hole; after cutting through the soft tissue on the surface of the target object to form a small incision, manually rotate the handle of the trephine to screw the end of the saw body of the trephine onto the surface of the target bone tissue; when the saw body of the trephine is in stable contact with the target bone tissue, rigidly connect the trephine to the flange at the end of the robotic arm, thereby forming a stable relative relationship among the target bone tissue, the trephine, and the flange at the end of the robotic arm;

[0018] Step 3. Rigidly connecting the electric inboard saw advancing device to the trephine;

[0019] Step 4. Rigidly connecting the target bone tissue, the inboard saw, and the hollow rotating shaft of the electric inboard saw advancing device;

[0020] Pass the tubular saw body of the inboard saw through the hollow rotating shaft, the base of the electric push rod, and the saw body of the trephine in sequence to reach the surface of the target bone tissue; manually rotate the handle of the inboard saw to screw the end of the tubular saw body of the inboard saw onto the target bone tissue; when the tubular saw body of the inboard saw is in stable contact with the target bone tissue, rigidly connect the tubular saw body of the inboard saw to the hollow rotating shaft, thereby rigidly connecting the flange at the end of the robotic arm, the trephine, the electric inboard saw advancing device, and the inboard saw as a whole;

[0021] Step 5. Under the guidance of fluoroscopic imaging, deliver the inboard saw to the target operation position; observe the relative position relationship between the inboard saw and the target bone tissue by using fluoroscopic imaging; control the rotation of the hollow shaft rotating motor and the reciprocating linear motion of the electric push rod to deliver the inboard saw to the target operation position.

[0022] Beneficial effects:

[0023] (1) In the present invention, the electric inboard saw advancing device drives the inboard saw to rotate and perform linear reciprocating motion, realizing electric bone cutting operation.

[0024] (2) In the present invention, by connecting the flange at the end of the robotic arm to an external robotic arm and connecting the trephine to the end of the flange at the end of the robotic arm, a stable relative relationship is formed among the target bone tissue, the trephine, and the flange at the end of the robotic arm, which can reduce the drift movement of the bone tissue during subsequent operations.

[0025] (3) The guide hole provided at the end of the flange at the end of the robotic arm of the present invention, and the saw body of the trephine is detachably connected to the guide hole. The external robotic arm drives the flange at the end of the robotic arm to move so that the guide hole is aligned with the target position, and then the guide hole plays a guiding role and a supporting role for the saw body of the trephine.

[0026] (4) Each component of the present invention is detachably connected and can be switched between two working modes: manual operation and robotic arm navigation.

[0027] (5) The inner ring saw electric screw-in device of the present invention has a remote control function. Therefore, it allows the operator of bone tissue biopsy to perform remote operations. Under the guidance of fluoroscopic images, the inner ring saw is sent to the target operation position. On the one hand, it avoids the risk of unnecessary radiation exposure to the operator of bone tissue biopsy. On the other hand, the operator of bone tissue biopsy can observe and adjust the position of the inner ring saw in the bone tissue, making the process of sending the inner ring saw to the sampling position more accurate and controllable.

[0028] (6) The inner ring saw electric screw-in device of the present invention is provided with a thrust sensor. By feeding back the force information changes sensed by the thrust sensor and the fluoroscopic image information to the operator of bone tissue biopsy, the operator can better perceive the biopsy bone cutting state through multiple information channels by combining his own experience and the feedback information during the actual bone cutting process, ensuring the safety and reliability of the cutting process. Description of the Drawings

[0029] The following further specifically describes the present invention in conjunction with the drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0030] Figure 1 It is the front view of the overall structure of an automatic bone tissue biopsy robot device provided by an embodiment of the present invention;

[0031] Figure 2 For Figure 1 It is the right view of the overall structure of the automatic bone tissue biopsy robot device shown;

[0032] Figure 3 For Figure 1 It is the sectional view of the structure of the guiding hole and the outer ring saw fastening nut in the loosened state in the automatic bone tissue biopsy robot device shown;

[0033] Figure 4 For Figure 1 It is the sectional view of the structure of the guiding hole and the outer ring saw fastening nut in the tightened state in the automatic bone tissue biopsy robot device shown;

[0034] Figure 5a For Figure 1 It is the top view of the three-dimensional structure of the inner ring saw electric screw-in device in the automatic bone tissue biopsy robot device shown;

[0035] Figure 5b For Figure 5a It is the bottom view of the three-dimensional structure of the inner ring saw electric screw-in device shown;

[0036] Figures 6a to 6g For Figure 1 The schematic diagram of the fixing method of an automatic bone tissue biopsy robot device shown in the figure. Specific implementation manner

[0037] The present invention will be described in detail below with reference to the accompanying drawings.

[0038] The reference numerals in the present invention are as follows: the end flange 1 of the robotic arm, the guiding hole 101, the first elastic cylindrical holes 102a, 102b, the outer ring saw fastening nuts 103a, 103b, the outer ring saw 2, the outer ring saw body 201, the outer ring saw handle 202, the positioning and mounting holes 2021a, 2021b, the inner ring saw electric screwing device 3, the electric push rod base 301, the positioning fastening studs 3011a, 3011b, the screwing device fastening nuts 3012a, 3012b, the electric push rods 302a, 302b, the thrust sensors 303a, 303b, the hollow shaft rotary motor 304, the hollow rotating shaft 3041, the second elastic cylindrical holes 3042a, 3042b, the electric push rod upper cover 305, the inner ring saw fastening nuts 306a, 306b, the inner ring saw 4, the inner ring saw tubular saw body 401, the inner ring saw handle 402, the robotic arm 5.

[0039] Embodiment 1

[0040] As Figures 1 to 4 shown, an embodiment of the present invention provides an automatic bone tissue biopsy robot device (i.e., an electric operation sampling device), which includes the end flange 1 of the robotic arm, the outer ring saw fastening nuts 103a, 103b, the outer ring saw 2, the inner ring saw electric screwing device 3, and the inner ring saw 4. As Figure 3 shown, the end of the end flange 1 of the robotic arm is provided with a guiding hole 101. The guiding hole 101 is a cylindrical through hole. Both ends of the guiding hole 101 are provided with the first elastic cylindrical holes 102a, 102b that communicate with the guiding hole 101. The ends of the first elastic cylindrical holes 102a, 102b are provided with external threads and are provided with a plurality of grooves in the circumferential direction, making it elastic. The first elastic cylindrical holes 102a, 102b are coaxially arranged with the guiding hole 101 and have the same diameter. The internal threads of the outer ring saw fastening nuts 103a, 103b are adapted to the external threads of the first elastic cylindrical holes 102a, 102b. The outer ring saw fastening nuts 103a, 103b are installed on the outside of the first elastic cylindrical holes 102a, 102b by means of threads. At this time, the first elastic cylindrical holes 102a, 102b may not deform.

[0041] As Figure 4As shown in the figure, the outer ring saw 2 includes an outer ring saw body 201 and an outer ring saw handle 202 located at the top of the outer ring saw body 201. The outer ring saw body 201 is in a hollow tubular shape, and the outer ring saw handle 202 is provided with a through hole communicating with the outer ring saw body 201. The outer diameter of the outer ring saw body 201 is smaller than the inner diameter of the guiding hole 101. When the outer ring saw body 201 is coaxially sleeved on the guiding hole 101, the outer ring saw body 201 and the guiding hole 101 of the flange 1 at the end of the robotic arm form a clearance fit. Since the relative relationship between the axis of the guiding hole 101 and the robotic arm 5 is known, the external robotic arm 5 can drive the flange 1 at the end of the robotic arm to move so as to align the guiding hole 101 with the target position. The outer ring saw body 201 passes through the guiding hole 101 to reach the target position of the bone tissue. When the outer ring saw body 201 is in firm contact with the target position of the bone tissue, as Figure 4 shown, the outer ring saw fastening nuts 103a, 103b are screwed and connected with the first elastic cylindrical holes 102a, 102b. The first elastic cylindrical holes 102a, 102b contract and hold the outer ring saw body 201 tightly, so that the outer ring saw 2 and the guiding hole 101 form a rigid connection, which can reduce the drift movement of the bone tissue during the subsequent operation process. When the outer ring saw fastening nuts 103a, 103b are loosened, the first elastic cylindrical holes 102a, 102b expand and release the outer ring saw body 201, so that the outer ring saw body 201 and the guiding hole 101 form a clearance fit, and the outer ring saw body 201 of the outer ring saw 2 can slide along the axis of the guiding hole 101 in the guiding hole 101.

[0042] In order to realize the electric bone cutting operation for bone tissue biopsy, as Figure 1 and Figure 2 shown, the present invention adopts an inner ring saw electric advancing device 3 to drive the movement of an inner ring saw tubular body 401. Figure 5a and Figure 5b give the three-dimensional structure schematic diagrams of the inner ring saw electric advancing device 3 from two different perspectives. As Figure 5a and Figure 5bAs shown in the figure, the inner ring saw electric precession device 3 includes an electric push rod base 301, a pair of electric push rods 302a and 302b symmetrically arranged about the midline of the electric push rod base 301, a pair of thrust sensors 303a and 303b, a hollow shaft rotating motor 304, and an electric push rod upper cover 305. The fixed ends of the electric push rods 302a and 302b are fixedly connected to the top of the electric push rod base 301. The movable ends of the electric push rods 302a and 302b are connected to one ends of the thrust sensors 303a and 303b. The other ends of the thrust sensors 303a and 303b are connected to the bottom of the electric push rod upper cover 305. The hollow shaft rotating motor 304 passes through the electric push rod upper cover 305 and is rigidly connected to the electric push rod upper cover 305. Circular inner holes are provided at both ends of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304. Second elastic cylindrical holes 3042a and 3042b are provided at both ends of the circular inner hole of the hollow rotating shaft 3041. The second elastic cylindrical holes 3042a and 3042b penetrate through the inner hole of the hollow rotating shaft 3041. The second elastic cylindrical holes 3042a and 3042b are coaxially arranged with the inner hole of the hollow rotating shaft 3041 and have the same diameter. External threads are provided at the ends of the second elastic cylindrical holes 3042a and 3042b, and a plurality of grooves are provided along the circumferential direction, making them elastic. The internal threads of the inner ring saw fastening nuts 306a and 306b are adapted to the external threads of the second elastic cylindrical holes 3042a and 3042b. The inner ring saw fastening nuts 306a and 306b are installed on the outer sides of the second elastic cylindrical holes 3042a and 3042b by threads, and the inner ring saw fastening nuts 306a and 306b are threadedly and rotatably connected to the hollow rotating shaft 3041. At this time, the second elastic cylindrical holes 3042a and 3042b may not deform.

[0043] As Figure 4As shown, a pair of positioning and mounting holes 2021a and 2021b are symmetrically arranged on the outer ring saw handle 202 along the axis of the outer ring saw body 201. As shown in Figure 5, the bottom of the electric push rod base 301 is provided with positioning and fastening studs 3011a and 3011b adapted to the positioning and mounting holes 2021a and 2021b, and screw-in device fastening nuts 3012a and 3012b adapted to the positioning and fastening studs 3011a and 3011b. The positioning and mounting holes 2021a and 2021b, the positioning and fastening studs 3011a and 3011b, and the screw-in device fastening nuts 3012a and 3012b form a fastening device for detachably connecting the outer ring saw handle 202 to the electric push rod base 301. The positioning and fastening studs 3011a and 3011b pass through the positioning and mounting holes 2021a and 2021b and are screwed and fixed with the screw-in device fastening nuts 3012a and 3012b, so that the electric push rod base 301 and the outer ring saw handle 202 form a rigid connection, that is, the inner ring saw electric rotation device 3 and the outer ring saw 2 form a rigid connection. When the inner ring saw electric rotation device 3 and the outer ring saw 2 form a rigid connection, it is ensured that the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 is coaxial with the outer ring saw body 201 of the outer ring saw 2. Preferably, the inner hole of the hollow rotating shaft 3041 has the same size as the inner hole of the outer ring saw body 201. In order to make the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 coaxial with the outer ring saw body 201 of the outer ring saw 2, a centering structure is provided at the connection between the bottom of the electric push rod base 301 and the top of the outer ring saw handle 202. The centering structure can be composed of a stepped hole and a positioning step adapted to the stepped hole.

[0044] As Figure 1 and Figure 2As shown in the figure, the inner circular saw 4 includes an inner circular saw tubular saw body 401 and an inner circular saw handle 402 located at the top of the inner circular saw tubular saw body 401. The inner circular saw tubular saw body 401 is in a hollow tubular shape, and the outer diameter of the inner circular saw tubular saw body 401 is smaller than the inner hole diameter of the hollow rotating shaft 3041, so that the inner circular saw tubular saw body 401 is in clearance fit with the inner hole of the hollow rotating shaft 3041. The inner circular saw tubular saw body 401 sequentially passes through the hollow rotating shaft 3041, the electric push rod base 301, and the outer circular saw saw body 201 and is detachably coaxially sleeved in the hollow rotating shaft 3041 through the inner circular saw fastening nuts 306a and 306b. When the inner circular saw fastening nuts 306a and 306b are tightened to make the second elastic cylindrical holes 3042a and 3042b contract and hold the inner circular saw tubular saw body 401 tightly, a rigid connection is formed between the inner circular saw tubular saw body 401 and the hollow rotating shaft 3041; when the inner circular saw fastening nuts 306a and 306b are loosened to make the second elastic cylindrical holes 3042a and 3042b expand and release the inner circular saw tubular saw body 401, the inner circular saw tubular saw body 401 is in clearance fit with the inner hole of the hollow rotating shaft 3041, and the inner circular saw tubular saw body 401 can slide in the inner hole of the hollow rotating shaft 3041. In the present invention, the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 is coaxially arranged with the outer circular saw saw body 201 of the outer circular saw 2, and the inner circular saw tubular saw body 401 is coaxially arranged with the hollow rotating shaft 3041, so as to ensure that the inner circular saw tubular saw body 401 is coaxially arranged with the outer circular saw saw body 201.

[0045] Thus, when the flange 1 at the end of the robotic arm, the outer circular saw 2, the inner circular saw electric feeding device 3, and the inner circular saw 4 are connected as a whole, the electric push rods 302a and 302b can drive the hollow shaft rotating motor 304 to perform linear reciprocating motion along the axis of the outer circular saw saw body 201.

[0046] In this embodiment, the electric push rods 302a and 302b and the hollow shaft rotating motor 304 are all commercially available products, and are equipped with corresponding power controllers. The operator of bone tissue biopsy controls the start and stop of the electric push rods 302a and 302b and the hollow shaft rotating motor 304 through the supporting power controller at the operation site, so as to realize the electric bone cutting operation.

[0047] Embodiment 2

[0048] In Embodiment 2 of the present invention, in order to achieve remote operation so that the operator of bone tissue biopsy can avoid unnecessary radiation exposure, the inner ring saw of the electric precession device 3 is electrically connected to an external remote control rod, a display, and a control computer. The operator of bone tissue biopsy remotely controls the linear reciprocating motion of the electric push rods 302a and 302b and the rotational motion of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 in a wired or wireless manner by operating the remote control rod. The thrust sensors 303a and 303b transmit the sensed thrust signals back to the remote control rod, and the operator can perceive the change of the force information on the thrust sensors 303a and 303b through visual or tactile vibration, so as to make a preliminary judgment on the target position reached by the inner ring saw 4. The display is used to display control information and surgical-related image information. The control computer is used for information transmission and motor control.

[0049] It should be noted that the remote control function of the electric precession device 3 and the force information feedback function of the thrust sensors 303a and 303b can be implemented in any well-known manner in the art.

[0050] In Embodiment 2, an automatic bone tissue biopsy robot device (i.e., an electric operation sampling device) proposed by the present invention allows the operator of bone tissue biopsy to perform remote operation. Under the guidance of fluoroscopic images, the inner ring saw is sent to the target operation position. On the one hand, it avoids the risk of unnecessary radiation exposure to the operator of bone tissue biopsy. On the other hand, the operator of bone tissue biopsy can observe and adjust the position of the inner ring saw in the bone tissue, so that the process of sending the inner ring saw to the sampling position is more accurate and controllable.

[0051] The present invention also proposes a fixing method for an automatic bone tissue biopsy robot device (i.e., an electric operation sampling device), which successively includes the following steps:

[0052] Step 1: Positioning of the guide hole 101: As Figure 6a shown, the external robotic arm 5 drives the guide hole 101 of the flange 1 at the end of the robotic arm to align with the target position. The outer ring saw fastening nuts 103a and 103b are rotationally connected to the first elastic cylindrical holes 102a and 102b (as Figure 6b shown); at this time, the first elastic cylindrical holes 102a and 102b do not deform.

[0053] Step 2: Forming a stable connection among the target bone tissue, the outer ring saw 2, and the flange 1 at the end of the robotic arm: As Figure 6cAs shown, the operator of the bone tissue biopsy inserts the outer trephine saw body 201 of the outer trephine 2 into the guiding hole 101, and the outer trephine saw body 201 is in a clearance sliding state with the guiding hole 101. After incising the soft tissue on the surface of the target object to form a small wound, the operator manually rotates the outer trephine handle 202 of the outer trephine 2, so as to screw the end of the outer trephine saw body 201 into the surface of the target bone tissue. When the outer trephine saw body 201 is in stable contact with the target bone tissue, the trephine fastening nut 103 is screwed tightly and connected with the first elastic cylindrical holes 102a and 102b, so as to form a rigid connection between the outer trephine 2 and the flange at the end of the robotic arm 1, and further form a stable relative relationship among the target bone tissue, the outer trephine 2 and the flange at the end of the robotic arm 1, which can reduce the drift movement of the bone tissue during the subsequent operation process.

[0054] Step Three: Rigidly connect the inner trephine electric advancing device 3 with the outer trephine 2: As Figure 6d shown, pass the positioning fastening studs 3011a and 3011b through the positioning mounting holes 2021a and 2021b and screw them tightly with the advancing device fastening nuts 3012a and 3012b, so as to form a rigid connection between the electric push rod base 301 and the outer trephine handle 202, and further form a rigid connection between the inner trephine electric advancing device 3 and the outer trephine 2. At this time, the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 coincides with the axis of the outer trephine 2. Rotate and connect the inner trephine fastening nuts 306a and 306b with the second elastic cylindrical holes 3042a and 3042b (as Figure 6e shown); at this time, the second elastic cylindrical holes 3042a and 3042b do not deform.

[0055] Step Four: Rigidly connect the target bone tissue, the inner trephine 4 and the inner trephine electric advancing device 3: As Figure 6f shown, pass the inner trephine tubular saw body 401 through the hollow rotating shaft 3041, the electric push rod base 301 and the outer trephine saw body 201 in sequence to reach the surface of the target bone tissue; manually rotate the inner trephine handle 402 to screw the end of the inner trephine tubular saw body 401 into the target bone tissue; when the inner trephine tubular saw body 401 is in stable contact with the target bone tissue, screw the inner trephine fastening nuts 306a and 306b tightly with the hollow rotating shaft 3041 to form a rigid connection between the inner trephine tubular saw body 401 and the hollow rotating shaft 3041, and further rigidly connect the flange at the end of the robotic arm 1, the outer trephine 2, the inner trephine electric advancing device 3 and the inner trephine 4 as a whole. At this time, the hollow shaft rotating motor 304 can drive the inner trephine 4 to rotate, and the electric push rods 302a and 302b can drive the inner trephine 4 to move linearly back and forth along the axis.

[0056] Step Five: Under the guidance of the fluoroscopic image, send the inner trephine 4 to the target operation position: As Figure 6gAs shown, the C-arm is set to the appropriate position, and the relative positional relationship between the trephine 4 and the target bone tissue is observed using fluoroscopic imaging. The operator of the bone tissue biopsy controls the rotation of the hollow shaft rotating motor 304 and the linear reciprocating motion of the electric push rods 302a and 302b on-site through the supporting power controller, or can also remotely operate the remote control lever in a wireless or wired manner to deliver the trephine 4 to the target operation position.

[0057] When it is determined that the trephine 4 has obtained the target sampling tissue, the operator of the bone tissue biopsy stops the device. By loosening the trephine fastening nuts 306a and 306b, the trephine tubular saw body 401 can slide in the hollow rotating shaft 3041 with a clearance. The operator of the bone tissue biopsy withdraws the trephine 4 and removes the core tissue of the trephine tubular saw body 401, and this core tissue is the target puncture tissue.

[0058] When the operator of the bone tissue biopsy uses remote operation, the force information changes sensed by the thrust sensors 303a and 303b and the fluoroscopic imaging information can be fed back to the operator of the bone tissue biopsy. Thus, the operator can better perceive the biopsy bone cutting state through various information channels by combining his own experience and the feedback information during the actual bone cutting process, ensuring the safety and reliability of the cutting process. Under the guidance of fluoroscopic imaging, delivering the trephine 4 to the target operation position avoids the risk of unnecessary radiation exposure to the operator of the bone tissue biopsy on the one hand, and on the other hand, the operator of the bone tissue biopsy can observe and adjust the position of the trephine in the bone tissue, making the process of delivering the trephine to the sampling position more accurate and controllable.

[0059] The present invention provides an idea and method for an automatic bone tissue biopsy robot device and its fixing method. There are many methods and ways to specifically implement this technical solution. The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented using existing technologies.

Claims

1. An automatic bone tissue biopsy robot device, characterized in that, It includes the flange (1) at the end of the robotic arm, the outer circular saw (2), the inner circular saw electric in-and-out device (3), and the inner circular saw (4). The flange (1) at the end of the robotic arm is connected to the external robotic arm (5). The outer circular saw (2) is connected to the end of the flange (1) at the end of the robotic arm. The inner circular saw electric in-and-out device (3) is connected to the inner circular saw (4). The inner circular saw electric in-and-out device (3) drives the inner circular saw (4) to perform rotational motion and linear reciprocating motion within the outer circular saw (2). The inner circular saw electric in-and-out device (3) includes an electric push rod base (301), electric push rods (302a, 302b), a hollow shaft rotating motor (304), and an electric push rod upper cover (305). The electric push rods (302a, 302b) are located at both ends of the electric push rod base (301). The fixed ends of the electric push rods (302a, 302b) are fixedly connected to the top of the electric push rod base (301). The movable ends of the electric push rods (302a, 302b) support the electric push rod upper cover (305). The hollow shaft rotating motor (304) passes through the electric push rod upper cover (305) and is rigidly connected to the electric push rod upper cover (305). The electric push rod base (301) is connected to the outer circular saw (2). The hollow rotating shaft (3041) of the hollow shaft rotating motor (304) is coaxially arranged with the outer circular saw body (201). The inner circular saw (4) includes an inner circular saw tubular saw body (401). One end of the inner circular saw tubular saw body (401) is detachably coaxially sleeved within the hollow rotating shaft (3041), and the other end is coaxially sleeved within the outer circular saw body (201). The electric push rods (302a, 302b) can drive the hollow shaft rotating motor (304) to perform linear reciprocating motion along the axis of the outer circular saw body (201), thereby driving the inner circular saw tubular saw body (401) to perform rotational motion and linear reciprocating motion within the outer circular saw body (201). The inner circular saw electric in-and-out device (3) is electrically connected to an external remote control rod, a display, and a control computer.

2. The automatic bone tissue biopsy robot device according to claim 1, wherein A guiding hole (101) is provided at the end of the flange (1) at the end of the robotic arm. The outer circular saw (2) includes an outer circular saw body (201). The outer circular saw body (201) is detachably connected within the guiding hole (101).

3. The automatic bone tissue biopsy robot device according to claim 2, characterized in that The inner circular saw electric in-and-out device (3) further includes thrust sensors (303a, 303b). One end of the thrust sensors (303a, 303b) is connected to the movable end of the electric push rod (302a, 302b), and the other end of the thrust sensors (303a, 303b) is connected to the electric push rod upper cover (305).

4. The automatic bone tissue biopsy robot device according to claim 3, characterized in that The outer circular saw (2) further includes an outer circular saw handle (202) located at the top of the outer circular saw body (201). The electric push rod base (301) is installed on the outer circular saw handle (202).

5. The automatic bone tissue biopsy robot device according to claim 4, characterized in that It includes first elastic cylindrical holes (102a, 102b) and outer circular saw fastening nuts (103a, 103b). The outer circular saw fastening nuts (103a, 103b) are rotationally connected to the first elastic cylindrical holes (102a, 102b) by threads to form a fastening mechanism for detachably connecting the outer circular saw body (201) and the guiding hole (101).

6. An automatic bone tissue biopsy robot device according to claim 5, wherein A pair of positioning and mounting holes (2021a, 2021b) are symmetrically arranged along the axis of the outer circular saw body (201) on the outer circular saw handle (202). At the bottom of the electric push rod base (301), there are positioning fastening studs (3011a, 3011b) adapted to the positioning and mounting holes (2021a, 2021b) and precession device fastening nuts (3012a, 3012b) adapted to the positioning fastening studs (3011a, 3011b). The positioning fastening studs (3011a, 3011b) can pass through the positioning and mounting holes (2021a, 2021b) and be screwed and fixed with the precession device fastening nuts (3012a, 3012b), so that the electric push rod base (301) and the outer circular saw handle (202) form a rigid connection.

7. An automatic bone tissue biopsy robot device according to claim 6, wherein It includes second elastic cylindrical holes (3042a, 3042b) and inner circular saw fastening nuts (306a, 306b). The inner circular saw fastening nuts (306a, 306b) are rotationally connected to the second elastic cylindrical holes (3042a, 3042b) by threads to form a fastening mechanism for detachably connecting the inner circular saw tubular body (401) and the hollow rotating shaft (3041).

8. An automatic bone tissue biopsy robot device according to claim 7, wherein The inner circular saw (4) further includes an inner circular saw handle (402) located at the top of the inner circular saw tubular body (401), and the bottom of the inner circular saw tubular body (401) is integrally connected to the top of the inner circular saw tubular body (401).

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