A stepped double L-shaped upper position reduction vertebral plate inner surface grinding spinal surgery robot

Abstract

The present invention relates to a stepped double-L-shaped upper position reduction lamina inner surface grinding spinal surgery robot, comprising a robot body, a three-axis adjustment device provided on the robot body, a stepped double-L-shaped manipulator mounted on the three-axis adjustment device, and a control console provided on the robot body, which is electrically connected to the three-axis adjustment device and the stepped double-L-shaped manipulator, wherein the three-axis adjustment device comprises an X-direction guide drive device, a Y-direction guide drive device provided on one side of the X-direction guide drive device, and a Z-direction guide drive device provided on the X-direction guide drive device. Thus, during the descent of the Z-direction guide drive device, the L-shaped short hook and the L-shaped grinding head are precisely rotated from a direction consistent with the long axis of the human body to a position where the upper surface of the L-shaped short hook is flush with the inner surface of the lamina, and then can be changed to enter the spinal canal perpendicular to the long axis of the human body, thereby ensuring that no damage is caused to the nerves.

Description

Technical Field

[0001] The present invention relates to a minimally invasive spine robot, in particular to a stepped double-L-shaped upper position repositioning vertebral plate inner surface grinding spine surgery robot. Background Art

[0002] In recent years, disc-sparing laminoplasty procedures, such as minimally invasive endoscopic double-door procedures, have become increasingly common in clinical practice. Consequently, double-door internal fixation systems for cervical and lumbar disc herniation have gained popularity. However, existing surgical instruments require the entire spinous process-ligament complex to be displaced posteriorly during use, which can lead to the following problems:

[0003] 1. The feeling of bulging in the posterior part of the spine is due to the overall posterior displacement of the spinous process ligament complex. Some thinner patients feel a bony protrusion when touching the waist and back, causing psychological and physical discomfort.

[0004] 2. Increase the scope of surgical trauma. The spinous process and ligament complex has a certain width, which is much larger than the width of the intervertebral space, that is, the width of the protruding intervertebral disc (lesion range). The overall posterior displacement of the spinous process and ligament complex will undoubtedly increase the scope of surgical exposure and increase surgical trauma.

[0005] 3. For minimally invasive spinal robotic surgery, the robotic arm faces serious difficulties when entering the spinal canal through the narrow longitudinal (i.e., X-direction consistent with the long axis of the human body) non-complete decompression grooves on both sides of the spinous process for operation. Affected by various factors such as the shape of the robotic arm, the patient's breathing, bleeding, and the endoscopic observation angle, it is difficult for the robotic arm to accurately and automatically "move up" to the surgical position.

[0006] Therefore, it is necessary to develop a method to enter the spinal canal and perform resection of the inner surface of the lamina, expand the spinal canal from within, and avoid the overall posterior displacement of the spinous process ligament complex to solve the above problems.

[0007] In view of the above-mentioned technical defects, the designers have actively conducted research and innovation in order to create a stepped double L-shaped upper reduction lamina inner surface grinding spinal surgical robot, which can partially remove the inner surface of the lamina, so that it can produce the same effect as the overall posterior displacement of the spinous process ligament complex, and thus has greater industrial utilization value. Summary of the Invention

[0008] In order to solve the above technical problems, the purpose of the present invention is to provide a stepped double L-shaped upper position reduction vertebral plate inner surface grinding spinal surgery robot.

[0009] The present invention relates to a stepped double L-shaped upper position reduction vertebral plate inner surface grinding spinal surgical robot, comprising a robot body, wherein: the robot body is provided with a three-axis adjustment device, the three-axis adjustment device is installed with a stepped double L-shaped manipulator, the robot body is provided with a console, the console is electrically connected to the three-axis adjustment device and the stepped double L-shaped manipulator, the three-axis adjustment device includes an X-direction guide drive device, a Y-direction guide drive device is provided on one side of the X-direction guide drive device, and a Z-direction guide drive device is also provided on the X-direction guide drive device. The movable device, the stepped double L-shaped manipulator includes a fixed plate, an L-shaped bone grinding mechanism is passed through the fixed plate, and an L-shaped positioning hook is also provided on the fixed plate. The L-shaped positioning hook and the L-shaped bone grinding mechanism are distributed in different planes, and the working end of the L-shaped bone grinding mechanism is provided with an L-shaped grinding head, and the working end of the L-shaped positioning hook is provided with an L-shaped short hook. The L-shaped positioning hook is connected to the three-axis adjustment device through a connecting device, a telescopic component is provided between the fixed plate and the connecting device, and a limiting device is provided between the stepped double L-shaped manipulator and the three-axis adjustment device.

[0010] Furthermore, the above-mentioned stepped double L-shaped upper reduction vertebral plate inner surface grinding spinal surgical robot, wherein the limiting device includes an upper reduction drive motor arranged below the Y-direction guide drive device, and a steel wire is connected to the driving end of the upper reduction drive motor, and an installation area is provided below the Y-direction guide drive device, and a reset spring and a safety switch are respectively provided on the installation area, and the steel wire is connected to the safety switch through the reset spring, and the steel wire surrounds the L-shaped positioning hook and has a tangent contact point with the L-shaped positioning hook, and a limit block is passed through the steel wire.

[0011] Furthermore, in the above-mentioned stepped double L-shaped upper reduction lamina inner surface grinding spinal surgical robot, a limiting step is provided below the Y-direction guide drive device, the steel wire passes through the limiting step, and the limiting step is located on the rear side of the limiting block.

[0012] Furthermore, in the above-mentioned stepped double-L-shaped upper reduction lamina inner surface grinding spinal surgical robot, both ends of the steel wire are provided with detachable joints.

[0013] Furthermore, in the above-mentioned stepped double L-shaped upper reduction lamina inner surface grinding spinal surgical robot, the L-shaped grinding head and the L-shaped short hook are distributed in an upper and lower step shape, and the L-shaped short hook is located at the lower step position.

[0014] Furthermore, in the above-mentioned stepped double L-shaped upper reduction lamina inner surface grinding spinal surgical robot, the L-shaped short hook is in the shape of a right-angle hook; or the upper surface of the L-shaped short hook is provided with an arc-shaped protrusion.

[0015] Furthermore, in the above-mentioned stepped double-L-shaped upper reduction lamina inner surface grinding spinal surgical robot, the telescopic component is a telescopic spring or other telescopic mechanism.

[0016] Furthermore, in the above-mentioned stepped double L-shaped upper reduction lamina inner surface grinding spinal surgical robot, the L-shaped bone grinding mechanism is an ultrasonic bone knife or an oscillating saw.

[0017] Furthermore, the above-mentioned stepped double L-shaped upper reduction lamina inner surface grinding spinal surgical robot, wherein the connecting device includes a connecting rod, one end of the connecting rod is provided with a connecting head, the connecting head is connected to the Y-direction guide drive device through a screw, the other end of the connecting rod is provided with a bearing, and the L-shaped positioning hook passes through the bearing.

[0018] Furthermore, in the above-mentioned stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgical robot, the X-direction guide drive device, the Y-direction guide drive device, and the Z-direction guide drive device are all linear motors.

[0019] By means of the above solution, the present invention has at least the following advantages:

[0020] 1. During the descent of the Z-direction guide drive device, the L-shaped short hook and the L-shaped grinding head rotate precisely from a direction consistent with the long axis of the human body until the upper surface of the L-shaped short hook is flush with the inner surface of the vertebral plate. Then, the L-shaped positioning hook can enter the spinal canal perpendicular to the long axis of the human body to ensure that no damage is caused to the nerves. The L-shaped positioning hook can hook the inner surface of the vertebral plate and change with its height. With the assistance of the telescopic spring, it can achieve adaptive positioning.

[0021] 2. The L-shaped positioning hook and the L-shaped bone grinding mechanism are distributed in an upper and lower step shape. The L-shaped positioning hook is located at the lower step position. Under the positioning guidance of the L-shaped positioning hook, the L-shaped bone grinding mechanism can accurately and safely remove the inner surface of the vertebral plate, achieving an effect similar to the posterior displacement of the spinous process and ligament complex.

[0022] 3. At the end of the operation, under the action of the reset spring, the L-shaped positioning hook and the L-shaped bone grinding mechanism automatically rotate from a direction perpendicular to the long axis of the human body to be consistent with it, realizing "unhooking" and automatic reset.

[0023] 4. The overall structure is simple, automatic control can be achieved through the console, and it is easy to manufacture and maintain.

[0024] 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 with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a side working structure schematic diagram of the present invention.

[0026] Figure 2 It is a schematic diagram of the front working structure of the present invention.

[0027] Figure 3 It is a schematic diagram of the distribution structure of steel wire.

[0028] Figure 4 This is a working diagram of a right-angled L-shaped short hook.

[0029] Figure 5 This is a working diagram of an L-shaped short hook with an arc-shaped protrusion on the upper surface.

[0030] The meanings of the reference numerals in the figures are as follows.

[0031] 1 Three-axis adjustment equipment 2 Stepped double L-shaped manipulator

[0032] 3 Control console 4 X-direction guide drive device

[0033] 5 Y-direction guide drive device 6 Z-direction guide drive device

[0034] 7 Fixation plate 8 L-shaped bone grinding mechanism

[0035] 9 L-shaped positioning hook 10 L-shaped grinding head

[0036] 11 L-shaped short hook 12 telescopic component

[0037] 13 Upper reset drive motor 14 Steel wire

[0038] 15 Return spring 16 Safety switch

[0039] 17 Limit block 18 Limit step

[0040] 19 Connecting rod 20 Screw

[0041] 21 bearing 22 spinous process

[0042] 23 Incomplete decompression groove 24 Inner surface bone

[0043] 25 Inner surface of lamina DETAILED DESCRIPTION

[0044] The following embodiments of the present invention are described in further detail with reference to 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.

[0045] like Figures 1 to 5A stepped double-L-shaped spinal surgical robot for upper reduction and grinding of the inner surface of the vertebral lamina comprises a robot body. Its uniqueness lies in the following: a three-axis adjustment device 1 is provided on the robot body, and a stepped double-L-shaped manipulator 2 is mounted on the three-axis adjustment device 1. Furthermore, to facilitate coordinated control, the robot body is provided with a control console 3, which is electrically connected to the three-axis adjustment device 1 and the stepped double-L-shaped manipulator 2. For ease of implementation, a programmable device such as a single-chip microcomputer or industrial computer can be used to form the control console 3, facilitating automated operation and convenient on-site intervention control. To enable the stepped double-L-shaped manipulator 2 to achieve precise spatial adjustment and effective positioning according to the surgical site, the three-axis adjustment device 1 includes an X-direction guide drive 4, a Y-direction guide drive 5 is provided on one side of the X-direction guide drive 4, and a Z-direction guide drive 6 is also provided on the X-direction guide drive 4. In practical applications, to facilitate minimally invasive surgical procedures on the affected area, the stepped double-L-shaped manipulator 2 includes a fixed plate 7, on which an L-shaped bone grinding mechanism 8 is inserted. The fixed plate 7 is also provided with an L-shaped positioning hook 9, which is located on a different plane from the L-shaped bone grinding mechanism 8, facilitating proper alignment with the inner surface 25 of the vertebral lamina for appropriate operation. The working end of the L-shaped bone grinding mechanism 8 is provided with an L-shaped grinding head 10, while the working end of the L-shaped positioning hook 9 is provided with an L-shaped short hook 11. This ensures reliable positioning during surgery. Furthermore, to ensure spatial constraints during use, the L-shaped positioning hook 9 is connected to the three-axis adjustment device 1 via a connecting device. A telescopic assembly 12 composed of a telescopic spring is provided between the fixed plate 7 and the connecting device, and a limiting device is provided between the stepped double-L-shaped manipulator 2 and the three-axis adjustment device 1. During operation, other telescopic mechanisms may also be used to form the telescopic assembly 12.

[0046] In conjunction with a preferred embodiment of the present invention, in order to meet the appropriate limitation of the operable space, reset guidance can be achieved after the operation is completed. The limiting device used includes an upper reset drive motor 13 arranged below the Y-direction guide drive device 5, and a steel wire 14 is connected to the driving end of the upper reset drive motor 13. The steel wire 14 surrounds the L-shaped positioning hook 9 and has a tangential contact point with the L-shaped positioning hook 9. At the same time, an installation area is provided below the Y-direction guide drive device 5, and a reset spring 15 and a safety switch 16 are respectively provided on the installation area. During assembly, the steel wire 14 is connected to the safety switch 16 through the reset spring 15. In this way, while maintaining automatic reset, the operation of the safety switch 16 can be triggered when the limit is reached, thereby achieving effective blocking of the stroke. In addition, in order to achieve appropriate auxiliary limitation, a limit block 17 is passed through the steel wire 14. To facilitate closer guidance and control of the steel wire 14, a limit step 18 is provided below the Y-direction guide drive 5. The steel wire 14 passes through the limit step 18, which is located behind the limit block 17. Furthermore, detachable connectors are provided at both ends of the steel wire 14. This facilitates separation of the stepped double-L-shaped manipulator 2 from the robot body for disinfection.

[0047] Furthermore, to conform to the structure of the spinous process 22 and facilitate subsequent effective grinding of the bone on the side wall of the spinous process 22, the L-shaped grinding head 10 and the L-shaped short hook 11 are arranged in an upper and lower step-like pattern, with the L-shaped short hook 11 located at the lower step. To adapt to different structures of the affected area, the L-shaped short hook 11 is a right-angled hook shape, and an arc-shaped protrusion can also be provided on the upper surface of the L-shaped short hook 11.

[0048] In view of actual implementation, the L-shaped bone grinding mechanism 8 adopted is an ultrasonic bone knife or an oscillating saw. Of course, other orthopedic power devices can also be used according to surgical needs. At the same time, the connecting device adopted includes a connecting rod 19, one end of the connecting rod 19 is provided with a connector, and the connector is connected to the Y-direction guide drive device 5 by a screw 20. In addition, the other end of the connecting rod 19 is provided with a bearing 21, and the L-shaped positioning hook 9 passes through the bearing 21. In this way, it can be ensured that the L-shaped positioning hook 9 will not be subject to unnecessary axial limitation during operation. Furthermore, considering the convenience of implementation, the X-direction guide drive device 4, the Y-direction guide drive device 5, and the Z-direction guide drive device 6 are all linear motors. In this way, commercially available products can be used for assembly to reduce implementation costs.

[0049] The working principle of the present invention is as follows: first, non-complete decompression grooves 23 are opened on both sides of the spinous process 22. The length of the non-complete decompression grooves 23 is not the same as the entire vertebral plate as when the spinous process 22 moves backward as a whole, but is slightly longer than the lesion range, that is, the protruding intervertebral disc.

[0050] The control console 3 issues a command, which activates the Z-direction guide drive 6, causing the stepped double-L-shaped manipulator 2 to descend. The L-shaped short hook 11 of the L-shaped positioning hook 9 and the L-shaped grinding head 10 of the L-shaped bone grinding mechanism 8 enter the incomplete decompression groove 23 in a direction consistent with the long axis of the human body (the X-axis direction). During this period, the side of the L-shaped short hook 11 maintains close contact with the side wall of the incomplete decompression groove 23 on the spinous process 22 side.

[0051] Afterwards, the upper reset drive motor 13 is activated, tensioning the steel wire 14 and the reset spring 15. Thus, through the obstruction of the bony sidewall on the spinous process 22 side of the incomplete decompression groove 23, when the upper surface of the L-shaped short hook 11 is flush with the lowest point of the inner surface 25 of the vertebral lamina, the L-shaped short hook 11 and the L-shaped grinding head 10 of the double L-shaped manipulator 1 precisely rotate into the spinal canal and hook onto the inner surface 25 of the vertebral lamina in a direction perpendicular to the long axis of the human body (X-axis direction).

[0052] As the upper reset drive motor 13 operates, the steel wire 14 is pulled, causing the stopper 17 on the steel wire 14 to contact the stopper, thereby maintaining the L-shaped short hook 11 and the L-shaped grinding head 10 perpendicular to the long axis (X-axis) of the human body. Simultaneously with the upper reset drive motor 13 pulling the steel wire 14, the safety switch 16 is also disconnected. After the safety switch 16 is disconnected, the Z-direction guide drive 6 ceases operation, ensuring that the dual L-shaped manipulator does not continue to enter the spinal canal and that the L-shaped short hook 11 and the L-shaped grinding head 10 do not cause nerve damage.

[0053] After the L-shaped positioning hook 9 hooks onto the inner surface 25 of the vertebral lamina, the Z-direction guide drive 6 starts to operate, causing the Y-direction guide drive 5 to rise to a certain height. At this time, the telescopic spring is compressed, and the L-shaped positioning hook 9, with the help of the telescopic spring, adaptively positions itself according to the height change of the inner surface 25 of the vertebral lamina, so that the L-shaped grinding head 10 can remove the bone 24 on the inner surface 25 of the vertebral lamina and expand the spinal canal.

[0054] After the procedure is complete, the upper reset drive motor 13 stops, and the reset spring 15 causes the L-shaped positioning hook 9 of the dual L-shaped manipulator to rotate. This causes the short L-shaped hook 11 and the L-shaped grinding head 10 to rotate accordingly, rotating from a perpendicular position to a direction aligned with the long axis of the human body (the X-axis). Subsequently, with the Z-direction guide drive 6 operating, the dual L-shaped manipulator ascends and exits the spinal canal, completing the resection of the bone 24 on the inner surface of the spinal canal and satisfying the surgical requirements for canal enlargement.

[0055] It can be seen from the above textual description and the accompanying drawings that the present invention has the following advantages:

[0056] 1. During the descent of the Z-direction guide drive device, the L-shaped short hook and the L-shaped grinding head rotate precisely from a direction consistent with the long axis of the human body until the upper surface of the L-shaped short hook is flush with the inner surface of the vertebral plate. Then, the L-shaped positioning hook can enter the spinal canal perpendicular to the long axis of the human body to ensure that no damage is caused to the nerves. The L-shaped positioning hook can hook the inner surface of the vertebral plate and change with its height. With the assistance of the telescopic spring, it can achieve adaptive positioning.

[0057] 2. The L-shaped positioning hook and the L-shaped bone grinding mechanism are distributed in an upper and lower step shape. The L-shaped positioning hook is located at the lower step position. Under the positioning guidance of the L-shaped positioning hook, the L-shaped bone grinding mechanism can accurately and safely remove the inner surface of the vertebral plate, achieving an effect similar to the posterior displacement of the spinous process and ligament complex.

[0058] 3. At the end of the operation, under the action of the reset spring, the L-shaped positioning hook and the L-shaped bone grinding mechanism automatically rotate from a direction perpendicular to the long axis of the human body to be consistent with it, realizing "unhooking" and automatic reset.

[0059] 4. The overall structure is simple, automatic control can be achieved through the console, and it is easy to manufacture and maintain.

[0060] 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, and do not indicate or imply that the device or structure referred to must have a specific orientation or operate with a specific orientation structure. Therefore, it cannot be understood as a limitation on the present invention.

[0061] In the present invention, unless otherwise expressly specified or limited, terms such as "connected" and "disposed" should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrated; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium; they can be internal communication between two components or an interactive relationship between two components. For those of ordinary skill in the art, 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 said to be "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0062] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying 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 operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0063] 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 for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgery robot, comprising a robot body, characterized by: The robot body is provided with a three-axis adjustment device, and a stepped double L-shaped manipulator is installed on the three-axis adjustment device. The robot body is provided with a console, and the console is electrically connected to the three-axis adjustment device and the stepped double L-shaped manipulator. The three-axis adjustment device includes an X-direction guide drive device, a Y-direction guide drive device is provided on one side of the X-direction guide drive device, and a Z-direction guide drive device is also provided on the X-direction guide drive device. The stepped double L-shaped manipulator includes a fixed plate, an L-shaped bone grinding mechanism is passed through the fixed plate, and an L-shaped positioning hook is further provided on the fixed plate. The L-shaped positioning hook and the L-shaped bone grinding mechanism are distributed in different planes, and the working end of the L-shaped bone grinding mechanism is provided with an L-shaped grinding head, and the working end of the L-shaped positioning hook is provided with an L-shaped short hook. The L-shaped positioning hook is connected to the three-axis adjustment device through a connecting device, and a telescopic component is provided between the fixed plate and the connecting device. A limiting device is provided between the stepped double L-shaped manipulator and the three-axis adjustment device; The limit device includes an upper reset drive motor arranged below the Y-direction guide drive device, a steel wire is connected to the driving end of the upper reset drive motor, an installation area is provided below the Y-direction guide drive device, a reset spring and a safety switch are respectively provided on the installation area, the steel wire is connected to the safety switch through the reset spring, the steel wire surrounds the L-shaped positioning hook and has a tangential contact point with the L-shaped positioning hook, a limit block is passed through the steel wire, a limit step is provided below the Y-direction guide drive device, the steel wire passes through the limit step, and the limit step is located on the rear side of the limit block; The L-shaped grinding head and the L-shaped short hook are distributed in an upper and lower step shape, and the L-shaped short hook is located at the lower step position; the connecting device includes a connecting rod, one end of the connecting rod is provided with a connecting head, and the connecting head is connected to the Y-direction guide drive device through a screw, and the other end of the connecting rod is provided with a bearing, and the L-shaped positioning hook passes through the bearing.

2. The stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgery robot according to claim 1, characterized in that: Both ends of the steel wire are provided with detachable joints.

3. The stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgery robot according to claim 1, characterized in that: The L-shaped short hook is in a right-angled hook shape; or, an arc-shaped protrusion is provided on the upper surface of the L-shaped short hook.

4. The stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgery robot according to claim 1, characterized in that: The telescopic component is a telescopic spring.

5. The stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgery robot according to claim 1, characterized in that: The L-shaped bone grinding mechanism is an ultrasonic bone knife or an oscillating saw.

6. The stepped double L-shaped upper position reduction lamina inner surface grinding spinal surgery robot according to claim 1, characterized in that: The X-direction guide drive device, the Y-direction guide drive device, and the Z-direction guide drive device are all linear motors.

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