A minimally invasive spinal surgery robot for step-by-step grinding of the inner surface of the vertebral plate

Abstract

The present invention relates to a minimally invasive spinal surgery robot for step-type vertebral plate inner surface grinding, 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, the control console being electrically connected to the three-axis adjustment device and the stepped double L-shaped manipulator, the three-axis adjustment device comprising 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 in 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, and can then 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 surgical robot, in particular to a minimally invasive spinal surgical robot for grinding the inner surface of stepped vertebral plates. Background Art

[0002] In recent years, disc-sparing laminoplasty procedures, such as minimally invasive endoscopic double-door surgery, 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 carried out research and innovation in order to create a stepped lamina inner surface grinding minimally invasive spinal surgical robot that 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 minimally invasive spinal surgery robot for grinding the inner surface of the stepped vertebral plate.

[0009] The present invention provides a stepped vertebral plate inner surface grinding minimally invasive spinal surgical robot, comprising a robot body, wherein: the robot body is provided with a three-axis spatial positioning device, the three-axis spatial positioning device is installed with a stepped double L-shaped manipulator, the robot body is provided with a control device, the control device is electrically connected to the three-axis spatial positioning device and the stepped double L-shaped manipulator, the three-axis spatial positioning 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 the The fixing plate is also provided with an L-shaped positioning hook, and the L-shaped positioning hook and the L-shaped bone grinding mechanism are distributed in different planes. 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 space positioning device through a connecting device, and a telescopic component is provided between the fixing plate and the connecting device. A limiting device is provided between the stepped double L-shaped manipulator and the three-axis space positioning device; the connecting device includes a connecting rod, and a connecting head is provided at one end of the connecting rod. The connecting head is connected to the Y-direction guide drive device through a screw, and a hollow shaft motor is provided at the other end of the connecting rod, and the L-shaped positioning hook is connected to the hollow shaft motor.

[0010] Furthermore, in the above-mentioned stepped lamina inner surface grinding minimally invasive spinal surgical robot, the limiting device includes a safety switch arranged on the Y-direction guide drive device, and the safety switch is provided with a tension spring, which is connected to the L-shaped positioning hook.

[0011] Furthermore, in the above-mentioned stepped lamina inner surface grinding minimally invasive 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.

[0012] Furthermore, in the above-mentioned stepped lamina inner surface grinding minimally invasive 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.

[0013] Furthermore, in the above-mentioned stepped lamina inner surface grinding minimally invasive spinal surgical robot, the telescopic component is a telescopic spring or other mechanism with a telescopic effect.

[0014] Furthermore, in the above-mentioned stepped lamina inner surface grinding minimally invasive spinal surgical robot, the L-shaped bone grinding mechanism is an ultrasonic bone knife or an oscillating saw.

[0015] Furthermore, in the above-mentioned stepped lamina inner surface grinding minimally invasive 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.

[0016] Furthermore, in the above-mentioned minimally invasive spinal surgery robot for step-type vertebral plate inner surface grinding, the control device is a single-chip microcomputer or an industrial computer.

[0017] By means of the above solution, the present invention has at least the following advantages:

[0018] 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 lamina. Then, they can be perpendicular to the long axis of the human body and enter the spinal canal to ensure that no damage is caused to the nerves. The L-shaped positioning hook can hook the inner surface of the vertebral lamina and adjust its height accordingly. With the assistance of the telescopic spring, it can achieve adaptive positioning.

[0019] 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 overall posterior displacement of the spinous process and ligament complex.

[0020] 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.

[0021] 4. The overall structure is simple, automatic control can be achieved through control equipment, and it is easy to manufacture and maintain.

[0022] 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

[0023] Figure 1 This is a schematic diagram of the structure of the robot for minimally invasive spine surgery for step-type vertebral plate inner surface grinding.

[0024] Figure 2 This is a schematic diagram of the use of a right-angled L-shaped short hook.

[0025] Figure 3 This is a schematic diagram of the use of an L-shaped short hook with an arc-shaped protrusion.

[0026] The meanings of the reference numerals in the figures are as follows.

[0027] 1 Three-axis spatial positioning equipment 2 Stepped double L-shaped manipulator

[0028] 3 Control device 4 X-direction guide drive device

[0029] 5 Y-direction guide drive device 6 Z-direction guide drive device

[0030] 7 Fixation plate 8 L-shaped bone grinding mechanism

[0031] 9 L-shaped positioning hook 10 L-shaped grinding head

[0032] 11 L-shaped short hook 12 telescopic component

[0033] 13 Connecting rod 14 Connecting head

[0034] 15 Screw 16 Hollow shaft motor

[0035] 17 Safety switch 18 Extension spring

[0036] 19 Spinous process 20 Incomplete decompression groove DETAILED DESCRIPTION

[0037] 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.

[0038] like Figures 1 to 3 A minimally invasive spinal surgical robot for step-type vertebral plate inner surface grinding includes a robot body. Its uniqueness lies in: a three-axis spatial positioning device 1 is provided on the robot body, and a stepped double L-shaped manipulator 2 is mounted on the three-axis spatial positioning device 1. At the same time, to facilitate coordinated control, the robot body is provided with a control device 3, which is electrically connected to the three-axis spatial positioning device 1 and the stepped double L-shaped manipulator 2. Considering the ease of implementation, a single-chip microcomputer or industrial computer, such as a programmable device, can be selected to constitute the control device 3, facilitating automated operation and convenient on-site intervention control. In order 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 spatial positioning device 1 used includes an X-direction guide drive device 4, a Y-direction guide drive device 5 is provided on one side of the X-direction guide drive device 4, and a Z-direction guide drive device 6 is also provided on the X-direction guide drive device 4.

[0039] 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 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 limitations during use, the L-shaped positioning hook 9 is connected to the three-axis spatial positioning 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 spatial positioning device 1. Of course, during implementation, other resetting and deformable components may also be used to form the telescopic assembly 12 .

[0040] Taking into account the convenience of use and maintenance, the connection device used includes a connecting rod 13, one end of which is provided with a connecting head 14, which is connected to the Y-direction guide drive device 5 via a screw 15, and the other end of the connecting rod 13 is provided with a hollow shaft motor 16, and the L-shaped positioning hook 9 is connected to the hollow shaft motor 16. In this way, when disinfection or maintenance is required, the screw 15 can be loosened to disengage the connecting head 14 from the Y-direction guide drive device 5, thereby facilitating the separation of the stepped double L-shaped manipulator 2 from the robot body.

[0041] In combination with a preferred embodiment of the present invention, in order to realize the spatial position conversion of the L-shaped positioning hook 9 through the rotation of the hollow shaft motor 16 during use, the limiting device includes a safety switch 17 arranged on the Y-direction guide drive device 5, and the safety switch 17 is provided with a tension spring 18, which is connected to the L-shaped positioning hook 9.

[0042] Furthermore, to conform to the structure of the spinous process 19 and facilitate subsequent effective grinding of the bone on the side wall of the spinous process 19, 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.

[0043] 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 adopted according to surgical needs.

[0044] Furthermore, to achieve precise and reliable three-axis spatial manipulation, the X-axis guide drive 4, Y-axis guide drive 5, and Z-axis guide drive 6 are all linear motors. During implementation, commercially available products can be used for assembly, reducing implementation costs. Furthermore, to facilitate control, the control device 3 is a single-chip microcomputer or industrial computer, or other integrated control devices can be used to achieve autonomous operation of the robot.

[0045] The working principle of the present invention is as follows:

[0046] First, a non-complete decompression groove 20 is opened on both sides of the spinous process 19. The length of the groove is not the same as the entire vertebral plate as when the spinous process 19 moves backward as a whole, but is slightly longer than the lesion range, that is, the protruding intervertebral disc.

[0047] During operation, a command is issued through the control device 3 to start the Z-guide rail 6 and the drive motor, causing the stepped double L-shaped manipulator 2 to descend, keeping the side of the L-shaped short hook 11 in close contact with the side wall of the spinous process 19 on the side where the incomplete decompression groove 20 is located. At the same time, as the hollow shaft motor 16 rotates, the tension spring 18 applies force to the safety switch 17. At this time, due to the obstruction of the bone on the side of the incomplete decompression groove 20 and the spinous process 19, the hollow shaft of the hollow shaft motor 16 is in a stalled state, and the tension spring 18 cannot disconnect the safety switch 17. When the upper surface of the L-shaped short hook 11 of the L-shaped positioning hook 9 is flush with the lowest point of the inner surface of the vertebral canal, the L-shaped short hook 11 of the L-shaped positioning hook 9 loses the obstruction of the bone on the side of the incomplete decompression groove 20 and the spinous process 19. The short L-shaped hook 11 of the L-shaped positioning hook 9 and the L-shaped grinding head 10 of the L-shaped bone grinding mechanism 8 change from an orientation aligned with the long axis of the human body (the X-axis) to a direction perpendicular thereto and hook onto the inner surface of the vertebral lamina. The short L-shaped hook 11 of the L-shaped positioning hook 9 rotates precisely into the partial decompression groove 20. As a result, the tension spring 18 disconnects the safety switch 17, stopping the Z-direction guide rail 6 and the drive motor from operating. The double L-shaped manipulator 2 no longer descends, thus ensuring the safety of the neural tissue.

[0048] Next, the control device 3 issues a command to activate the Z-direction guide rail 6 and drive motor, causing the Y-direction guide drive 5 to rise to a certain height. Simultaneously, the telescopic assembly 12 is compressed, and with the assistance of the telescopic assembly 12, the L-shaped positioning hook 9 adaptively positions itself as the height of the inner surface of the vertebral lamina changes, allowing the L-shaped grinding head 10 to remove bone from the inner surface of the vertebral lamina and expand the spinal canal. Once the bone on the inner surface of the vertebra is completely ground, the control device 3 issues a command to deactivate the hollow shaft motor 16. This deactivates the hollow shaft's rotational retention force, allowing the tension spring 18 to automatically reposition the L-shaped short hook 11 and the L-shaped grinding head 10 of the L-shaped bone grinding mechanism 8.

[0049] During the implementation, the L-shaped short hook 11 is aligned with the inner surface of the spinal canal of the same arc shape, which has a certain self-stabilizing effect and can automatically keep the L-shaped short hook 11 perpendicular to the long axis of the human body (X-axis direction) and prevent it from being unhooked.

[0050] It can be seen from the above textual description and the accompanying drawings that the present invention has the following advantages:

[0051] 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 component, it can achieve adaptive positioning.

[0052] 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 overall posterior displacement of the spinous process and ligament complex.

[0053] 3. At the end of the operation, under the action of the tension 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.

[0054] 4. The overall structure is simple, automatic control can be achieved through control equipment, and it is easy to manufacture and maintain.

[0055] 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.

[0056] The terms "primary" and "secondary" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features designated as "primary" or "secondary" may explicitly or implicitly include one or more of such features. In the description of this invention, "several" means two or more, unless otherwise specifically defined.

[0057] Similarly, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0058] 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.

[0059] 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.

[0060] 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 minimally invasive spinal surgery robot for step-type vertebral plate inner surface grinding, comprising a robot body, characterized in that: The robot body is provided with a three-axis spatial positioning device, a stepped double L-shaped manipulator is installed on the three-axis spatial positioning device, the robot body is provided with a control device, the control device is electrically connected to the three-axis spatial positioning device and the stepped double L-shaped manipulator, the three-axis spatial positioning 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, 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, the working end of the L-shaped bone grinding mechanism is provided with an L-shaped grinding head, the L-shaped The working end of the positioning hook is provided with an L-shaped short hook, and the L-shaped positioning hook is connected to the three-axis space positioning 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 space positioning device; 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 hollow shaft motor, and the L-shaped positioning hook is connected to the hollow shaft motor; the limiting device includes a safety switch arranged on the Y-direction guide drive device, and the safety switch is provided with a tension spring, and the tension spring is connected to the L-shaped positioning hook; 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.

2. The robot for step-type lamina inner surface grinding of minimally invasive spinal surgery 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.

3. The robot for step-type vertebral plate inner surface grinding of minimally invasive spinal surgery according to claim 1, characterized in that: The telescopic component is a telescopic spring.

4. The robot for step-type lamina inner surface grinding of minimally invasive spinal surgery according to claim 1, characterized in that: The L-shaped bone grinding mechanism is an ultrasonic bone knife or an oscillating saw.

5. The robot for step-type vertebral plate inner surface grinding of minimally invasive spinal surgery 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.

6. The robot for step-type lamina inner surface grinding of minimally invasive spinal surgery according to claim 1, characterized in that: The control device is a single chip microcomputer or an industrial computer.

Images