A side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation

Abstract

The present invention relates to a side-mounted deep-sounding spinal minimally invasive decompression surgical robot suitable for blind operation, comprising a drill-type manipulator, an electric knife integrated deep-sounding device provided on the outside of the drill-type manipulator, the electric knife integrated deep-sounding device connected to the robot body via a quick-connect device, the robot body is equipped with a control device, the drill-type manipulator comprises a drill, the upper end of the drill is provided with a driving mechanism, the lower end of the drill is provided with a grinding head, the electric knife integrated deep-sounding device comprises a rod-shaped component, a fixed platform is provided on the rod-shaped component, cross bars are provided on both sides of the mirror image of the rod-shaped component, and guide control devices are distributed on the cross bars, and the bottom of the guide control device is in contact with the fixed platform. As a result, the endoscope and imaging system are eliminated, the complexity of the robot mechanism and surgical operation is reduced, the surgical efficiency is improved, and there is no image information feedback transmission lag problem, which is more suitable for remote surgery. The safety of neural tissue can be ensured under blind vision.

Description

Technical Field

[0001] The present invention relates to a surgical robot, in particular to a side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation. Background Art

[0002] In recent years, various spinal surgeries have been widely used in the clinical treatment of various diseases, including pedicle screw implantation and internal fixation surgery, spinal decompression surgery, etc. Considering the convenience of surgical execution, spinal surgery robots are often used to assist. Because they involve important tissues such as nerves, these spinal surgery robots require a visual system, that is, they can only perform various precise operations under endoscopy. However, this also brings the following problems:

[0003] 1. The preoperative preparation time of the endoscopic vision system is long and the operation is relatively cumbersome, such as preoperative disinfection of the endoscope lens, connection and installation of the lens and camera during the operation, clearing of soft tissue in the channel, and repeated cleaning of blurred lenses during the operation.

[0004] 2. Increasing the size and structural complexity of the spinal surgical robot. The use of lenses and imaging systems will inevitably occupy a certain amount of space, which will make the spinal minimally invasive robot larger and increase the complexity of the robot's structure.

[0005] 3. Expensive lenses and imaging systems will inevitably increase the cost of the minimally invasive spinal robot and increase the financial burden on patients.

[0006] 4. During remote surgery, the use of endoscopes and imaging systems will inevitably lead to a bottleneck problem that is difficult to solve at present, such as delayed transmission of surgical field images affecting surgical operations.

[0007] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create a side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, making it more valuable for industrial use. Summary of the Invention

[0008] In order to solve the above technical problems, the purpose of the present invention is to provide a side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation.

[0009] The present invention provides a side-mounted deep-sounding spinal minimally invasive decompression surgical robot suitable for blind operation, comprising a drill-type manipulator, wherein: the drill-type manipulator is provided with an electric knife integrated depth probe outside, the electric knife integrated depth probe is connected to the robot body through a quick-connect device, the robot body is equipped with a control device, the drill-type manipulator includes a drill, the upper end of the drill is provided with a driving mechanism, the lower end of the drill is provided with a grinding head, the electric knife integrated depth probe includes a rod-shaped component, a fixed platform is provided on the rod-shaped component, cross bars are mirror-imaged on both sides of the rod-shaped component, a guide control device is distributed on the cross bar, the bottom of the guide control device is in contact with the fixed platform, the robot body includes an X-guide rail and a drive motor, the X-guide rail and the drive motor are connected to the Z-guide rail and the drive motor, the Z-guide rail and the drive motor are connected to the Y-guide rail and the drive motor, and the Y-axis rotation motor is provided on the Y-guide rail and the drive motor.

[0010] Furthermore, in the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, the lowest point of the integrated electrosurgical unit is a certain height lower than the lowest point of the grinding head of the burr drill.

[0011] Furthermore, in the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, the grinding head of the burr is spherical or in other suitable shapes.

[0012] Furthermore, the above-mentioned drilling-type manipulator can also be an ultrasonic bone knife, or an orthopedic power device such as an oscillating saw.

[0013] Furthermore, the above-mentioned side-mounted deep-sounding minimally invasive spinal decompression surgical robot suitable for blind operation, wherein the rod-shaped component is one of an electric knife rod, a deep-sounding rod, and a deep-sounding tube.

[0014] Furthermore, the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, wherein the guide control device includes a Z-guide rail height control switch device arranged on a fixed platform, and a guide column is arranged on the Z-guide rail height control switch device, and the guide column also passes through the through hole set by the cross bar, and the guide column is provided with an elastic reset component.

[0015] Furthermore, in the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, the elastic reset component is a spring or other suitable elastic member.

[0016] Furthermore, the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, wherein the quick-connect device includes a quick-release rod connected to the Y-axis rotation motor, a limiting groove is provided at the outer end of the quick-release rod, a quick-change connector extends from one end of the fixed platform, and the quick-change connector is inserted into the limiting groove, and locking holes with corresponding positions are provided on the limiting groove and the quick-change connector, and a handle is provided in the locking hole.

[0017] Furthermore, in the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, the driving mechanism and the Y-axis rotating motor are both servo motors.

[0018] Furthermore, in the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, the control device is an industrial computer or a PC.

[0019] Furthermore, in the above-mentioned side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation, the X-guide rail and drive motor, the Y-guide rail and drive motor, and the Z-guide rail and drive motor are all linear motors.

[0020] By means of the above solution, the present invention has at least the following advantages:

[0021] 1. The endoscope and imaging system are eliminated, which reduces the complexity of the robot mechanism and surgical operation and improves the efficiency of the operation.

[0022] 2. It can ensure the safety of neural tissue under blindness.

[0023] 3. Electrosurgical depth probes are located on both sides of the burr manipulator, ensuring that the rod assembly enters the spinal canal when the burr manipulator swings cranially and caudally, even under blind vision. They also precisely control the descent height of the Z-guide rail and drive motor, ensuring surgical safety.

[0024] 4. The integrated depth finder of the electric knife can burn off the soft tissue that may be carried and has a good anti-entanglement effect.

[0025] 5. Use the control device to select signals to avoid mutual interference of signals.

[0026] 6. The endoscope and imaging system are eliminated, there is no patient surgical field image information feedback, and the image transmission lag problem is also solved, making it more suitable for remote surgery.

[0027] 7. The overall structure is simple, easy to manufacture and use.

[0028] 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

[0029] Figure 1 This is a side half-section structural diagram of a side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation.

[0030] Figure 2 This is a schematic diagram of the use of the side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation.

[0031] The meanings of the reference numerals in the figures are as follows.

[0032] 1. Drilling manipulator 2. Electric knife integrated depth finder

[0033] 3 Robot body 4 Grinding drill

[0034] 5 Drive mechanism 6 Grinding head

[0035] 7 Rod assembly 8 Fixed platform

[0036] 9 Crossbar 10 X guide rail and drive motor

[0037] 11 Z guide rail and drive motor 12 Y guide rail and drive motor

[0038] 13 Y-axis rotation motor 14 Z-guide rail height control switch device

[0039] 15 Guide column 16 Elastic reset assembly

[0040] 17 Quick-release rod 18 Quick-change connector

[0041] 19 Handle 20 Steering control device

[0042] 21 lamina surface 22 long groove DETAILED DESCRIPTION

[0043] 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.

[0044] like Figures 1 to 2A side-mounted deep-exploring spinal minimally invasive decompression surgical robot suitable for blind operation includes a drill-mill 4-type manipulator 1. The difference lies in that: an electric knife integrated depth finder 2 is provided outside the drill-mill 4-type manipulator 1. The electric knife integrated depth finder 2 is connected to the robot body 3 through a quick-connect device. At the same time, considering the convenience of control operation, the robot body 3 used is equipped with a guide control device 20. During implementation, the drill-mill 4-type manipulator 1 includes a drill-mill 4, a driving mechanism 5 is provided at the upper end of the drill-mill 4, and a grinding head 6 is provided at the lower end of the drill-mill 4. In addition, considering the safety of surgical operation, the electric knife integrated depth finder 2 used includes a rod-shaped component 7, and a fixed platform 8 is provided on the rod-shaped component 7. Specifically, cross bars 9 are provided on both sides of the rod-shaped component 7 in a mirrored manner, and guide control devices 20 are distributed on the cross bars 9. The bottom of the guide control device 20 is in contact with the fixed platform 8. Furthermore, in order to meet the needs of multi-axis spatial operations, the robot body 3 used includes an X-guide rail and drive motor 10, the X-guide rail and drive motor are connected to the Z-guide rail and drive motor 11, the Z-guide rail and drive motor 11 are connected to the Y-guide rail and drive motor 12, and the Y-axis rotation motor 13 is provided on the Y-guide rail and drive motor 12.

[0045] In conjunction with a preferred embodiment of the present invention, in order to have a suitable operating gap, the lowest point of the integrated electrosurgical probe 2 is lower than the lowest point of the grinding head 6 of the burr drill 4 by a certain height. At the same time, the grinding head 6 of the burr drill 4 is spherical, which is convenient for grinding out the corresponding long groove 22. In addition, for different affected area operation needs, the rod-shaped component 7 used is one of an electrosurgical rod, a depth rod, and a depth tube. Of course, it can also be replaced with other types of rod-shaped components 7 according to actual needs, which will not be described in detail here. The grinding head 6 of the above-mentioned burr drill can be spherical or in other suitable shapes, and the burr drill 4-type manipulator can also be an ultrasonic bone knife or an orthopedic power device such as an oscillating saw, which will not be described in detail here.

[0046] Furthermore, to achieve stable guidance and improve operational precision during operation, a guide control device 20 is employed, including a Z-direction guide rail height control switch device 14 mounted on the fixed platform 8. Furthermore, a guide post 15 is mounted on the Z-direction guide rail height control switch device 14, which passes through a through hole provided in the crossbar 9. Furthermore, to provide adequate cushioning, a spring-loaded elastic return assembly 16 is mounted on the guide post 15.

[0047] In view of actual implementation, considering the convenience of subsequent disassembly and maintenance, it can achieve convenient separation and disinfection, and has a better degree of connection during the connection period. The quick-connect device includes a quick-connect rod 17 connected to the Y-axis rotation motor 13. The outer end of the quick-connect rod 17 is provided with a limit groove. One end of the fixed platform 8 extends with a quick-change connector 18, which is inserted into the limit groove. At the same time, the limit groove and the quick-change connector 18 are both provided with corresponding locking holes, and the locking hole is provided with a handle 19. In this way, a planned locking can be achieved. When separation is required, pulling open the handle 19 can achieve quick separation.

[0048] Furthermore, the drive mechanism 5 and Y-axis rotary motor 13 are both servo motors. Furthermore, to enable programmable control of the robot body 3, the guide control device 20 comprises an industrial computer or a personal computer. Furthermore, to ensure stable control and adjustment along all three axes, the X-guide rail and drive motor 10, the Y-guide rail and drive motor 12, and the Z-guide rail and drive motor 11 employed in the present invention are all linear motors.

[0049] The working principle of the present invention is as follows:

[0050] When spinal decompression surgery begins, the Z-direction guide rail and drive motor 11 drive the burr manipulator 4 and the electrosurgical probe 2 to descend. They then enter the body through a tiny skin incision and reach the lamina surface 21 adjacent to the spinous process. At this point, the lowest point of the electrosurgical probe 2 is lifted by the lamina surface 21. The Z-direction guide rail height control switch 14 is disconnected.

[0051] Next, the Z-axis guide rail and drive motor 11 descend to a certain height, and the Y-axis rotary motor 13 drives the drill-mill manipulator 4 to swing cranially and caudally in a predetermined arc. At this point, the grinding head 6 of the drill-mill manipulator 4 grinds a long groove 22 along the X-axis in the vertebral lamina on both sides of the spinous process. When the grinding head 6 of the drill-mill manipulator 4 has completely ground through the vertebral lamina, the rod assembly 7, under the action of the elastic reset assembly 16, enters the spinal canal to a certain depth. Simultaneously, the Z-axis guide rail height control switch 14 is turned on.

[0052] Subsequently, the Z-direction guide rail and the drive motor 11 stop working to prevent the spherical grinding head 6 of the grinding and drilling manipulator 4 from continuing to descend. In this way, the safety of the nerve tissue is ensured under blind vision. Afterwards, the rod-shaped component 7 is turned on. As a result, the signal sent by the Z-direction guide rail height control switch device 14 is turned on. During the implementation, the guide control device 20 can be used to select and only accept the signal from the rod-shaped component 7 at the lowest position after the grinding and drilling manipulator 4 is tilted and the Z-direction guide rail height control switch device 14, so as to avoid the signals sent by the two at the same time interfering with each other, thereby ensuring the smooth progress and safety of the blind operation.

[0053] It can be seen from the above textual description and the accompanying drawings that the present invention has the following advantages:

[0054] 1. The endoscope and imaging system are eliminated, which reduces the complexity of the robot mechanism and surgical operation and improves the efficiency of the operation.

[0055] 2. It can ensure the safety of neural tissue under blindness.

[0056] 3. Electrosurgical depth probes are located on both sides of the burr manipulator, ensuring that the rod assembly enters the spinal canal when the burr manipulator swings cranially and caudally, even under blind vision. They also precisely control the descent height of the Z-guide rail and drive motor, ensuring surgical safety.

[0057] 4. The integrated electrosurgical depth finder can burn off the soft tissue that may be carried by the grinding and drilling manipulator, and has a good anti-entanglement effect.

[0058] 5. Use the control device to select signals to avoid mutual interference of signals.

[0059] 6. The endoscope and imaging system are eliminated, there is no patient surgical field image information feedback, and the image transmission lag problem is also solved, making it more suitable for remote surgery.

[0060] 7. The overall structure is simple, easy to manufacture and use.

[0061] 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.

[0062] 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 side-mounted, deep-exploring, minimally invasive spinal decompression surgical robot suitable for blind operation, including a drilling manipulator, characterized by: The drill-grinding manipulator is provided with an electric knife integrated depth finder, the electric knife integrated depth finder is connected to the robot body through a quick-connect device, the robot body is equipped with a control device, the drill-grinding manipulator includes a drill, the upper end of the drill is provided with a driving mechanism, the lower end of the drill is provided with a grinding head, the electric knife integrated depth finder includes a rod-shaped component, a fixed platform is provided on the rod-shaped component, cross bars are mirrored on both sides of the rod-shaped component, a guide control device is distributed on the cross bar, the bottom of the guide control device is in contact with the fixed platform, the robot body includes an X-guide rail and a drive motor, The X-guide rail and drive motor are connected to the Z-guide rail and drive motor, the Z-guide rail and drive motor are connected to the Y-guide rail and drive motor, and the Y-axis rotation motor is provided on the Y-guide rail and drive motor; the lowest point of the electric knife integrated depth probe is lower than the lowest point of the grinding head of the drill; the rod-shaped component is one of an electric knife rod, a depth probe rod, and a depth probe tube; the guide control device includes a Z-guide rail height control switch device arranged on a fixed platform, and a guide column is provided on the Z-guide rail height control switch device, and the guide column simultaneously passes through the through hole provided on the cross bar, and an elastic reset component is provided on the guide column.

2. The side-mounted, deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation according to claim 1, characterized in that: The grinding head of the drill is spherical.

3. The side-mounted, deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation according to claim 1, characterized in that: The elastic reset component is a spring.

4. The side-mounted, deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation according to claim 1, characterized in that: The quick-connect device includes a quick-release rod connected to the Y-axis rotation motor, a limiting groove is provided at the outer end of the quick-release rod, a quick-change joint is extended at one end of the fixed platform, and the quick-change joint is inserted into the limiting groove. The limiting groove and the quick-change joint are both provided with locking holes with corresponding positions, and a handle is provided in the locking hole.

5. The side-mounted deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation according to claim 1, characterized in that: The driving mechanism and the Y-axis rotating motor are both servo motors.

6. The side-mounted, deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation according to claim 1, characterized in that: The control device is an industrial computer or a PC.

7. The side-mounted, deep-exploring minimally invasive spinal decompression surgical robot suitable for blind operation according to claim 1, characterized in that: The X-guide rail and drive motor, the Y-guide rail and drive motor, and the Z-guide rail and drive motor are all linear motors.

Images