A saw blade manipulator for preventing nerve damage and its use method

Abstract

A saw-blade manipulator for preventing nerve damage includes a posture adjustment mechanism, a robotic arm, and a saw-blade scalpel. The robotic arm includes a transverse arm and a vertical arm. One end of the transverse arm is slidably connected to the vertical arm, and the other end is connected to the saw blade scalpel. The vertical arm is provided with a spring and a barrel-shaped cover in sequence on its periphery, with a relay located between the cover and the transverse arm. The saw-blade scalpel is provided with an elastic soft gel on its periphery, and is provided with a primary, secondary, and tertiary convex balls from bottom to top, with air pressure sensors located at each convex ball. The specific method of use is as follows: the saw-blade scalpel is placed in the surgical area to be operated on, the cover is pressed down, the spring is compressed, the relay is activated, and operation begins. When slotting is completed, the air pressure in the elastic soft gel is transmitted to the convex balls, and the air pressure sensor transmits a signal to the PLC system. The first telescopic protrusion contracts, the spring has no resistance, the relay is disconnected, and the saw-blade scalpel is powered off and stops operating. This can effectively prevent sensor failure during the process of preventing nerve damage.

Description

Technical Field

[0001] The present invention belongs to the field of medical surgical instruments, and in particular relates to a saw blade type manipulator for preventing nerve damage and a method for using the same. Background Art

[0002] Lumbar disc herniation refers to degenerative changes in the nucleus pulposus, cartilage plate, annulus fibrosus and other parts of the patient's lumbar disc. After the annulus fibrosus ruptures due to external force, the nucleus pulposus herniates and causes spinal canal stenosis, resulting in compression of the patient's spinal cord and spinal nerves. The main clinical manifestations are symptoms such as low back and leg pain, and numbness of the lower limbs. The patient's ability to move is limited and he suffers great pain, which seriously reduces the patient's quality of social life.

[0003] Lumbar decompression and fusion surgery is widely used for lumbar degenerative diseases such as lumbar disc herniation and is a common surgical procedure for this condition. This procedure involves resection and removal of the disc nucleus pulposus and cartilage endplates within the patient's intervertebral foramen. Lumbar decompression and fusion surgery requires complex surgical instruments and is difficult due to the narrow intervertebral space. It also carries the risk of potentially damaging nerves, resulting in catastrophic consequences. Summary of the Invention

[0004] In order to overcome the above shortcomings, the present invention provides a nerve damage-proof saw blade manipulator and a method of using the same. The technical solution adopted by the present invention is:

[0005] A saw blade manipulator for preventing nerve damage comprises a posture adjustment mechanism, a manipulator arm, and a saw blade scalpel. The manipulator arm comprises a transverse arm and a vertical arm. One end of the transverse arm is slidably connected to the vertical arm, and the other end is connected to the saw blade scalpel. A spring and a barrel-shaped cover are sequentially provided on the periphery of the vertical arm. One end of the spring is fixed to the transverse arm below, and the other end is fixed to the top of the cover. A relay is provided between the cover and the transverse arm.

[0006] The outer periphery of the saw blade scalpel is provided with an elastic colloid with a conical head and filled with gas. The elastic colloid extends upward along the saw blade scalpel, and is provided with a first-level convex ball, a second-level convex ball, and a third-level convex ball from bottom to top, and an air pressure sensor is provided at each convex ball.

[0007] For further optimization, a positioning support is provided on the vertical arm and below the horizontal arm to prevent the horizontal arm from moving downward excessively due to lack of upward supporting force after the grooving is completed.

[0008] For further optimization, at least two telescopic protrusions are provided on the vertical arm for positioning the cover body.

[0009] Further optimization is carried out, where the first telescopic protrusion is arranged at the lower part of the top opening of the cover body when the vertical arm corresponds to the free state before the spring is compressed; the second telescopic protrusion is arranged inward of the top opening of the cover body when the vertical arm corresponds to the compressed state of the spring.

[0010] Further optimized, the posture adjustment mechanism measures the position of the robotic arm and the saw blade scalpel through sensors and transmits them to the system system. The control system controls the movement of the movable guide rails in the up and down, left and right, and front and back directions to complete the posture adjustment.

[0011] Further optimization is that the elastic soft colloid is in a sealed state as a whole, and the first-level convex ball, the second-level convex ball, and the third-level convex ball are all connected to the elastic soft colloid. The pressure exerted on the intervertebral disc next to the elastic soft colloid contacting the slot causes the air pressure change in the elastic soft colloid to be transmitted to the first-level convex ball, the second-level convex ball, and the third-level convex ball.

[0012] Further optimization is performed, where the expansion coefficient of the elastic soft rubber head is different from the expansion coefficient of the convex ball.

[0013] For further optimization, a telescopic adjustment ring is provided inside the conical head of the elastic soft rubber to adjust the distance between the elastic soft rubber head and the blade tip to adapt to the cutting of tissues of different thicknesses.

[0014] A method for using a saw blade manipulator to prevent nerve damage is as follows: a saw blade scalpel is placed on a human body in an area to be operated on, the human body applies an upward supporting force to the saw blade scalpel, a cover is manually pressed down, a spring is compressed, a relay between the cover and a transverse arm is activated, the saw blade scalpel is powered on and slots are simultaneously opened, when slotting is completed, an elastic soft rubber contacts an intervertebral disc next to the slot hole and is subjected to pressure, causing air pressure changes in the elastic soft rubber to be transmitted to the corresponding convex ball, an air pressure sensor receives a signal and transmits it to a PLC system, which then controls the first telescopic protrusion to contract, so that the spring has no resistance at both ends, the relay is disconnected under a large elastic force, and the saw blade scalpel is powered off and stops operating.

[0015] The beneficial effects of the present invention are:

[0016] 1. The adjustment of the telescopic adjustment ring changes the air pressure to control the PLC system's telescopic timing of the first telescopic protrusion;

[0017] 2. Based on the conical volume of the elastic soft colloid head after being compressed, the volume of each convex ball and its sensitivity to air pressure changes are allocated to match the size of soft tissues that may be encountered in conventional surgery, achieving more accurate identification and more precise surgery;

[0018] 3. The expansion coefficient of the elastic soft rubber head is different from that of the convex ball, so that a slight squeezing of the tissue or squeezing of micrometer or millimeter thickness can cause each component to expand or contract in real time.

[0019] The present invention can effectively prevent the malfunction of sensors used in the process of preventing nerve damage, and relies on springs to achieve shutdown control of the saw blade manipulator, which is easy to implement, low in cost, and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the free state structure when the spring is reset;

[0022] Figure 3 This is a schematic diagram of the structure of the saw blade scalpel when it is powered on;

[0023] Figure 4 This is a schematic diagram of the structure of a saw blade scalpel when the power is off;

[0024] Figure 5 This is a schematic diagram of the saw blade scalpel head structure.

[0025] In the accompanying drawings: 1. Saw blade scalpel, 2. Horizontal arm, 3. Vertical arm, 4. Spring, 5. Cover, 6. Elastic soft colloid, 7. Primary convex ball, 8. Secondary convex ball, 9. Third convex ball, 10. Positioning support, 11. Telescopic adjustment ring. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings of the present invention.

[0027] A saw blade manipulator for preventing nerve damage includes a posture adjustment mechanism, a manipulator arm, and a saw blade scalpel 1. The manipulator arm includes a horizontal arm 2 and a vertical arm 3. One end of the horizontal arm 2 is slidably connected to the vertical arm 3, and the other end is connected to the saw blade scalpel 1. A positioning support 10 is provided on the vertical arm 3 and below the horizontal arm 2 to prevent the horizontal arm 2 from excessively moving downward due to lack of upward support after grooving is completed. A spring 4 and a barrel-shaped cover 5 are sequentially provided on the outer periphery of the vertical arm 3. One end of the spring 4 is fixed to the horizontal arm 2 below, and the other end is fixed to the top of the cover 5. A relay is provided between the cover 5 and the horizontal arm 2.

[0028] The outer periphery of the saw blade scalpel 1 is provided with an elastic soft colloid 6 with a conical head and filled with gas. The elastic soft colloid 6 extends upward along the saw blade scalpel 1, and is provided with a first-level convex ball 7, a second-level convex ball 8, and a third-level convex ball 9 from bottom to top, and an air pressure sensor is provided at each corresponding convex ball.

[0029] The vertical arm 3 is also provided with at least two telescopic protrusions for positioning the cover 5. The first telescopic protrusion is provided below the top opening of the cover 5 when the spring 4 is in a free state before the vertical arm 3 is compressed; the second telescopic protrusion is provided inward of the top opening of the cover 5 when the spring 4 is in a compressed state.

[0030] The posture adjustment mechanism includes movable guide rails in the up and down, left and right, front and back directions, a locking seat, a sensor, and a control system, which are used to adjust the movement of the robotic arm and the saw blade scalpel 1 in the up and down, left and right, front and back directions. The positions of the robotic arm and the saw blade scalpel 1 are measured by the sensor and transmitted to the system. The control system controls the movement of the movable guide rails in the up and down, left and right, front and back directions to complete the posture adjustment.

[0031] The elastic soft colloid 6 is entirely sealed, with the primary, secondary, and tertiary convex balls 7, 8, and 9 all communicating with it. The expansion coefficient of the head of the elastic soft colloid 6 differs from that of the primary, secondary, and tertiary convex balls 7, 8, and 9. The pressure exerted on the intervertebral disc adjacent to the slot by the elastic soft colloid 6 causes the pressure within the elastic soft colloid 6 to change, transmitting the pressure to the primary, secondary, and tertiary convex balls 7, 8, and 9. A telescopic adjustment ring 11 is provided within the conical head of the elastic soft colloid 6 to adjust the distance between the head of the elastic soft colloid 6 and the tip of the saw blade 1 to accommodate cutting of tissues of varying thicknesses.

[0032] A method for using a saw blade manipulator to prevent nerve damage is as follows: a saw blade scalpel 1 is placed on the human body in the area to be operated on, the human body provides an upward supporting force to the saw blade scalpel 1, and the cover body 5 is manually pressed down. At this time, the spring 4 is in a compressed state, and the spring length is less than the height of the cover body 5. The relay is started, the saw blade scalpel 1 is powered on and slots are opened at the same time. When the slotting is completed, the elastic soft colloid 6 contacts the intervertebral disc next to the slot hole and is subjected to pressure, so that the air pressure change in the elastic soft colloid 6 is transmitted to the corresponding convex ball. The air pressure sensor receives the signal and transmits it to the PLC system, thereby controlling the first telescopic protrusion to contract, so that the spring 4 has no resistance at both ends. At this time, the spring is in a relaxed state, and the spring length is greater than the height of the cover body. Under the large elastic force, the relay is disconnected, the saw blade scalpel 1 is powered off and stops working, thereby preventing the saw blade scalpel from continuing to work and causing damage to the nerves.

[0033] The above shows and describes the main features, methods of use, basic principles, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention based on actual circumstances without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A saw blade manipulator for preventing nerve damage, characterized in that: The invention comprises a posture adjustment mechanism, a mechanical arm, and a saw blade scalpel (1). The mechanical arm comprises a horizontal arm (2) and a vertical arm (3). One end of the horizontal arm (2) is slidably connected to the vertical arm (3), and the other end is connected to the saw blade scalpel (1). A spring (4) and a barrel-shaped cover (5) are sequentially provided on the periphery of the vertical arm (3). One end of the spring (4) is fixed to the horizontal arm (2) below, and the other end is fixed to the top of the cover (5). A relay is provided between the cover (5) and the horizontal arm (2). At least two telescopic protrusions are also provided on the vertical arm (3) for positioning the cover (5). The first telescopic protrusion is provided at the lower part of the top opening of the cover (5) when the spring (4) is in a free state before the vertical arm (3) corresponds to the spring (4) being compressed; the second telescopic protrusion is provided at the inner side of the top opening of the cover (5) when the vertical arm (3) corresponds to the spring (4) being in a compressed state. The outer periphery of the saw blade scalpel (1) is provided with an elastic soft colloid (6) with a conical head and filled with gas. The elastic soft colloid (6) extends upward along the saw blade scalpel (1), and is provided with a first-level convex ball (7), a second-level convex ball (8), and a third-level convex ball (9) in sequence from bottom to top. Air pressure sensors are provided at the corresponding convex balls. The elastic soft colloid (6) is in a sealed state as a whole. The first-level convex ball (7), the second-level convex ball (8), and the third-level convex ball (9) are all connected to the elastic soft colloid (6). The pressure on the intervertebral disc next to the slot of the elastic soft colloid (6) causes the air pressure change in the elastic soft colloid (6) to be transmitted to the first-level convex ball (7), the second-level convex ball (8), and the third-level convex ball (9); The air pressure sensor is connected to the PLC system. The air pressure sensor receives a signal and transmits it to the PLC system. The PLC system controls the extension and retraction of the first telescopic protrusion according to the air pressure sensor signal, thereby controlling the opening and closing of the relay through the extension and retraction state of the spring (4), and further controlling the power on or off of the saw blade scalpel (1).

2. The nerve damage-preventing saw blade manipulator according to claim 1, characterized in that: A positioning support member (10) is provided on the vertical arm (3) and below the horizontal arm (2) to prevent the horizontal arm (2) from excessively moving downward due to lack of upward support force after the slotting is completed.

3. The nerve damage-preventing saw blade manipulator according to claim 1, characterized in that: The posture adjustment mechanism measures the positions of the mechanical arm and the saw blade scalpel (1) through sensors and transmits the positions to the system system. The control system controls the movement of the movable guide rails in the up-down, left-right, and front-back directions to complete the posture adjustment.

4. The nerve damage-preventing saw blade manipulator according to claim 1, characterized in that: The expansion coefficient of the head of the elastic soft colloid (6) is different from the expansion coefficients of the first-level convex ball (7), the second-level convex ball (8), and the third-level convex ball (9).

5. The nerve damage-preventing saw blade manipulator according to claim 1, characterized in that: A telescopic adjustment ring (11) is provided in the conical head of the elastic soft colloid (6) for adjusting the distance between the head of the elastic soft colloid (6) and the tip of the saw blade scalpel (1) to adapt to the cutting of tissues of different thicknesses.

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