Arcuate channel drilling system and robot for orthopedic surgery

Abstract

The application relates to the technical field of medical devices, and provides an arc-shaped channel drilling system and a robot for orthopedic surgery. The arc-shaped channel drilling system comprises a base used for being connected with the end of a mechanical arm; a position navigator connected with the base and used for determining the position in space; a pressing plate assembly arranged on one side of the base; an arc-shaped bone drilling rod in sliding connection with the pressing plate assembly; the arc-shaped bone drilling rod has a channel in the inside; a flexible shaft arranged in the channel; one end of the flexible shaft is connected with a power device; and a drill bit arranged at the other end of the flexible shaft and in rotary connection with the arc-shaped bone drilling rod. The base is connected with the end of the mechanical arm, the position navigator determines the position of the whole drilling system in space, the flexible shaft is arranged in the channel in the arc-shaped bone drilling rod, the power device provides power for the flexible shaft, the flexible shaft drives the drill bit to rotate, drilling is realized, drilling along the curvature of the arc-shaped bone drilling rod is realized, and the drilling of the arc-shaped channel in hard bone can be completed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an arc-shaped channel drilling system and robot for orthopedic surgery. Background Technology

[0002] A fracture is an injury caused by violent compression, which is commonly seen in traffic accidents or accidental collapses.

[0003] In the process of fracture fixation surgery, taking pelvic fractures as an example, the commonly used method is sacroiliac screw fixation. Current research has shown that there is an arc-shaped internal fixation channel in the pelvis, and the fixation effect is better than that of the traditional straight sacroiliac screw.

[0004] In existing technologies, soft robots are used to drill arc-shaped channels within bones. However, it is impossible to guarantee that the drilled arc-shaped channel will be consistent with the computer-planned one. Moreover, because bone is hard, ordinary soft structures are prone to deformation due to excessive stress during the drilling process, making it impossible to complete the drilling.

[0005] Therefore, how to provide a suitable tool that can drill out the arc-shaped fixed channel planned by the computer is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] This invention provides an arc-shaped channel drilling system and robot for orthopedic surgery, which solves one of the technical problems existing in the prior art or related technologies.

[0007] This invention provides an arc-shaped channel drilling system for orthopedic surgery, mounted on the end of a robotic arm, comprising:

[0008] A base for connecting to the end of the robotic arm;

[0009] A position navigator, connected to the base, is used to determine a position in space;

[0010] A pressure plate assembly is disposed on one side of the base;

[0011] An arc-shaped drill rod is slidably connected to the pressure plate assembly; and the arc-shaped drill rod has an internal channel.

[0012] A flexible shaft is disposed within the channel; and one end of the flexible shaft is connected to a power device.

[0013] A drill bit is disposed at the other end of the flexible shaft, and the drill bit is rotatably connected to the arc-shaped drill rod.

[0014] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery includes a pressure plate assembly comprising:

[0015] The lower pressure plate is connected to one side of the base;

[0016] An upper pressure plate is connected to the lower pressure plate, and there is a space between the upper pressure plate and the lower pressure plate to accommodate the arc-shaped drill rod.

[0017] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery is provided, wherein the pressure plate assembly further includes a roller structure, the roller structure being rotatably disposed on the lower pressure plate or the upper pressure plate; and the arc-shaped drill rod is in contact with the roller structure to keep the arc-shaped drill rod maintaining a constant curvature.

[0018] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery includes a lower pressure plate comprising:

[0019] The mounting part is connected to the base;

[0020] The main body is integrally disposed on the top of the mounting part;

[0021] A support portion is disposed on the top of the main body portion, the support portion being used to contact the upper pressure plate, so that a space for accommodating the arc-shaped drill rod is formed between the main body portion and the upper pressure plate.

[0022] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery includes a roller structure comprising: a first fixed roller, a second fixed roller, and a movable roller. The first fixed roller and the second fixed roller are symmetrically rotatably disposed at the corner of the main body. The movable roller is embedded in the main body and is capable of moving along the perpendicular bisector of the line connecting the first fixed roller and the second fixed roller, so that the arc-shaped bone drill rod maintains different curvatures.

[0023] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery includes a roller structure further comprising:

[0024] The fixing rod is fixedly connected to the mounting part;

[0025] The movable rod has one end connected to the movable wheel and the other end sleeved on the fixed rod. The mounting part and the main body part are provided with grooves along the axial direction of the fixed rod. The movable rod is capable of moving along the axial direction of the fixed rod.

[0026] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery is provided, wherein the upper pressure plate has an observation hole at the position corresponding to the groove.

[0027] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery is provided, wherein the contact surface between the arc-shaped drill rod and the upper pressure plate, the contact surface between the arc-shaped drill rod and the lower pressure plate, and the contact surface between the arc-shaped drill rod and the roller are set as planes.

[0028] According to the present invention, an arc-shaped channel drilling system for orthopedic surgery is provided, wherein the drill bit is configured as a pointed drill.

[0029] The present invention also provides a robot, comprising: an arc-shaped channel drilling system for orthopedic surgery as described above.

[0030] The arc-shaped channel drilling system for orthopedic surgery provided by this invention is connected to the end of a robotic arm via a base. The position of the entire drilling system in space is determined by a position navigator. The arc-shaped drill rod is slidably connected to the pressure plate assembly. A flexible shaft is set in the channel inside the arc-shaped drill rod. A power unit provides power to the flexible shaft, which drives the drill bit to rotate, thereby realizing drilling. This allows drilling along the curvature of the arc-shaped drill rod, enabling the drilling of arc-shaped channels in hard bone. Furthermore, it can also perform drilling work on fixed channels with different curvatures within arc-shaped channels.

[0031] The present invention also provides a robot that, due to including the arcuate channel drilling system for orthopedic surgery as described above, possesses the various advantages described above. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the arc-shaped channel drilling system provided by the present invention;

[0034] Figure 2 This is a schematic diagram of the arc-shaped channel drilling system with the upper pressure plate removed, provided by the present invention.

[0035] Figure 3 This is a schematic diagram of the arc-shaped channel drilling system with a downward viewing angle provided by the present invention;

[0036] Figure 4 This is a schematic diagram of the connection structure between the fixed rod and the movable rod provided by the present invention;

[0037] Figure label:

[0038] 1. Base; 2. Position navigator; 3. Pressure plate assembly; 4. Arc-shaped drill rod; 5. Flexible shaft; 6. Drill bit; 7. Power unit;

[0039] 31. Lower pressure plate; 32. Upper pressure plate; 33. Roller structure;

[0040] 311. Mounting part; 312. Body part; 313. Support part; 314. Groove;

[0041] 331. First fixed wheel; 332. Second fixed wheel; 333. Movable wheel; 334. Fixed rod; 335. Movable rod;

[0042] 321. Observation hole. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] The following is combined Figures 1 to 4 The present invention describes an arc-shaped channel drilling system for orthopedic surgery.

[0046] like Figure 1 and Figure 2As shown, this embodiment of the invention provides an arc-shaped channel drilling system for orthopedic surgery, installed at the end of a robotic arm. It includes a base 1, a position navigator 2, a pressure plate assembly 3, an arc-shaped drill rod 4, a flexible shaft 5, and a drill bit 6. The base 1 is used to connect to the end of the robotic arm and can be bolted. The shape of the base 1 can be customized as needed, and can be circular or square. The position navigator 2 is connected to the base 1 and is used to determine the position of the entire drilling system in space. The pressure plate assembly 3 is disposed on one side of the base 1. The interior of the pressure plate assembly 3 has a space to accommodate the arc-shaped drill rod 4, and the pressure plate assembly 3 can constrain and limit the shape of the arc-shaped drill rod 4. The arc-shaped drill rod 4 is slidably connected to the pressure plate assembly 3; and the interior of the arc-shaped drill rod 4 has a channel; the flexible shaft 5 is disposed within the channel; one end of the flexible shaft 5 is connected to a power device, and the other end of the flexible shaft is connected to the drill bit 6, which is rotatably connected to the arc-shaped drill rod 4.

[0047] The arc-shaped channel drilling system for orthopedic surgery provided by this invention provides power to rotate the flexible shaft 5 via a power unit 7. The rotation of the flexible shaft 5 drives the drill bit 6 to rotate, and the drill bit 6 is connected to the arc-shaped bone drill rod 4, thereby drilling an arc-shaped channel that matches the shape of the arc-shaped bone drill rod 4. The pressure plate assembly 3 is used to prevent the arc-shaped bone drill rod 4 from deflecting.

[0048] In one embodiment of the present invention, the pressure plate assembly 3 includes a lower pressure plate 31 and an upper pressure plate 32. The lower pressure plate 31 is connected to one side of the base 1. The lower pressure plate 31 and the base 1 can be connected by bolts or other feasible methods. The upper pressure plate 32 is connected to the lower pressure plate 31, and there is a space between the upper pressure plate 32 and the lower pressure plate 31 to accommodate the arc-shaped drill rod 4, so that the arc-shaped drill rod 4 can move along a specified direction.

[0049] In one embodiment of the present invention, the pressure plate assembly 3 further includes a roller structure 33, which is rotatably disposed on the lower pressure plate 31 or the upper pressure plate 32; and the arc-shaped drill rod 4 contacts the roller structure 33 so that the arc-shaped drill rod 4 maintains a constant curvature. Moreover, the arrangement of the roller structure 33 can reduce the friction between the arc-shaped drill rod 4 and the roller structure 33.

[0050] In one embodiment of the present invention, the lower pressure plate 31 includes a mounting portion 311, a body portion 312, and a support portion 313. The mounting portion 311 is connected to the base 1. The body portion 312 is integrally disposed on the top of the mounting portion 311. The support portion 313 is disposed on the top of the body portion 312 and is used to contact the upper pressure plate 32 so that a space for accommodating the arc-shaped drill rod 4 is formed between the body portion 312 and the upper pressure plate 32.

[0051] In one embodiment of the present invention, the roller structure 33 includes: a first fixed wheel 331, a second fixed wheel 332, and a movable wheel 333. The first fixed wheel 331 and the second fixed wheel 332 are symmetrically rotatably disposed at the corner of the body portion 312. The movable wheel 333 is embedded in the body portion 312 and can move along the perpendicular bisector of the line connecting the first fixed wheel 331 and the second fixed wheel 332, so that the arc-shaped drill rod 4 maintains different curvatures. The first fixed wheel 331, the second fixed wheel 332, and the movable wheel 333 are used to define the position of the arc-shaped drill rod 4, while the arc-shaped drill rod 4 can slide along the roller structure 33.

[0052] like Figure 3 and Figure 4 As shown, in one embodiment of the present invention, the roller structure 33 further includes a fixed rod 334 and a movable rod 335. The fixed rod 334 is fixedly connected to the mounting part 311. One end of the movable rod 335 is connected to the movable wheel 333, and the other end has a collar that can be sleeved on the fixed rod 334. The movable rod 335 can move along the axial direction of the fixed rod 334. The mounting part 311 and the body part 312 have a groove 314 along the axial direction of the fixed rod 334. The cross-sectional shape of the groove 314 is adapted to the shape of the movable rod 335 so that the movable rod 335 can move along the axial direction of the fixed rod 334.

[0053] It should be noted that, in order to ensure the stability of the structure, the groove of the mounting part 311 does not extend to the end.

[0054] In one embodiment of the present invention, the upper pressure plate 32 is provided with an observation hole 321 at the position corresponding to the groove 314, and the shape of the observation hole 321 can be an elongated hole.

[0055] In one embodiment of the present invention, the contact surfaces of the arc-shaped drill rod 4 with the upper pressure plate 32, the contact surfaces of the arc-shaped drill rod 4 with the lower pressure plate 31, and the contact surfaces of the arc-shaped drill rod 4 with the roller structure 33 are set as planes to prevent excessive stress from causing deflection during drilling.

[0056] In one embodiment of the present invention, the drill bit 6 is configured as a pointed drill bit to ensure that it is not easy to slip during drilling and to achieve a more stable drilling effect.

[0057] The present invention provides an arc-shaped channel drilling system for orthopedic surgery. A base 1 is used to fix the entire drilling system to the end of a robotic arm. A position navigator 2 is installed on the base 1 to determine the position of the entire drilling system in space. A lower pressure plate 31 is fixed to the base 1 and is equipped with a first fixed wheel 331, a second fixed wheel 332, and a movable wheel 333. All three wheels are rotatably connected to the lower pressure plate. The first fixed wheel 331, the second fixed wheel 332, and the movable wheel 333 define the position of the arc-shaped drill rod 4, which can slide along the first fixed wheel 331, the second fixed wheel 332, and the movable wheel 333. The movable wheel 333 can move along the axial direction of the fixed rod 334 with the movable rod 335, adapting to arc-shaped drill rods 4 with different curvatures by changing the position of the movable wheel 333. The movable rod 335 can be repositioned by turning the bolts to accommodate the curved drill rod 4 with different curvatures.

[0058] The movable rod 335 is perpendicular to the fixed rod 334. The movable rod 335 can be made of bolt or thread. The end of the movable rod 335 near the fixed rod 334 has a collar, which is threadedly connected to the movable rod 335.

[0059] The upper pressure plate 32 is fixed to the base 1 and cooperates with the lower pressure plate 31 to limit the position of the arc-shaped drill rod 4 and prevent the arc-shaped drill rod 4 from deflecting during the drilling process.

[0060] The dimensions of the arc-shaped drill rod 4 are consistent with the dimensions of the arc-shaped channel to be drilled. Depending on the actual drilling requirements, the arc-shaped drill rod 4 can be designed with different curvatures. At the same time, the surface of the arc-shaped drill rod 4 is designed as a plane parallel to the sides of the upper pressure plate 32, the lower pressure plate 31 and the roller structure 33, respectively. Its main function is to prevent excessive stress from causing deflection during the drilling process.

[0061] The drill bit 6 is preferably designed as a pointed drill bit, which is less prone to slipping during drilling. The end of the drill bit 6 is connected to a flexible shaft 5, which is connected to the power system to drive the drill bit 6 to rotate and achieve drilling.

[0062] This invention enables the drilling of arc-shaped channels within hard bone, and also features a positioning function. It can be mounted on the end effector of a robot, achieving automated drilling of arc-shaped channels with robot and computer assistance. This invention can be used in fracture surgery, not just for pelvic fractures, but also for other fracture fixation procedures requiring arc-shaped channels. Wherever an arc-shaped channel needs to be formed, this invention can achieve it.

[0063] The robot provided by the present invention is described below. The robot described below can be referred to in correspondence with the arc-shaped channel drilling system for orthopedic surgery described above.

[0064] Another embodiment of the present invention provides a robot including the arcuate channel drilling system for orthopedic surgery as described above.

[0065] The robot provided in another embodiment of the present invention includes an arc-shaped channel drilling system for orthopedic surgery as described above. Therefore, the robot is capable of drilling arc-shaped internal fixation channels with different equal curvatures and can perform bone drilling under robot-assisted navigation.

[0066] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "method," "specific method," or "some methods," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or method is included in at least one embodiment or method of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or method. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or methods. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or methods described in this specification, as well as the features of different embodiments or methods.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An arc-shaped channel drilling system for orthopedic surgery, mounted on the end of a robotic arm, characterized in that, include: Base (1), for connection to the end of the robotic arm; A position navigator (2) is connected to the base (1) and is used to determine its position in space; The pressure plate assembly (3) is disposed on one side of the base (1); The arc-shaped drill rod (4) is slidably connected to the pressure plate assembly (3); and the arc-shaped drill rod (4) has a channel inside; A flexible shaft (5) is disposed in the channel; and one end of the flexible shaft (5) is connected to the power device (7); A drill bit (6) is disposed at the other end of the flexible shaft (5), and the drill bit (6) is rotatably connected to the arc-shaped drill rod (4); The pressure plate assembly (3) includes a lower pressure plate (31), an upper pressure plate (32), and a roller structure (33). The lower pressure plate (31) includes: The mounting part (311) is connected to the base (1); The main body (312) is integrally disposed on the top of the mounting part (311); A support portion (313) is disposed on the top of the main body portion (312). The support portion (313) is used to contact the upper pressure plate (32) so that a space for accommodating the arc-shaped drill rod (4) is formed between the main body portion (312) and the upper pressure plate (32). The roller structure (33) is rotatably mounted on the lower pressure plate (31) or the upper pressure plate (32); and the arc-shaped drill rod (4) is in contact with the roller structure (33); The roller structure (33) includes: a first fixed wheel (331), a second fixed wheel (332) and a movable wheel (333). The first fixed wheel (331) and the second fixed wheel (332) are symmetrically rotatably disposed at the corner of the main body (312). The movable wheel (333) is embedded in the main body (312) and can move on the perpendicular bisector of the line connecting the first fixed wheel (331) and the second fixed wheel (332) so that the arc-shaped drill rod (4) maintains different curvatures.

2. The arc-shaped channel drilling system for orthopedic surgery according to claim 1, characterized in that, The roller structure (33) also includes: The fixing rod (334) is fixedly connected to the mounting part (311); The movable rod (335) is connected at one end to the movable wheel (333) and the other end is sleeved on the fixed rod (334). The mounting part (311) and the body part (312) are provided with grooves (314) along the axial direction of the fixed rod (334). The movable rod (335) can move along the axial direction of the fixed rod (334).

3. The arc-shaped channel drilling system for orthopedic surgery according to claim 2, characterized in that, The upper pressure plate (32) has an observation hole (321) at the position corresponding to the groove (314).

4. The arc-shaped channel drilling system for orthopedic surgery according to claim 1, characterized in that, The contact surfaces of the arc-shaped drill rod (4) with the upper pressure plate (32), the contact surfaces of the arc-shaped drill rod (4) with the lower pressure plate (31), and the contact surfaces of the arc-shaped drill rod (4) with the roller structure (33) are set as planes.

5. The arc-shaped channel drilling system for orthopedic surgery according to claim 1, characterized in that, The drill bit (6) is configured as a pointed drill.

6. A robot, characterized in that, Including the arc-shaped channel drilling system for orthopedic surgery as described in any one of claims 1-5.

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