An auxiliary device for osteotomy surgery

Abstract

This invention discloses an auxiliary device suitable for osteotomy surgery, comprising a base, a positioning and spreading mechanism, a movable spreading mechanism, a drive mechanism, and an angle measuring mechanism. The base is configured to be mounted on the execution end of a medical robotic arm; the positioning and spreading mechanism is mounted on the base; the first end of the movable spreading mechanism is rotatably mounted on the first end of the positioning and spreading mechanism, and the joint between the movable spreading mechanism and the positioning and spreading mechanism is provided with a limiting groove suitable for allowing the osteotomy saw blade to pass through and limiting the range of movement of the osteotomy saw blade; the drive mechanism is mounted on the base and configured to drive the movable spreading mechanism to rotate relative to the positioning and spreading mechanism; the angle measuring mechanism is configured to measure the angle between the movable spreading mechanism and the positioning and spreading mechanism when the positioning and spreading mechanism and the movable spreading mechanism are partially inserted into the bone suture cut by the osteotomy saw blade and are both in contact with the inner wall of the bone suture, thereby measuring the spreading angle of the bone suture, realizing integrated operation and improving the convenience of use.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an auxiliary device suitable for osteotomy surgery. Background Technology

[0002] In orthopedic osteotomy, a medical oscillating saw is usually used to perform the osteotomy, creating a bone suture at the osteotomy site.

[0003] During osteotomy, the blade of the medical oscillating saw contacts the surface to be cut. Slippage and vibration can occur during blade oscillation, resulting in low precision in cutting the bone suture. A limiting mechanism is needed to guide and limit the saw blade. After the bone suture is cut, an angle measuring mechanism is required to measure the opening angle of the suture. Throughout the osteotomy procedure, the limiting and angle measuring mechanisms at the actuator end of the medical robotic arm need to be disassembled and replaced, leading to a lengthy operation, complex procedures, and poor ease of use. Summary of the Invention

[0004] To address the existing technical problems, this invention provides an auxiliary device suitable for osteotomy surgery, which at least partially solves the above-mentioned technical problems, realizes the integrated operation of guiding the osteotomy saw blade and measuring the angle of the bone suture, and eliminates the need to replace the auxiliary device at the execution end of the medical robotic arm, thus improving the ease of use.

[0005] This invention provides an auxiliary device suitable for osteotomy surgery, comprising:

[0006] The base is configured to be mounted on the actuator end of the medical robotic arm;

[0007] The positioning and opening mechanism is installed on the base;

[0008] A movable opening mechanism, the first end of which is rotatably mounted on the first end of the positioning opening mechanism, and the joint between the movable opening mechanism and the positioning opening mechanism is provided with a limiting groove suitable for allowing the osteotomy saw blade to pass through and limiting the range of movement of the osteotomy saw blade.

[0009] A drive mechanism, mounted on a base, is configured to drive the movable spreading mechanism to rotate relative to the positioning spreading mechanism; and

[0010] An angle measuring mechanism is configured to measure the angle between the movable opening mechanism and the movable opening mechanism when the positioning opening mechanism and the movable opening mechanism are partially inserted into the bone suture cut by the osteotomy saw blade and both are in contact with the inner wall of the bone suture, so as to measure the opening angle of the bone suture.

[0011] According to embodiments of this disclosure, the positioning and spreading mechanism includes:

[0012] A first positioning support plate, the first end of which is mounted on the base;

[0013] A second positioning support plate, the first end of which is rotatably mounted to the second end of the first positioning support plate; and

[0014] A locking element is installed at the second end of the second positioning support plate. The locking element is configured to keep the first positioning support plate and the second positioning support plate in the same plane, or to allow the second positioning support plate to rotate relative to the first positioning support plate.

[0015] According to embodiments of this disclosure, the movable expansion mechanism includes:

[0016] A first movable support plate, the first end of which is rotatably mounted on the first end of the first positioning support plate;

[0017] A second movable support plate, the first end of which is rotatably mounted to the second end of the first movable support plate; and

[0018] A switching component is mounted on the first movable support plate, the switching component being configured to maintain the first movable support plate and the second movable support plate in the same plane, or to allow the second movable support plate to rotate relative to the first movable support plate.

[0019] According to embodiments of this disclosure, the switching component includes:

[0020] A rotating assembly is rotatably mounted on the first movable support plate. The rotating assembly is provided with a receiving groove. The rotating assembly has a locked state in which it rotates to be close to the second movable support plate to allow the side of the second movable support plate to extend into the receiving groove, so that the first movable support plate and the second movable support plate are kept on the same plane, and an unlocked state in which it rotates away from the second movable support plate to allow the second movable support plate to rotate relative to the first movable support plate.

[0021] According to an embodiment of this disclosure, the movable spreading mechanism has a folded edge that bends toward the positioning spreading mechanism, the folded edge extending along the depth direction of the suture.

[0022] The rotating assembly includes:

[0023] A mounting base is installed on the folded edge; and

[0024] A rotating plate is rotatably mounted on the mounting base, and the receiving groove is disposed on the rotating plate.

[0025] Preferably, the switching assembly further includes a locking button threaded to the rotating plate and configured to rotate into the receiving groove and abut against the second movable support plate to prevent the rotating plate from rotating relative to the second movable support plate.

[0026] According to embodiments of this disclosure, the drive mechanism includes:

[0027] The drive assembly is mounted on the base;

[0028] The drive block is configured to reciprocate in a direction perpendicular to the first positioning support plate under the drive of the drive assembly.

[0029] A connecting plate, slidably mounted on the drive block in a direction parallel to the first positioning and spreading plate; and

[0030] An adjustment component is rotatably mounted on the end of the connecting plate and on the second movable support plate, so as the drive block moves, it drives the movable support mechanism to rotate relative to the positioning support mechanism to form an angle.

[0031] According to embodiments of this disclosure, the driving component includes:

[0032] The drive motor is mounted on the base;

[0033] A lead screw, extending in a direction perpendicular to the first positioning support plate, is rotatably mounted on the base and rotates under the drive of the drive motor to move the drive block; and

[0034] A guide rod, mounted on the base and parallel to the lead screw, guides the movement of the drive block.

[0035] Preferably, the base includes:

[0036] A mounting base is installed on the actuator end of the medical robotic arm, and the drive assembly is mounted on the mounting base; and

[0037] The support frame is detachably mounted on the fixed base, and the positioning and spreading mechanism is mounted on the support frame.

[0038] According to embodiments of this disclosure, the adjustment component includes:

[0039] An adjusting block, rotatably mounted to the end of the connecting plate, is provided with a sliding groove configured to allow the flange on the second movable support plate to slide into the groove to adjust the adjusting block; and

[0040] A positioning button, threaded to the adjusting block, is configured to rotate into the slide groove and engage with the second movable support plate to prevent the adjusting block from sliding relative to the second movable support plate.

[0041] According to embodiments of this disclosure, the angle measuring mechanism includes:

[0042] Two sets of tracking balls are respectively installed on the sides of the positioning and opening mechanism and the movable opening mechanism, and are coplanar; and

[0043] An optical positioning system receives signals from the two sets of tracking balls to measure the angle between the positioning support mechanism and the movable support mechanism.

[0044] According to embodiments of this disclosure, a pressure sensor is also included, mounted on the outside of at least one of the movable expansion mechanism and the positioning expansion mechanism, to measure the pressure exerted on the suture expansion.

[0045] According to the auxiliary device for osteotomy surgery provided by the present invention, during osteotomy, the limiting groove is aligned with the marking line of the bone suture to be osteotomized, the osteotomy saw blade passes through the limiting groove, the limiting groove restricts the movement range of the osteotomy saw blade, the limiting groove guides the osteotomy saw blade, reduces the amplitude of vibration of the osteotomy saw blade during operation, and improves the accuracy of osteotomy of the bone suture; after osteotomy, the positioning and spreading mechanism and the movable spreading mechanism are partially inserted into the bone suture, the drive mechanism is activated, the drive mechanism drives the movable spreading mechanism to rotate relative to the positioning and spreading mechanism, so that the positioning and spreading mechanism and the movable spreading mechanism are in contact with the inner wall of the bone suture, the included angle of the positioning and spreading mechanism and the movable spreading mechanism are measured, thereby measuring the spreading angle of the bone suture, so that the bone suture is spread to the required angle, realizing the integrated operation of guiding the osteotomy saw blade and measuring the angle of the bone suture, without the need to replace the auxiliary device of the execution end of the medical robotic arm, improving the convenience of use. Attached Figure Description

[0046] Figure 1 This is a 3D schematic diagram of the oscillating saw;

[0047] Figure 2 This is a perspective view of an auxiliary device according to an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the state of an auxiliary device according to an embodiment of the present invention, wherein the auxiliary device is in a state of guiding the saw blade;

[0049] Figure 4 This is another schematic diagram of the auxiliary device according to an embodiment of the present invention, wherein the auxiliary device is in a state of guiding the saw blade;

[0050] Figure 5 This is a perspective view of the positioning and spreading mechanism of the auxiliary device according to an embodiment of the present invention;

[0051] Figure 6 yes Figure 4 Enlarged view of point B in the middle;

[0052] Figure 7 This is a perspective view of the movable opening mechanism of the auxiliary device according to an embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the state of the auxiliary device according to an embodiment of the present invention, wherein the auxiliary device is in an extended state;

[0054] Figure 9 yes Figure 2 Enlarged view of point A in the middle;

[0055] Figure 10 This is a perspective view of the drive assembly of the auxiliary device according to an embodiment of the present invention;

[0056] Figure 11 This is a perspective view of the adjustment assembly of the auxiliary device according to an embodiment of the present invention; and

[0057] Figure 12 This is a flowchart of an auxiliary device according to an embodiment of the present invention.

[0058] Figure Labels

[0059] 01. Main body; 02. Drive unit; 03. Transmission unit; 04. Saw blade;

[0060] 1. Base;

[0061] 11. Fixture;

[0062] 12. Support frame;

[0063] 2. Positioning and opening mechanism;

[0064] 21. First positioning support plate;

[0065] 22. Second positioning support plate;

[0066] 23. Locking components;

[0067] 24. First rotating shaft;

[0068] 3. Activities support the organization;

[0069] 31. First movable support plate;

[0070] 32. Second movable support plate;

[0071] 33. Switch components;

[0072] 331, Rotating assembly; 3311, Mounting base; 3312, Rotating plate; 3313, First pivot; 33121, Receiving groove;

[0073] 332. Locking button;

[0074] 34. Folding the edge;

[0075] 35. Second rotating shaft;

[0076] 4. Drive mechanism;

[0077] 41. Driver components;

[0078] 411. Drive motor; 412. Lead screw; 413. Guide rod;

[0079] 42. Driver block;

[0080] 43. Connecting plate;

[0081] 44. Adjustment components;

[0082] 441. Adjusting block; 4411. Slide groove; 442. Positioning button; 443. Second pivot;

[0083] 5. Angle measuring mechanism;

[0084] 51. Tracking ball;

[0085] 6. Limiting groove;

[0086] 7. Pressure sensor;

[0087] 8. Connecting shaft. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0089] The present invention is described herein with respect to structural embodiments and methods. It should be understood that this is not intended to limit the invention to the specific disclosed embodiments; the invention can be practiced using other features, elements, methods, and embodiments. Similar elements in different embodiments are typically designated with similar numbers.

[0090] In orthopedic surgery, a medical oscillating saw is used for osteotomy, such as... Figure 1As shown, the oscillating saw includes a main body 01, a drive unit 02, a transmission unit 03, and a saw blade 04. The drive unit 02 and the transmission unit 03 are mounted on the main body 01, and the saw blade 04 is mounted on the transmission unit 03. The drive unit 02 drives the transmission unit 03 to oscillate, thereby causing the saw blade 04 to oscillate. The saw blade 04 oscillates on the surface to be cut to perform the operation of cutting the bone suture. The saw blade needs to be limited and guided by a limiting mechanism to reduce the degree of saw blade vibration. After the bone suture is cut, the opening angle of the bone suture needs to be measured by an angle measuring mechanism. The limiting mechanism and angle measuring mechanism of the execution end of the medical robotic arm need to be disassembled and replaced, which makes the operation complicated, the operation time long, and the convenience of use poor.

[0091] This invention provides an auxiliary device suitable for osteotomy surgery, such as... Figure 2 As shown, the device includes a base 1, a positioning and opening mechanism 2, a movable opening mechanism 3, a drive mechanism 4, and an angle measuring mechanism 5. The base 1 is configured to be mounted on the execution end of the medical robotic arm; the positioning and opening mechanism 2 is mounted on the base 1; the first end of the movable opening mechanism 3 is rotatably mounted on the first end of the positioning and opening mechanism 2, and the joint between the movable opening mechanism 3 and the positioning and opening mechanism 2 is provided with a limiting groove 6 suitable for allowing the osteotomy blade to pass through and limiting the range of movement of the osteotomy blade; the drive mechanism 4 is mounted on the base 1 and is configured to drive the movable opening mechanism 3 to rotate relative to the positioning and opening mechanism 2; and the angle measuring mechanism 5 is configured to measure the angle between the movable opening mechanism 3 and the positioning and opening mechanism 2 when the positioning and opening mechanism 2 and the movable opening mechanism 3 are partially inserted into the bone suture cut by the osteotomy blade and are both in contact with the inner wall of the bone suture, so as to measure the opening angle of the bone suture.

[0092] According to the auxiliary device for osteotomy surgery provided in this embodiment, during osteotomy, the limiting groove 6 is aligned with the marking line of the bone suture to be cut, and the osteotomy saw blade passes through the limiting groove 6. The limiting groove 6 restricts the movement range of the osteotomy saw blade and guides the osteotomy saw blade, reducing the amplitude of vibration during the operation of the osteotomy saw blade and improving the accuracy of osteotomy of the bone suture. After osteotomy, the positioning and opening mechanism 2 and the movable opening mechanism 3 are partially inserted into the bone suture, and the drive mechanism 4 is activated. The drive mechanism 4 drives the movable opening mechanism 3 to rotate relative to the positioning and opening mechanism 2, so that the positioning and opening mechanism 2 and the movable opening mechanism 3 are in contact with the inner wall of the bone suture. The included angle between the positioning and opening mechanism 2 and the movable opening mechanism 3 is measured, thereby measuring the opening angle of the bone suture, so that the bone suture is opened to the required angle. This realizes the integrated operation of guiding the osteotomy saw blade and measuring the angle of the bone suture, without the need to replace the auxiliary device at the execution end of the medical robotic arm, thus improving the convenience of use.

[0093] In one exemplary embodiment, such as Figure 2As shown, the base 1 includes a fixed seat 11 and a support frame 12. The fixed seat 11 is mounted to the actuator end of the medical robotic arm via a flange; the support frame 12 is detachably mounted on the fixed seat 11 by bolts or screws, and the positioning and opening mechanism 2 is mounted on the support frame 12. The support frame 12 is easily separated from the fixed seat 11, thereby facilitating the separation of the movable opening mechanism 3 and the positioning and opening mechanism 2 from the fixed seat 11 as a whole, improving the convenience of disassembly, assembly, and maintenance.

[0094] In one exemplary embodiment, such as Figure 3 , Figure 4 and Figure 5 As shown, the positioning and opening mechanism 2 includes a first positioning and opening plate 21, a second positioning and opening plate 22, and a locking member 23. The first end of the first positioning and opening plate 21 is mounted on the end of the support frame 12 of the base 1 away from the fixed seat 11, and the first positioning and opening plate 21 extends along the depth direction of the suture. The first end of the second positioning and opening plate 22 is rotatably mounted on the second end of the first positioning and opening plate 21 via a first rotating shaft 24, and the second positioning and opening plate 22 extends along the depth direction of the suture. The locking member 23 is mounted on the second end of the second positioning and opening plate 22, and the locking member 23 is configured to maintain the first positioning and opening plate 21 and the second positioning and opening plate 22 in the same plane, or to allow the second positioning and opening plate 22 to rotate relative to the first positioning and opening plate 21. Specifically, the locking member 23 is a knob or a wing bolt, etc., which is not limited here, and the locking member 23 is threadedly connected to the second end of the second positioning and opening plate 22.

[0095] In one exemplary embodiment, such as Figure 4 , Figure 6 and Figure 7As shown, the movable expansion mechanism 3 includes a first movable expansion plate 31, a second movable expansion plate 32, and a switching assembly 33. The first end of the first movable expansion plate 31 is rotatably mounted to the first end of the first positioning expansion plate 21 via a connecting shaft 8. The first movable expansion plate 31 extends along the depth direction of the bone suture, and the two sides of the first movable expansion plate 31 are in contact with the first positioning expansion plate 21. A limiting groove 6 is located between the first movable expansion plate 31 and the first positioning expansion plate 21. The limiting groove 6 penetrates the first movable expansion plate 31 to allow the osteotomy saw blade to pass through and to limit the range of movement of the osteotomy saw blade in the swing direction of the osteotomy saw blade. The first end of the second movable support plate 32 is rotatably mounted on the second end of the first movable support plate 31 via the second rotating shaft 35. The second rotating shaft 35 is parallel to the first rotating shaft 24, so that the second movable support plate 32 and the second positioning support plate 22 rotate in a direction away from each other. When both the second movable support plate 32 and the second positioning support plate 22 are perpendicular to the limiting groove 6, they are coplanar. The switching component 33 is mounted on the first movable support plate 31. The switching component 33 is configured to keep the first movable support plate 31 and the second movable support plate 32 on the same plane, or to allow the second movable support plate 32 to rotate relative to the first movable support plate 31.

[0096] In one exemplary embodiment, both the second movable support plate 32 and the second positioning support plate 22 are provided with limit blocks. The limit blocks are configured such that when the second movable support plate 32 and the second positioning support plate 22 are coplanar and both are perpendicular to the limit groove 6, the limit blocks prevent the second movable support plate 32 and the second positioning support plate 22 from rotating toward the limit groove 6, so that the operator can apply external force to the second movable support plate 32 and the second positioning support plate 22 and position them.

[0097] According to embodiments of this disclosure, during osteotomy, the locking member 23 is loosened, and the second positioning support plate 22 and the second movable support plate 32 rotate away from each other under the external force of the operator. The second movable support plate 32 and the second positioning support plate 22 are positioned when they are coplanar and perpendicular to the limiting groove 6, thus making way for the osteotomy saw blade to extend into the limiting groove 6. During osteotomy, the limiting groove 6 is aligned with the bone suture line to be osteotomized. The limiting groove 6 restricts the range of movement of the osteotomy saw blade and guides it, reducing the amplitude of vibration during operation and improving the accuracy of osteotomy.

[0098] In one exemplary embodiment, such as Figure 8 and Figure 9As shown, the first movable support plate 31 and the second movable support plate 32 have folded edges 34 bent toward the positioning support mechanism 2 along the depth direction of the bone suture. The folded edges 34 extend along the depth direction of the bone suture. The switching assembly 33 includes a rotating assembly 331, which is rotatably mounted on the first movable support plate 31. The rotating assembly 331 is provided with a receiving groove 33121. The rotating assembly 331 has a locked state in which it rotates to be close to the second movable support plate 32 to allow the folded edges 34 of the second movable support plate 32 to extend into the receiving groove 33121, so that the first movable support plate 31 and the second movable support plate 32 are kept on the same plane, and an unlocked state in which it rotates away from the second movable support plate 32 to allow the second movable support plate 32 to rotate relative to the first movable support plate 31.

[0099] In one exemplary embodiment, such as Figure 8 and Figure 9 As shown, the rotating assembly 331 includes a mounting base 3311 and a rotating plate 3312. The mounting base 3311 is detachably mounted on the folded edge 34 of the first movable support plate 31 by bolts. The rotating plate 3312 is rotatably mounted on the mounting base 3311 by a first pivot 3313, which is perpendicular to the first movable support plate 31. A receiving groove 33121 is provided on the rotating plate 3312.

[0100] In one exemplary embodiment, such as Figure 8 and Figure 9 As shown, the switching assembly 33 also includes a locking button 332, which can be a knob, and is not limited here. The outer surface of the locking button 332 is inside the outer surface of the movable expansion mechanism 3. The locking button 332 is threaded to the rotating plate 3312 and is configured to rotate into the receiving groove 33121 and abut against the second movable expansion plate 32 to prevent the rotating plate 3312 from rotating relative to the second movable expansion plate 32.

[0101] Specifically, the thickness of the rotating component 331 is less than or equal to the sum of the thicknesses of the positioning and opening mechanism 2 and the movable opening mechanism 3. The rotating component 331 is located inside the positioning and opening mechanism 2 and the movable opening mechanism 3, so that when the positioning and opening mechanism 2 and the movable opening mechanism 3 partially extend into the bone suture, they both fit against the inner wall of the bone suture.

[0102] According to an embodiment of this disclosure, after the osteotomy saw blade completes the bone seam cutting operation, the second positioning support plate 22 is rotated so that the second positioning support plate 22 and the first positioning support plate 21 are coplanar. The locking member 23 is tightened, and the locking member 23 abuts against the support frame 12, so that the first positioning support plate 21 and the second positioning support plate 22 remain on the same plane.

[0103] The second movable expansion plate 32 is rotated toward the direction of the second positioning expansion plate 22, so that the second movable expansion plate 32 and the first movable expansion plate 31 are coplanar. Then, the rotating plate 3312 is rotated toward the direction of the second movable expansion plate 32. The rotating plate 3312 rotates around the first pivot 3313, allowing the folded edge 34 of the second movable expansion plate 32 to extend into the receiving groove 33121. The locking button 332 is tightened, and the locking button 332 extends into the receiving groove 33121 and abuts against the second movable expansion plate 32, so that the first movable expansion plate 31 and the second movable expansion plate 32 are kept in a locked state on the same plane, so that the first ends of the positioning expansion mechanism 2 and the movable expansion mechanism 3 can be inserted into the bottom of the bone suture. Under the drive of the driving mechanism 4, the outer walls of the positioning expansion mechanism 2 and the movable expansion mechanism 3 are respectively attached to the inner wall of the bone suture to measure the opening angle of the bone suture.

[0104] In one exemplary embodiment, such as Figure 8 , Figure 10 and Figure 11 As shown, the drive mechanism 4 includes a drive assembly 41, a drive block 42, a connecting plate 43, and an adjustment assembly 44. The drive assembly 41 is mounted on the base 1; the drive block 42 is configured to reciprocate in a direction perpendicular to the first positioning support plate 21 under the drive of the drive assembly 41; the connecting plate 43 is slidably mounted on the drive block 42 via a slide rail in a direction parallel to the first positioning support plate 21; the adjustment assembly 44 is rotatably mounted on the end of the connecting plate 43 via a second pivot 443, which is parallel to the connecting shaft 8; the adjustment assembly 44 is detachably mounted on the folded edge 34 of the second movable support plate 32, so as to drive the movable support mechanism 3 to rotate relative to the positioning support mechanism 2 and form an included angle as the drive block 42 moves.

[0105] In one exemplary embodiment, such as Figure 8 and Figure 10 As shown, the drive assembly 41 includes a drive motor 411, a lead screw 412, and a guide rod 413. The drive motor 411 is mounted on the fixed seat 11 of the base 1; the lead screw 412 extends in a direction perpendicular to the first positioning support plate 21, is rotatably mounted on the fixed seat 11 of the base 1, and rotates under the drive of the drive motor 411 to drive the drive block 42 to move; the guide rod 413 is mounted on the base 1 and parallel to the lead screw 412 to guide the movement of the drive block 42.

[0106] According to an embodiment of this disclosure, during the process of the drive mechanism 4 driving the movable opening mechanism 3 to rotate away from the positioning opening mechanism 2, the drive motor 411 is activated. The drive motor 411 drives the lead screw 412 to rotate, and the guide rod 413 guides the drive block 42, causing the drive block 42 to reciprocate along the lead screw 412. During the process of the drive block 42 moving away from the positioning opening mechanism 2, the connecting plate 43 moves with the drive block 42 in the direction of moving away from the positioning opening mechanism 2, and the connecting plate 43 slides relative to the drive block 42 in a direction parallel to the first positioning opening plate 21. At this time, the adjusting component 44 rotates around the second pivot 443, so as to drive the movable opening mechanism 3 to rotate relative to the positioning opening mechanism 2 and form an angle as the drive block 42 moves, so that the outer walls of the positioning opening mechanism 2 and the movable opening mechanism 3 respectively fit against the inner wall of the bone suture, so as to measure the opening angle of the bone suture, realizing the integrated operation of guiding the osteotomy saw blade and measuring the angle of the bone suture, without the need to replace the auxiliary device of the execution end of the medical robotic arm, thus improving the convenience of use.

[0107] In one exemplary embodiment, such as Figure 8 and Figure 11 As shown, the adjustment assembly 44 includes an adjustment block 441 and a positioning button 442. The adjustment block 441 is rotatably mounted on the end of the connecting plate 43 about a second pivot 443. The adjustment block 441 is provided with a slide groove 4411, which is configured to allow the flange 34 on the second movable support plate 32 to slide into the slide groove 4411 to adjust the position of the adjustment block 441 relative to the flange 34 of the second movable support plate 32. The positioning button 442 is threaded to the adjustment block 441 and is configured to rotate into the slide groove 4411 and engage with the second movable support plate 32 to prevent the adjustment block 441 from sliding relative to the second movable support plate 32.

[0108] In one exemplary embodiment, the second movable expansion plate 32 has a plurality of positioning holes on its folded edge 34. The positioning holes are evenly spaced along the depth direction of the bone suture, allowing the positioning button 442 to be inserted and engaged with the second movable expansion plate 32.

[0109] According to the embodiments of this disclosure, before the driving mechanism 4 drives the movable spreading mechanism 3 to rotate and spread, the position of the adjusting block 441 on the folded edge 34 of the second movable spreading plate 32 is moved. After the position of the adjusting block 441 is determined, the positioning button 442 is tightened, and the positioning button 442 engages with the second movable spreading plate 32, thereby locking the adjusting block 441. The closer the adjusting block 441 is to the connecting shaft 8, the faster the driving mechanism 4 drives the movable spreading mechanism 3 to rotate and spread; conversely, the farther the adjusting block 441 is from the connecting shaft 8, the slower the driving mechanism 4 drives the movable spreading mechanism 3 to rotate and spread. This allows the speed of rotation of the movable spreading mechanism 3 to spread according to the width of the suture, further improving ease of use.

[0110] In one exemplary embodiment, such as Figure 8 As shown, the angle measuring mechanism 5 includes two sets of tracking balls 51 and an optical positioning system (not shown in the figure). The two sets of tracking balls 51 are respectively installed on the sides of the positioning and opening mechanism 2 and the movable opening mechanism 3, and are coplanar with the positioning and opening mechanism 2 and the movable opening mechanism 3. Each set of tracking balls 51 has two or more balls, and each set of tracking balls 51 connected to form a straight line. The straight line formed by connecting one set of tracking balls 51 extends along the plane of the positioning and opening mechanism 2 or is parallel to the plane of the positioning and opening mechanism 2; the straight line formed by connecting the other set of tracking balls 51 extends along the plane of the movable opening mechanism 3 or is parallel to the plane of the movable opening mechanism 3. The angle between the extensions of the two sets of tracking balls 51 represents the angle between the planes of the positioning and opening mechanism 2 and the movable opening mechanism 3. The two straight lines formed by connecting the two sets of tracking balls 51 are respectively the projection lines of the positioning and opening mechanism 2 and the movable opening mechanism 3 on the projection plane perpendicular to the connecting axis 8, or parallel lines to the projection lines. The optical positioning system receives signals from the two sets of tracking balls 51 to measure the angle between the positioning and opening mechanism 2 and the movable opening mechanism 3.

[0111] In one exemplary embodiment, such as Figure 8 As shown, the auxiliary device for osteotomy surgery also includes a pressure sensor 7, which is installed on the outside of at least one of the movable spreading mechanism 3 and the positioning spreading mechanism 2 to measure the pressure on the bone suture spreading.

[0112] According to embodiments of this disclosure, such as Figure 12 As shown, during use, the operator operates the robotic arm and executes S121, causing the auxiliary device at the actuator end of the robotic arm to reach the designated position. The operator flips the second movable support plate 32 and the second positioning support plate 22 to make way for the osteotomy saw blade, and executes S122. The osteotomy saw blade passes through the limiting groove 6, and the auxiliary device guides the osteotomy saw blade. Under the limiting and guiding action of the limiting groove 6, the accuracy of osteotomy bone suture is improved. After osteotomy is completed, execute S123, the osteotomy saw blade retracts, and the auxiliary device extends into the bone suture; then execute S124, under the drive of the drive mechanism 4, the movable spreading mechanism 3 slowly rotates and spreads, and the spreading angle is measured in real time; at this time, execute S125, the pressure sensor measures the pressure on the bone suture during spreading; execute S126, determine whether the pressure exceeds the safe value; if yes, execute S127, move the adjustment block to reduce the spreading speed, and return to execute S124; if no, execute S128, check whether the spreading angle has reached the required angle; if no, return to execute S124; if yes, execute S129 to end.

[0113] According to the auxiliary device for osteotomy surgery provided in this embodiment, during osteotomy, the limiting groove 6 is aligned with the marking line of the bone suture to be osteotomized, and the osteotomy saw blade passes through the limiting groove 6. The limiting groove 6 restricts the movement range of the osteotomy saw blade and guides the osteotomy saw blade, reducing the amplitude of vibration during the operation of the osteotomy saw blade and improving the accuracy of osteotomy of the bone suture. After osteotomy, the positioning and opening mechanism 2 and the movable opening mechanism 3 are partially inserted into the bone suture, and the drive mechanism 4 is activated. The drive mechanism 4 drives the movable opening mechanism 3 to rotate relative to the positioning and opening mechanism 2, so that the positioning and opening mechanism 2 and the movable opening mechanism 3 are in contact with the inner wall of the bone suture. The included angle between the positioning and opening mechanism 2 and the movable opening mechanism 3 is measured, thereby measuring the opening angle of the bone suture, so that the bone suture is opened to the required angle. This realizes the integrated operation of guiding the osteotomy saw blade and measuring the angle of the bone suture, without the need to replace the auxiliary device at the execution end of the medical robotic arm, thus improving the convenience of use.

[0114] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An auxiliary device suitable for use in an osteotomy procedure, characterized in that, include: The base (1) is configured to be mounted on the actuator end of the medical robotic arm; A positioning and opening mechanism (2) is installed on a base (1) and includes: A first positioning support plate (21) is provided, with its first end mounted on the base (1). A second positioning support plate (22), the first end of which is rotatably mounted to the second end of the first positioning support plate (21); and A locking element (23) is installed at the second end of the second positioning support plate (22), the locking element (23) being configured to maintain the first positioning support plate (21) and the second positioning support plate (22) in the same plane, or to allow the second positioning support plate (22) to rotate relative to the first positioning support plate (21); The movable opening mechanism (3) is rotatably mounted on the first end of the positioning opening mechanism (2), and the joint of the movable opening mechanism (3) and the positioning opening mechanism (2) is provided with a limiting groove (6) suitable for allowing the osteotomy saw blade to pass through and limiting the range of movement of the osteotomy saw blade. A drive mechanism (4), mounted on a base (1), is configured to drive the movable spreading mechanism (3) to rotate relative to the positioning spreading mechanism (2); and An angle measuring mechanism (5) is configured to measure the angle between the movable opening mechanism (3) and the positioning opening mechanism (2) when the positioning opening mechanism (2) and the movable opening mechanism (3) are partially inserted into the bone suture cut by the osteotomy saw blade and are both in contact with the inner wall of the bone suture, so as to measure the opening angle of the bone suture.

2. The supplementary device of claim 1, wherein, The movable opening mechanism (3) includes: The first movable support plate (31) is rotatably mounted at the first end of the first positioning support plate (21). The second movable support plate (32) has its first end rotatably mounted to the second end of the first movable support plate (31); and A switching component (33) is mounted on the first movable support plate (31). The switching component (33) is configured to maintain the first movable support plate (31) and the second movable support plate (32) in the same plane or to allow the second movable support plate (32) to rotate relative to the first movable support plate (31).

3. The auxiliary device according to claim 2, characterized in that, The switching component (33) includes: A rotating assembly (331) is rotatably mounted on the first movable support plate (31). The rotating assembly (331) is provided with a receiving groove (33121). The rotating assembly (331) has a locked state in which it rotates to be close to the second movable support plate (32) to allow the side of the second movable support plate (32) to extend into the receiving groove (33121) so that the first movable support plate (31) and the second movable support plate (32) remain on the same plane, and an unlocked state in which it rotates away from the second movable support plate (32) to allow the second movable support plate (32) to rotate relative to the first movable support plate (31).

4. The auxiliary device according to claim 3, characterized in that, The movable opening mechanism (3) is provided with a folded edge (34) that bends toward the positioning opening mechanism (2), and the folded edge (34) extends along the depth direction of the suture. The rotating assembly (331) includes: Mounting base (3311), mounted on the folded edge (34); and A rotating plate (3312) is rotatably mounted on the mounting base (3311), and a receiving groove (33121) is disposed on the rotating plate (3312). The switching assembly (33) also includes a locking button (332) threaded to the rotating plate (3312) and configured to rotate into the receiving groove (33121) and abut against the second movable support plate (32) to prevent the rotating plate (3312) from rotating relative to the second movable support plate (32).

5. The auxiliary device according to claim 4, characterized in that, The drive mechanism (4) includes: A drive assembly (41) is mounted on the base (1); The drive block (42) is configured to reciprocate in a direction perpendicular to the first positioning support plate (21) under the drive of the drive assembly (41). A connecting plate (43) is slidably mounted on the drive block (42) in a direction parallel to the first positioning support plate (21); and Adjustment component (44) is rotatably mounted on the end of the connecting plate (43) and on the second movable support plate (32) so as to drive the movable support mechanism (3) to rotate relative to the positioning support mechanism (2) to form an angle as the drive block (42) moves.

6. The auxiliary device according to claim 5, characterized in that, The driving component (41) includes: A drive motor (411) is mounted on the base (1); A lead screw (412), extending in a direction perpendicular to the first positioning support plate (21), is rotatably mounted on the base (1) and rotates under the drive of the drive motor (411) to drive the drive block (42) to move; and A guide rod (413) is mounted on the base (1) and parallel to the lead screw (412) to guide the movement of the drive block (42). The base (1) includes: A mounting base (11) is installed on the actuator end of the medical robotic arm, and the drive assembly (41) is mounted on the mounting base (11); and The support frame (12) is detachably mounted on the fixed base (11), and the positioning and opening mechanism (2) is mounted on the support frame (12).

7. The auxiliary device according to claim 5, characterized in that, The adjustment component (44) includes: An adjusting block (441), rotatably mounted to the end of the connecting plate (43), is provided with a groove (4411) configured to allow the flange (34) on the second movable support plate (32) to slide into the groove (4411) to adjust the adjusting block (441); and A positioning button (442), threaded to the adjusting block (441), is configured to rotate into the groove (4411) and engage with the second movable support plate (32) to prevent the adjusting block (441) from sliding relative to the second movable support plate (32).

8. The auxiliary device according to any one of claims 1-7, characterized in that, The angle measuring mechanism (5) includes: Two sets of tracking balls (51) are respectively installed on the sides of the positioning and opening mechanism (2) and the movable opening mechanism (3) and are coplanar; and An optical positioning system receives signals from two sets of tracking balls (51) to measure the angle between the positioning support mechanism (2) and the movable support mechanism (3).

9. The auxiliary device according to any one of claims 1-7, characterized in that, It also includes a pressure sensor (7) installed on the outside of at least one of the movable opening mechanism (3) and the positioning opening mechanism (2) to measure the pressure exerted on the suture opening.

Images