Spacing and measuring device and robotic arm suitable for osteotomy surgery

Abstract

This invention discloses a distraction measuring device and robotic arm suitable for osteotomy surgery, including a base configured to be mounted on the execution end of the robotic arm; a positioning distraction mechanism mounted on the base; a first end of a movable distraction mechanism rotatably mounted on the first end of the positioning distraction mechanism via a connecting shaft, having a closed state parallel to the positioning distraction mechanism for insertion into the bone suture, and an open state forming an angle with the positioning distraction mechanism to distract the bone suture; a drive mechanism adapted to drive the movable distraction mechanism to rotate between the closed state and the open state; a pressure sensor disposed on the positioning distraction mechanism and / or the movable distraction mechanism, adapted to abut against the inner wall of the bone suture in the open state of the movable distraction mechanism to obtain a pressure signal of the pressure on the bone suture; and a tracking mechanism configured to detect an angle signal of the angle between the movable distraction mechanism and the positioning distraction mechanism in the open state, to be used as the distraction angle of the bone suture.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a dissipation measuring device and robotic arm suitable for osteotomy surgery. Background Technology

[0002] Osteotomy is commonly used in orthopedics, sports medicine, and traumatology, and is considered a relatively minimally invasive procedure. During osteotomy, a medical oscillating saw is typically used to perform the osteotomy, creating a suture at the cut site.

[0003] During osteotomy, the blade of a medical oscillating saw contacts the surface of the bone to be cut and performs the osteotomy. After the bone suture is cut, a retractor is needed to open it to a certain angle. However, the retractor used in clinical practice does not have the function of measuring the pressure that the bone suture is subjected to during retraction. The retraction angle of osteotomy is generally determined by the doctor visually observing the scale on the retractor and reading the angle value. The scale is not easy to observe, and the doctor has poor convenience in reading the value, which has a certain impact on the accuracy of the operation. Summary of the Invention

[0004] To address the existing technical problems, this invention provides a distraction measuring device and robotic arm suitable for osteotomy surgery, which at least partially solves the above-mentioned technical problems. The device drives the movable distraction mechanism to rotate and distraction through a drive mechanism, a pressure sensor measures the pressure borne by the distraction of the bone suture, and a tracking mechanism measures the distraction angle of the bone suture, so that the bone suture is distracted to the required angle, thereby improving the convenience of use and the accuracy of the surgery.

[0005] This invention provides a distraction measuring device suitable for osteotomy surgery, comprising: a base configured to be mounted on the execution end of a medical robotic arm; a positioning distraction mechanism mounted on the base; a movable distraction mechanism, the first end of which is rotatably mounted to the first end of the positioning distraction mechanism via a connecting shaft, having a closed state that is substantially parallel to the positioning distraction mechanism for insertion into the bone suture, and an open state that forms an angle with the positioning distraction mechanism to abut against the bone suture and distract it; a drive mechanism mounted on the base, adapted to drive the movable distraction mechanism to rotate between the closed state and the open state; a pressure sensor disposed on the positioning distraction mechanism and / or the movable distraction mechanism, adapted to abut against the inner wall of the bone suture in the open state to obtain a pressure signal of the pressure borne by the bone suture; and a tracking mechanism configured to detect an angle signal of the angle between the movable distraction mechanism and the positioning distraction mechanism in the open state, for use as the distraction angle of the bone suture.

[0006] According to an embodiment of this disclosure, the tracking mechanism includes: two sets of tracking components, one set of which is disposed on the positioning and spreading mechanism and adapted to generate a straight line signal of a first straight line extending along the plane of the positioning and spreading mechanism; the other set of tracking components is disposed on the movable spreading mechanism and configured to rotate with the movable spreading mechanism relative to the positioning and spreading mechanism, and adapted to generate a straight line signal of a second straight line extending along the plane of the movable spreading mechanism; and an optical positioning system adapted to generate an angle signal of the angle formed by the first straight line and the second straight line based on the two collected straight line signals.

[0007] According to an embodiment of this disclosure, the tracking component includes two tracking balls spaced apart and mounted on the side of the positioning support mechanism or the movable support mechanism, the two tracking balls being adapted to generate a linear signal.

[0008] According to an embodiment of this disclosure, the driving mechanism includes: a driving component mounted on the base; a driving block configured to reciprocate in a direction perpendicular to the positioning and spreading mechanism under the drive of the driving component; a connecting plate slidably mounted on the driving block in a direction parallel to the positioning and spreading mechanism; and an adjusting component rotatably mounted on the end of the connecting plate and mounted on the movable spreading mechanism to drive the movable spreading mechanism to rotate and spread relative to the positioning and spreading mechanism to form an included angle as the driving block moves.

[0009] According to an embodiment of this disclosure, the adjustment assembly includes: an adjustment block rotatably mounted on the end of the connecting plate, the adjustment block having a groove configured to allow a side of the movable opening mechanism to slide within the groove to adjust the position of the adjustment block relative to the connecting shaft; and a positioning button threaded to the adjustment block, configured to rotatably extend into the groove and engage with the movable opening mechanism to prevent the adjustment block from sliding relative to the movable opening mechanism.

[0010] According to an embodiment of this disclosure, the movable opening mechanism has a folded edge that bends toward the positioning opening mechanism, the folded edge extending along the depth direction of the suture, the folded edge sliding into the groove, and the folded edge being configured to prevent the adjusting component from extending beyond the surface of the movable opening mechanism.

[0011] According to an embodiment of this disclosure, the folded edge is provided with a plurality of positioning holes, which are spaced apart along the depth direction of the suture to allow the positioning button to be inserted into the positioning hole.

[0012] According to an embodiment of this disclosure, the drive assembly includes: a drive motor mounted on the base; a lead screw extending in a direction perpendicular to the positioning and spreading mechanism, rotatably mounted on the base, and rotating under the drive of the drive motor to drive the drive block to move; and a guide rod mounted on the base and parallel to the lead screw to guide the drive block to move.

[0013] According to embodiments of this disclosure, a main controller is also included, configured to receive pressure signals output by the pressure sensor and / or angle signals output by the tracking mechanism, and to display the pressure applied by the movable spreading mechanism to the suture and / or the spreading angle of the suture.

[0014] This invention also provides a robotic arm equipped with the opening measuring device described above.

[0015] According to the present invention, a distraction measuring device and robotic arm suitable for osteotomy surgery are provided. During osteotomy, after the osteotomy saw blade cuts the bone suture on the surface to be osteotomized, the positioning distraction mechanism and the movable distraction mechanism are in a generally parallel closed state. The first ends of the positioning distraction mechanism and the movable distraction mechanism extend into the bone suture. The driving mechanism drives the movable distraction mechanism to rotate and open relative to the positioning distraction mechanism around the connecting shaft, so that the movable distraction mechanism is in an unfolded state. The outer surfaces of the movable distraction mechanism and the positioning distraction mechanism are in contact with the inner wall of the bone suture. At the same time, the pressure sensor measures the pressure signal of the pressure borne by the bone suture during distraction. Two sets of tracking mechanisms detect the angle signal of the movable distraction mechanism relative to the positioning distraction mechanism in the unfolded state, thereby measuring the distraction angle of the bone suture. This achieves real-time intelligent measurement of the distraction angle of the bone suture, allowing the bone suture to be opened to the required angle, reducing the angle measurement deviation, and improving the convenience of use and the accuracy of the surgery. Attached Figure Description

[0016] Figure 1 This is a perspective view of the spreading measuring device according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the state of the spreading measuring device according to an embodiment of the present invention, wherein the spreading measuring device is in the spreading state;

[0018] Figure 3 This is another schematic diagram of the spreading measuring device according to an embodiment of the present invention, wherein the spreading measuring device is in a state of guiding the saw blade;

[0019] Figure 4 This is a perspective view of the drive assembly of the expansion measuring device according to an embodiment of the present invention;

[0020] Figure 5 This is a perspective view of the adjustment assembly of the expansion measuring device according to an embodiment of the present invention;

[0021] Figure 6 This is another schematic diagram of the spreading measuring device according to an embodiment of the present invention, wherein the spreading measuring device is in a state of guiding the saw blade;

[0022] Figure 7 This is a three-dimensional schematic diagram of the positioning and spreading mechanism of the spreading measuring device according to an embodiment of the present invention;

[0023] Figure 8 yes Figure 3 Enlarged view of point B in the middle;

[0024] Figure 9 This is a perspective view of the movable opening mechanism of the opening measuring device according to an embodiment of the present invention;

[0025] Figure 10 yes Figure 1 Enlarged view of point A in the middle; and

[0026] Figure 11 This is a flowchart of the spreading measuring device according to an embodiment of the present invention.

[0027] Figure Labels

[0028] 1. Base;

[0029] 11. Fixture;

[0030] 12. Support frame;

[0031] 2. Positioning and opening mechanism;

[0032] 21. First positioning support plate;

[0033] 22. Second positioning support plate;

[0034] 23. Locking components;

[0035] 24. First rotating shaft;

[0036] 3. Activities support the organization;

[0037] 31. First movable support plate;

[0038] 32. Second movable support plate;

[0039] 33. Switch components;

[0040] 331, Rotating assembly; 3311, Mounting base; 3312, Rotating plate; 3313, First pivot; 33121, Receiving groove;

[0041] 332. Locking button;

[0042] 34. Folded edge; 341. Positioning hole;

[0043] 35. Second rotating shaft;

[0044] 4. Drive mechanism;

[0045] 41. Driver components;

[0046] 411. Drive motor; 412. Lead screw; 413. Guide rod;

[0047] 42. Driver block;

[0048] 43. Connecting plate;

[0049] 44. Adjustment components;

[0050] 441. Adjusting block; 4411. Slide groove; 442. Positioning button; 443. Second pivot;

[0051] 5. Tracking component;

[0052] 51. Mounting rod;

[0053] 52. Tracking ball;

[0054] 6. Limiting groove;

[0055] 7. Pressure sensor;

[0056] 8. Connecting shaft. Detailed Implementation

[0057] 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.

[0058] 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.

[0059] In osteotomy, a medical oscillating saw is used to perform the osteotomy. The saw blade of the medical oscillating saw contacts the surface of the bone to be cut and performs the osteotomy. After the bone suture is cut, a retractor is needed to open the bone suture at a certain angle. However, the retractor does not have a quantitative angle function. Generally, the doctor estimates the angle based on pre-measured data. The estimated data may have deviations, resulting in low accuracy of the surgery.

[0060] This invention provides a distraction measuring device suitable for osteotomy surgery, such as... Figure 1As shown, the device includes a base 1, a positioning and opening mechanism 2, a movable opening mechanism 3, a drive mechanism 4, a pressure sensor 7, and a tracking mechanism. The base 1 is configured to be mounted on the actuator end of the medical robotic arm; the positioning and opening mechanism 2 is mounted on the base; the first end of the movable opening mechanism 3 is rotatably mounted on the first end of the positioning and opening mechanism 2 via a connecting shaft 8, having a closed state (generally parallel to the positioning and opening mechanism 2 for insertion into the bone suture) and an open state (forming an angle with the positioning and opening mechanism 2 to abut against the bone suture and open it); the drive mechanism 4 is mounted on the base 1 and is adapted to drive the movable opening mechanism 3 to rotate between the closed and open states; the pressure sensor 7 is disposed on the positioning and opening mechanism 2 and / or the movable opening mechanism 3, adapted to abut against the inner wall of the bone suture in the open state to obtain a pressure signal of the pressure borne by the bone suture; the tracking mechanism is configured to detect the angle signal of the movable opening mechanism 3 relative to the positioning and opening mechanism 2 in the open state, to be used as the opening angle of the bone suture.

[0061] According to the osteotomy surgery-applicable expansion measuring device provided in this embodiment, during osteotomy surgery, after the osteotomy saw blade completes the bone suture cutting on the surface to be osteotomized, the positioning expansion mechanism 2 and the movable expansion mechanism 3 are in a roughly parallel closed state. The first ends of the positioning expansion mechanism 2 and the movable expansion mechanism 3 extend into the bone suture. The driving mechanism 4 drives the movable expansion mechanism 3 to rotate and open relative to the positioning expansion mechanism 2 around the connecting shaft 8, so that the movable expansion mechanism 3 is in an unfolded state. The outer surfaces of the movable expansion mechanism 3 and the positioning expansion mechanism 2 are in contact with the inner wall of the bone suture. At the same time, the pressure sensor 7 measures the pressure signal of the pressure borne by the bone suture expansion. Two sets of tracking mechanisms detect the angle signal of the angle between the movable expansion mechanism 3 and the positioning expansion mechanism 2 in the unfolded state, thereby measuring the expansion angle of the bone suture, realizing real-time intelligent measurement of the expansion angle of the bone suture, so that the bone suture is expanded to the required angle, reducing the angle measurement deviation, improving the convenience of use and the accuracy of surgery.

[0062] In one exemplary embodiment, such as Figure 1 As 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.

[0063] In one exemplary embodiment, such as Figure 2As shown, the first end of the positioning and opening mechanism 2 is mounted on the end of the support frame 12 of the base 1 away from the fixed seat 11, and the length direction of the positioning and opening mechanism 2 extends along the depth direction of the suture. The movable opening mechanism 3 is rotatably mounted on the first end of the positioning and opening mechanism 2 via a connecting shaft 8, which is perpendicular to the depth direction of the suture. Under the drive of the driving mechanism 4, the movable opening mechanism 3 has a closed state that is approximately parallel to the positioning and opening mechanism 2 and is inserted into the suture, and an open state that forms an angle with the positioning and opening mechanism 2 to abut against the suture and open it. The pressure sensor 7 is disposed on the outside of the movable opening mechanism 3 and / or the positioning and opening mechanism 2, and is suitable for abutting against the inner wall of the suture when the movable opening mechanism 3 is in the open state to obtain the pressure signal of the pressure borne by the suture. In this embodiment, the pressure sensor 7 is mounted on the side of the movable opening mechanism 3 away from the positioning and opening mechanism 2, so that the movable opening mechanism 3 abuts against the inner wall of the suture when it is in the open state to obtain the pressure signal of the pressure borne by the suture.

[0064] In one exemplary embodiment, such as Figure 2 and Figure 3 As shown, the tracking mechanism is configured to detect the angle signal of the movable expansion mechanism 3 relative to the positioning expansion mechanism 2 in its deployed state, which is used as the expansion angle of the suture. The tracking mechanism includes two sets of tracking components 5 and an optical positioning system. One set of tracking components 5 is disposed on the positioning expansion mechanism 2 and is adapted to generate a linear signal of a first straight line extending along the plane of the positioning expansion mechanism 2. The other set of tracking components 5 is disposed on the movable expansion mechanism 3 and is configured to rotate with the movable expansion mechanism 3 relative to the positioning expansion mechanism 2, and is adapted to generate a linear signal of a second straight line extending along the plane of the movable expansion mechanism 3. The first and second straight lines are the projection lines of the positioning expansion mechanism 2 and the movable expansion mechanism 3 on a projection plane perpendicular to the connecting axis 8, respectively. The optical positioning system (not shown in the figure) is adapted to generate an angle signal of the angle formed by the first and second straight lines based on the two acquired linear signals.

[0065] In one exemplary embodiment, such as Figure 2As shown, the tracking assembly 5 includes two spaced tracking balls 52 mounted on the sides of the positioning and opening mechanism 2 or the movable opening mechanism 3, and two mounting rods 51. The two mounting rods 51 are configured to respectively mount the two spaced tracking balls on the sides of the positioning and opening mechanism 2 or the movable opening mechanism 3 in the depth direction of the suture, with the mounting rods 51 parallel to the connecting shaft 8; the tracking balls 52 are mounted at the ends of the mounting rods 51. In one set of tracking assemblies 5, the two spaced tracking balls 52 generate a linear signal of a first straight line extending along or parallel to the plane of the positioning and opening mechanism 2. In another set of tracking assemblies 5, the two spaced tracking balls 52 generate a linear signal of a second straight line extending along or parallel to the plane of the movable opening mechanism 3. The first and second straight lines are respectively the projection lines of the positioning and opening mechanism 2 and the movable opening mechanism 3 on a projection plane perpendicular to the connecting shaft 8, or lines parallel to the projection lines.

[0066] In one exemplary embodiment, a master controller (not shown) is also included, which is configured to receive pressure signals output by pressure sensor 7 and / or angle signals output by tracking mechanism, and to display the pressure applied to the suture by the active spreading mechanism 3 and / or the spreading angle of the suture.

[0067] According to embodiments of this disclosure, the positioning and spreading mechanism 2 and the movable spreading mechanism 3 are partially inserted into the suture. The driving mechanism 4 drives the movable spreading mechanism 3 to rotate around the connecting shaft 8 away from the positioning and spreading mechanism 2. The centers of the multiple tracking balls 52 of the two sets of tracking mechanisms are coplanar with the outer surfaces of the positioning and spreading mechanism 2 and the movable spreading mechanism 3, and are respectively located on the sides of the positioning and spreading mechanism 2 and the movable spreading mechanism 3 in the direction of the suture depth. The multiple tracking balls 52 of the two sets of tracking mechanisms form a straight line. The two straight lines are used to display the projection lines of the positioning and spreading mechanism 2 and the movable spreading mechanism 3 on the projection plane perpendicular to the connecting shaft 8. The included angle of the two straight lines is used to measure the included angle between the positioning and spreading mechanism 2 and the movable spreading mechanism 3. The main control unit receives the signal from the tracking balls 52 to measure the spreading angle of the suture, so that the suture is spread to the required angle, realizing intelligent measurement of the spreading angle of the suture, making the suture spread to the required angle, reducing the measurement deviation of the angle, and improving the convenience of use and the accuracy of the surgery.

[0068] In one exemplary embodiment, such as Figure 2 As shown, the movable spreading mechanism 3 has two folded edges 34 on its two sides in the depth direction of the bone suture, which bend toward the positioning spreading mechanism 2. The folded edges 34 extend along the depth direction of the bone suture.

[0069] In one exemplary embodiment, such as Figure 2 , Figure 4 and Figure 5As 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 positioning and spreading mechanism 2 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 positioning and spreading mechanism 2; 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 movable spreading mechanism 3 so as to drive the movable spreading mechanism 3 to rotate and spread relative to the positioning and spreading mechanism 2 to form an included angle as the drive block 42 moves.

[0070] In one exemplary embodiment, such as Figure 2 and Figure 4 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 positioning and spreading mechanism 2, 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.

[0071] 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 positioning opening mechanism 2. 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 with the movement of the drive block 42, 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, improving the convenience of use.

[0072] In one exemplary embodiment, such as Figure 2 , Figure 4 and Figure 5As 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 groove 4411, which is configured to allow the flange 34 on the movable expansion mechanism 3 to slide into the groove 4411 to adjust the position of the adjustment block 441 on the flange 34 of the movable expansion mechanism 3. The flange 34 prevents the adjustment assembly 44 from extending beyond the surface of the movable expansion mechanism 3, thus avoiding interference with the measurement of the suture opening angle. The positioning button 442 is threaded to the adjustment block 441 and is configured to rotate into the groove 4411 and engage with the second movable expansion plate 32 to prevent the adjustment block 441 from sliding relative to the movable expansion mechanism 3.

[0073] In one exemplary embodiment, such as Figure 2 As shown, the movable opening mechanism 3 has multiple positioning holes 341 on its folded edge 34. The positioning holes 341 are evenly spaced along the depth direction of the bone suture, allowing the positioning button 442 to be inserted into the positioning hole 341 and engaged with the movable opening mechanism 3.

[0074] According to an embodiment of this disclosure, the adjusting component 44 is adjusted based on the pressure applied to the suture by the movable opening mechanism 3 as displayed by the main control unit, thereby adjusting the rotational opening speed of the movable opening mechanism. The adjusting block 441 is moved to the position of the folded edge 34 of the movable opening mechanism 3. After the position of the adjusting block 441 is determined, the positioning button 442 is tightened, engaging with the movable opening mechanism 3 to lock 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 opening mechanism 3 to rotate and open; conversely, the farther the adjusting block 441 is from the connecting shaft 8, the slower the driving mechanism 4 drives the movable opening mechanism 3 to rotate and open. When the pressure on the suture opening is high, moving the adjusting block 441 away from the connecting shaft 8 slows down the rotational opening speed of the movable opening mechanism 3, thus adjusting the opening speed of the opening measuring device, making operation convenient.

[0075] In one exemplary embodiment, such as Figure 5 and Figure 6As 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.

[0076] In one exemplary embodiment, such as Figure 6 , Figure 8 and Figure 9 As 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. 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 provided at the joint of 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.

[0077] 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.

[0078] 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.

[0079] In one exemplary embodiment, such as Figure 1 and Figure 10 As shown, the switching component 33 includes a rotating component 331, which is rotatably mounted on the first movable support plate 31. The rotating component 331 is provided with a receiving groove 33121. The rotating component 331 has a locked state in which it rotates to be close to the second movable support plate 32 to allow the folded edge 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.

[0080] In one exemplary embodiment, such as Figure 1 and Figure 10 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.

[0081] In one exemplary embodiment, such as Figure 1 and Figure 10 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.

[0082] 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.

[0083] 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.

[0084] Rotate the second movable support plate 32 toward the direction of the second positioning support plate 22, so that the second movable support plate 32 is coplanar with the first movable support plate 31. Then rotate the rotating plate 3312 toward the direction of the second movable support plate 32. The rotating plate 3312 rotates about the first pivot 3313, allowing the folded edge 34 of the second movable support plate 32 to extend into the receiving groove 33121. Tighten the locking button 332. The locking button 332 extends into the receiving groove 33121 and abuts against the second movable support plate 32, so that the first movable support plate 31 is opened. 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 drive 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 expansion angle of the bone suture, so that the bone suture is expanded 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 of the execution end of the medical robotic arm, thus improving the convenience of use.

[0085] According to embodiments of this disclosure, such as Figure 11As 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.

[0086] This invention also provides a robotic arm equipped with the opening measuring device described above.

[0087] According to the osteotomy surgery-applicable expansion measuring device and robotic arm provided in this embodiment, during osteotomy surgery, after the osteotomy saw blade completes the bone suture cutting on the surface to be osteotomized, the positioning expansion mechanism 2 and the movable expansion mechanism 3 are in a roughly parallel closed state. The first ends of the positioning expansion mechanism 2 and the movable expansion mechanism 3 extend into the bone suture. The driving mechanism 4 drives the movable expansion mechanism 3 to rotate and open relative to the positioning expansion mechanism 2 around the connecting shaft 8, so that the movable expansion mechanism 3 is in an unfolded state. The outer surfaces of the movable expansion mechanism 3 and the positioning expansion mechanism 2 are in contact with the inner wall of the bone suture. At the same time, the pressure sensor 7 measures the pressure signal of the pressure borne by the bone suture expansion. Two sets of tracking mechanisms detect the angle signal of the movable expansion mechanism 3 in the unfolded state relative to the positioning expansion mechanism 2, thereby measuring the expansion angle of the bone suture, realizing real-time intelligent measurement of the expansion angle of the bone suture, so that the bone suture is expanded to the required angle, reducing the angle measurement deviation, improving the convenience of use and the accuracy of surgery.

[0088] 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. A distraction measuring device suitable for osteotomy surgery, characterized in that, include: The base (1) is configured to be mounted on the actuator end of the medical robotic arm; The positioning and opening mechanism (2) is installed on the base (1); The movable opening mechanism (3) is rotatably mounted on the first end of the positioning opening mechanism (2) via a connecting shaft (8). It has a closed state that is approximately parallel to the positioning opening mechanism (2) and is inserted into the bone suture, and an open state that forms an angle with the positioning opening mechanism (2) and abuts against the bone suture and opens the bone suture. Drive mechanism (4), adapted to drive the movable opening mechanism (3) to rotate between the closed state and the unfolded state, including: The drive assembly (41) is mounted on the base (1); The drive block (42) is configured to reciprocate in a direction perpendicular to the positioning and spreading mechanism (2) 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 positioning and spreading mechanism (2); and Adjustment component (44) to drive the movable spreading mechanism (3) to rotate relative to the positioning spreading mechanism (2) to form an angle as the drive block (42) moves, including: An adjusting block (441), rotatably mounted on the end of the connecting plate (43), is provided with a groove (4411) configured to allow the side of the movable opening mechanism (3) to slide within the groove (4411) to adjust the position of the adjusting block (441) relative to the connecting shaft (8); and The positioning button (442), threaded to the adjusting block (441), is configured to rotate into the slide groove (4411) and engage with the movable opening mechanism (3) to prevent the adjusting block (441) from sliding relative to the movable opening mechanism (3); A pressure sensor (7), disposed on the positioning and spreading mechanism (2) and / or the movable spreading mechanism (3), is adapted to abut against the inner wall of the suture when the movable spreading mechanism (3) is in the spread state, to obtain a pressure signal of the pressure borne by the suture; and The tracking mechanism is configured to detect an angle signal of the angle between the active spreading mechanism (3) and the positioning spreading mechanism (2) in the spread state, so as to be used as the spreading angle of the suture.

2. The spreading measuring device according to claim 1, characterized in that, The tracking agencies include: Two sets of tracking components (5), one set of which is disposed on the positioning and opening mechanism (2) and is adapted to generate a linear signal of a first straight line extending along the plane of the positioning and opening mechanism (2); the other set of tracking components (5) is disposed on the movable opening mechanism (3) and is configured to rotate with the movable opening mechanism (3) relative to the positioning and opening mechanism (2) and is adapted to generate a linear signal of a second straight line extending along the plane of the movable opening mechanism (3); and An optical positioning system is suitable for generating an angle signal of the angle formed by the first straight line and the second straight line based on two acquired straight line signals.

3. The spreading measuring device according to claim 2, characterized in that, The tracking component (5) includes two tracking balls (52) spaced apart and mounted on the side of the positioning support mechanism (2) or the movable support mechanism (3), the two tracking balls (52) being adapted to generate a linear signal.

4. The spreading measuring device according to claim 1, characterized in that, The movable opening mechanism (3) is provided with a folded edge (34) that bends toward the positioning opening mechanism (2). The folded edge (34) extends along the depth direction of the suture and slides into the groove (4411). The folded edge (34) is configured to prevent the adjustment component (44) from extending beyond the surface of the movable opening mechanism (3).

5. The spreading measuring device according to claim 4, characterized in that, The folded edge (34) is provided with a plurality of positioning holes (341), which are spaced apart along the depth direction of the bone suture to allow the positioning button (442) to be inserted into the positioning hole (341).

6. The spreading measuring device according to claim 1, 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 positioning and spreading mechanism (2), 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).

7. The spreading measuring device according to claim 1, characterized in that, It also includes a main controller, configured to receive the pressure signal output by the pressure sensor (7) and / or the angle signal output by the tracking mechanism, and to display the pressure applied to the suture by the active spreading mechanism (3) and / or the spreading angle of the suture.

8. A robotic arm equipped with the spreading measuring device according to any one of claims 1 to 7.

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