A robot for minimally invasive spinal surgery

Abstract

The application belongs to the field of minimally invasive robot technology, and particularly relates to a robot for minimally invasive spine surgery. In the prior art, the minimally invasive robot can only perform simple puncture operation and cannot perform slightly complex sampling work. The present application proposes the following scheme, which comprises a pedestal fixed to the ground on one side of a surgical bed, a rotating base is rotationally connected to the top end of the pedestal, a main arm is arranged at the top end of the rotating base, a driving head is rotationally connected to the top end of the main arm, a shaft neck is rotationally connected to the side of the driving head away from the main arm, and a needle cylinder clamping frame is rotationally sleeved on the circumferential outer wall of the shaft neck. After the minimally invasive robot punctures the needle tube into the target position, only the internal driving mechanism is controlled to start and drive the sampling needle to reciprocatingly suck and send, so that a part of the target object in the puncture position can be scraped, and the scraped sample can be left in the temporary storage groove. Then, the sampling needle is pulled back to perform the test on the scraped sample.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive robotics, and more particularly to a robot for minimally invasive spinal surgery. Background Technology

[0002] Clinical data shows that spinal diseases such as degenerative thoracic and lumbar spine disorders and fractures are among the most prevalent clinical conditions. Traditional open surgery often results in serious complications, making minimally invasive spinal surgery an inevitable development. Currently, minimally invasive spinal surgery in the operating room relies on the surgeon's extensive experience and multiple X-ray imaging sessions. This not only demands high levels of skill from the surgeon but also exposes both doctors and patients to significant radiation exposure from the repeated X-rays. These are pressing issues that need to be addressed in clinical practice.

[0003] With the development of computer, automation and other technologies, robots have made great progress in terms of precision, reliability and human-friendliness. It has become possible to use robots to solve the difficulties in clinical surgery. However, in terms of function, they have only completed the function of robot-assisted doctor guidance. According to the research, the existing minimally invasive robots can barely handle general conditions when used with X-ray machines during the insertion stage. However, the sampling stage after insertion still needs to be switched to manual operation. Therefore, we propose a new type of minimally invasive surgical robot that can complete automatic sampling. Summary of the Invention

[0004] To address the technical problem that existing minimally invasive robots can only perform simple puncture procedures and cannot perform slightly more complex sampling tasks, this invention adopts the following technical solution: A robot for minimally invasive spinal surgery includes a platform fixed to the ground on one side of an operating table. A rotating base is rotatably connected to the top of the platform, and a main arm is mounted on the top of the rotating base. A drive head is rotatably connected to the top of the main arm, and a journal is rotatably connected to the side of the drive head away from the main arm. A syringe holder is rotatably fitted onto the outer circumference of the journal. The syringe holder has an overall F-shaped structure and includes a main shaft and two parallel side plates. A common sliding propulsion disk is slidably connected between the opposite sides of the two parallel side plates. A drive box with an internal cavity and an overall elongated structure is fixed to the outer circumference of the sliding propulsion disk away from the main shaft. The entire drive box is parallel to the sliding direction of the sliding push plate. A needle tube is fixed at the end of the drive box away from the sliding push plate. The needle tube has a combined perforation, and an ablation needle and a sampling needle are slidably inserted into the combined perforation. The drive box is equipped with a drive structure one and a drive structure two that are adapted to the ablation needle and the sampling needle respectively. The drive structure one includes a long gear that is sleeved and fixed to the tail end of the ablation needle. A hook is fixed to the tip of the sampling needle near the ablation needle. A through crescent groove is opened on the outer wall of the sampling needle near the ablation needle. A temporary storage groove is opened at the bottom of the through crescent groove near the hook. An injection hole is reserved in the middle of the sampling needle.

[0005] A further feature is that the drive head has a horizontal circular groove on the side near the journal, and the circular surface of the groove is parallel to the rotation axis of the drive head. A circular head is rotatably connected inside the groove, and the outer circumferential wall of the circular head is welded to the end of the journal. The side of the drive head has a self-locking screw hole that is perpendicular to and communicates with the circular groove. A stud block is rotatably connected in the self-locking screw hole, and a clamping spring is fixed between the stud block and the surface of the circular head. The syringe holder has a rotating hole at the end near the journal that matches the diameter of the journal end, and a clamping locking ring is sleeved on the outer wall at the junction of the journal and the syringe holder. With the circular head and rotating hole, the position of the needle can be more accurately adjusted to the required position before puncture, and then the adjusted angle can be locked in time with the clamping locking ring and stud block.

[0006] A further feature is that the two parallel side plates of the syringe holder have symmetrical sliding grooves on opposite sides, and rectangular sliders adapted to the sliding grooves are reserved on opposite sides of the sliding advance plate. A spherical groove is formed on the side of the sliding advance plate away from the drive box, and a rotating ball is rotatably connected within the spherical groove. An adjusting screw is welded to the outer wall of the rotating ball. An internally threaded tube is embedded in the back of the syringe holder, and the adjusting screw is rotatably connected within the internally threaded tube. The centerline of the internally threaded tube is aligned with the forward direction of the sliding advance plate. Through the adjusting screw, if an obstacle arises during needle advancement that the machine cannot handle, the machine advance can be quickly cut off, seamlessly replacing it with manual puncture and advancement, thereby reducing patient discomfort.

[0007] A further feature is that a multi-functional knob block is fixed to the end of the adjusting screw away from the sliding propulsion plate, and the surface of the multi-functional knob block is provided with buttons for switching the forward and backward movement of the ablation needle and the sampling needle; a touch screen is embedded on the side of the syringe holder away from the drive head, and a wire-passing hole communicating with the inside of the drive box is opened on the outer circumference of the sliding propulsion plate; a wire harness hose is provided between the outlet end of the wire-passing hole and the wire hole of the main arm; this facilitates the concentration of complex wire harnesses, making it easier to wrap the machine during operation and prevent the machine from being contaminated by blood stains.

[0008] A further feature is that an observation and sampling window is provided in the middle of the side of the drive box away from the drive head; with the observation and sampling window provided, when in use, the head of the sampling needle after sampling can simply be pulled back to the position of the observation and sampling window.

[0009] A further configuration is that the drive structure includes a normally open motor and a mounting plate fixed to the inner wall of the drive box near both ends of the observation and sampling window. A drive pulley is fixed to the top of the output shaft of the normally open motor. A bearing seat is fixed to the center of the lower surface of the mounting plate. A rotating rod is rotatably connected to the middle of the bearing seat. A driven pulley is fixed to the end of the rotating rod away from the bearing seat. The same conveyor belt is wound between the driven pulley and the drive pulley, and a reversing block is slidably connected between the two working surfaces of the conveyor belt. An L-shaped pressure block is fixed to the side of the reversing block near the ablation needle, and the top of the ablation needle... An I-shaped rotating block is fixedly fitted to the L-shaped pressure block, with the bottom end of the I-shaped rotating block fixed to the ablation needle; an I-shaped anti-detachment block is fixed to the top of the long gear, and an L-shaped pressure block is sleeved on the outer circumference of the I-shaped anti-detachment block, with the L-shaped pressure block fixed to the side of the reversing block two by screws; a second drive motor is fixed near the middle of the inner wall of the drive box, and a drive gear that meshes with the long gear is fixed to the top of the output shaft of the second drive motor; through the cooperation of the reversing block two and the conveyor belt, the ablation needle can be pushed forward and pulled back, and the ablation needle can also be rotated under the action of the drive gear.

[0010] A further feature is that the ablation needle is made entirely of spring steel, and the tip of the ablation needle is bent. By using the bent section with elastic recovery function, the area of ​​the ablation zone can be changed according to the length of the extended ablation needle and its rotation.

[0011] A further feature is that the second drive structure includes grooved slide rails fixed to the inner walls of opposite sides of the drive box with opposite openings. Symmetrical and equally high boss sliders are slidably connected between the two grooved slide rails. A fixed support plate is fixed between the two boss sliders. A dual-axis motor is fixed to the upper surface of the fixed support plate between the two boss sliders. A drive wheel is fixed to the output shaft end of the dual-axis motor near the sampling needle. A connecting rod is rotatably connected to the circumferential edge of the drive wheel's disc surface. A needle rod fixing block is rotatably connected to the bottom end of the connecting rod. The needle rod fixing block is engaged with the outer wall of the top end of the sampling needle. By activating the dual-axis motor, the sampling needle can be quickly slid up and down, which, in conjunction with the protruding gripper hook, allows for the gripping of the sample. The other end of the output shaft of the dual-axis motor is fixed with an anti-torsion sliding shaft, and a magnetic bushing is slidably sleeved at the end of the anti-torsion sliding shaft. A peristaltic pump is fixed at the end of the upper surface of the fixed plate away from the dual-axis motor. The rotation shaft of the peristaltic pump coincides with the axis of the magnetic bushing, and there is a gap between the end of the peristaltic pump and the end of the magnetic bushing. Two electromagnets are fixed on the side of the peristaltic pump near the magnetic bushing. A suction tube and an outlet tube are fixed at the inlet and outlet ends of the peristaltic pump, respectively. The end of the outlet tube away from the peristaltic pump is connected to the top of the injection hole in the sampling needle. By driving the peristaltic pump to rotate by the electromagnets, the medicine can be injected by energizing the electromagnets when it is necessary.

[0012] A further feature is that an H-shaped abutment is fixed between the tops of the two protruding sliders, and a reversing block one is fixed on the side of the top of the H-shaped abutment closest to the conveyor belt. The internal structures of reversing block one and reversing block two are identical. Reversing block one has an overall cuboid structure, and two vertical rectangular through holes are opened at the top of reversing block one. Magnet fixing holes that penetrate both rectangular through holes are opened on the side of reversing block one. Symmetrical electromagnets two are fixed at both ends of the magnet fixing holes. An anti-slip hole that penetrates the magnet fixing hole is opened in the middle of the top of reversing block one, and a fixing plug is fixed in the anti-slip hole. A return spring is fixed at the bottom of the fixing plug, and an iron core slider is fixed at the bottom of the return spring. By setting the iron core slider between the two conveyor belts, and in conjunction with the setting of electromagnets two, when it is necessary to control the up and down movement of reversing block one, it is only necessary to control the electromagnets two on one side to be energized. At this time, the iron core slider will be tightly attached to the surface of the conveyor belt on the side it is on.

[0013] A further feature is that silicone pads are provided at both ends of the iron core slider, and the iron core slider is slidably connected in the magnet fixing hole, which makes it easier to clamp the conveyor belt more tightly.

[0014] The beneficial effects of this invention are as follows: 1. With the sampling needle equipped with a gripper and a temporary storage slot, after the minimally invasive robot inserts the needle into the target location, the internal drive mechanism can be activated to drive the sampling needle to move back and forth, scraping a portion of the target tissue at the insertion location and storing the scraped sample in the temporary storage slot. Then, the sampling needle can be withdrawn and the sample can be tested.

[0015] 2. With the set disc head and rotating hole, the position of the needle can be adjusted more precisely to the required position before puncture, and then the adjusted angle can be locked in time with the clamping locking ring and stud pressure block.

[0016] 3. By adjusting the screw, if an obstacle arises during needle insertion that the machine cannot handle, the machine can be quickly shut off, seamlessly switching to manual puncture and insertion, thereby reducing patient discomfort.

[0017] 4. By setting the iron core slider between the two conveyor belts, and in conjunction with the setting of electromagnet two, when it is necessary to control the up and down movement of the reversing block one, it is only necessary to control the electromagnet two on one side to be energized. At this time, the iron core slider will be tightly attached to the surface of the conveyor belt on the side where it is located. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the rear structure of the present invention; Figure 3 This is a top view of the present invention; Figure 4 This is a schematic diagram of the syringe holder structure in this invention; Figure 5 This is an exploded view of the syringe holder frame in this invention; Figure 6 This is a schematic diagram of the internal structure of the drive box of the present invention; Figure 7 This is a schematic diagram of the exploded structure of the sampling needle in this invention; Figure 8 This is a schematic diagram of a half-section of the sampling needle in this invention; Figure 9 This is a schematic diagram of the driving structure of the sampling needle in this invention; Figure 10 This is a schematic diagram of the driving structure of the ablation needle in this invention; Figure 11 This is a cross-sectional view of the commutator block in this invention; Figure 12 This is a schematic diagram of the assembly structure of the commutator block in this invention.

[0019] In the diagram: 1. Syringe holder; 101. Slide groove; 2. Journal; 201. Disc head; 3. Drive head; 301. Stud clamp; 302. Disc groove; 303. Self-locking screw hole; 4. Touch screen; 5. Adjusting screw; 6. Multi-function knob block; 7. Button; 8. Main arm; 9. Rotating base; 10. Platform; 11. Syringe; 1101. Combined perforation; 12. Drive box; 1201. Observation and sampling window; 13. Sliding push plate; 14. Wire harness hose; 15. Slotted slide rail; 16. Dual-axis motor; 17. Fixed support plate; 18. Peristaltic pump; 19. Mounting partition; 20. H-shaped support frame; 21. Suction tube; 22. Normal... 23. Start motor; 24. Drive pulley; 25. Reversing block one; 26. Reversing block two; 27. Drive motor two; 28. Long gear; 29. ​​Driven pulley; 30. Drive wheel; 31. Needle bar fixing block; 32. Ablation needle; 33. Sampling needle; 34. Through crescent groove; 35. Grappling hook; 36. Temporary storage tank; 37. Injection hole; 38. Outlet tube; 39. Boss slider; 40. Anti-torsion sliding shaft; 41. Magnet bushing; 42. Electromagnet one; 43. L-shaped pressure block; 44. Conveyor belt; 45. Electromagnet two; 46. Fixing plug; 47. Iron core slider; 48. Return spring; 49. Rectangular through hole; 40. Magnet fixing hole. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] In this embodiment Reference Figure 1-12 A robot for minimally invasive spinal surgery includes a base 10 fixed to the ground on one side of an operating table. A rotating platform 9 is rotatably connected to the top of the base 10, and a main arm 8 is provided at the top of the rotating platform 9. A drive head 3 is rotatably connected to the top of the main arm 8, and a journal 2 is rotatably connected to the side of the drive head 3 away from the main arm 8. A syringe holder 1 is rotatably sleeved on the outer circumference of the journal 2, and the syringe holder 1 has an overall F-shaped structure. The syringe holder 1 includes a main rotating shaft and two parallel side plates. A sliding push plate 13 is slidably connected between the opposite sides of the two parallel side plates. A drive box 12 with an internal cavity and an overall elongated structure is fixed on the outer circumference of the sliding push plate 13 away from the main shaft. The drive box 12 is parallel to the sliding direction of the sliding push plate 13, and a needle tube 11 is fixed at the end of the drive box 12 away from the sliding push plate 13. The needle tube 11 has a combined perforation 1101 inside, and an ablation needle 31 and a sampling needle 32 are slidably inserted into the combined perforation 1101. The drive box 12 is provided with a drive structure one and a drive structure two that are adapted to the ablation needle 31 and the sampling needle 32 respectively. The drive structure one includes a long gear 27 that is sleeved and fixed to the tail end of the ablation needle 31. The tip of the sampling needle 32 is fixed with a hook 34 on the side near the ablation needle 31, and the outer wall of the sampling needle 32 is provided with a through crescent groove 33 on the side near the ablation needle 31. A temporary storage groove 35 is provided at the bottom of the through crescent groove 33 near the end of the hook 34. An injection hole 36 is reserved in the middle of the sampling needle 32. With the sampling needle 32 provided with the hook 34 and the temporary storage groove 35, after the minimally invasive robot inserts the needle tube 11 into the target position, it is only necessary to control the internal drive mechanism 2 to start driving the sampling needle 32 to move back and forth, so as to scrape a part of the target object at the insertion position and store the scraped sample in the temporary storage groove 35. Then the sampling needle 32 is withdrawn and the sample is tested.

[0022] Please refer to Figure 4-5 A horizontal disc groove 302 is opened on the side of the drive head 3 near the journal 2, and the circular surface of the disc groove 302 is parallel to the rotation axis of the drive head 3. A disc head 201 is rotatably connected in the disc groove 302, and the outer circumferential wall of the disc head 201 is welded to the end of the journal 2. A self-locking screw hole 303 is opened on the side of the drive head 3, which is perpendicular to the disc groove 302. A stud block 301 is rotatably connected in the self-locking screw hole 303, and a clamping spring is fixed between the stud block 301 and the surface of the disc head 201. The syringe holder 1 has a rotating hole at one end near the journal 2 that matches the diameter of the end of the journal 2, and a clamping locking ring is sleeved on the outer wall at the junction of the journal 2 and the syringe holder 1. With the provided disc head 201 and rotating hole, the position of the needle tube 11 can be adjusted to the required position more precisely before puncture, and then the adjusted angle can be locked in time with the clamping locking ring and the stud pressure block 301.

[0023] Please refer to Figure 4-5The syringe holder 1 has two parallel side plates with symmetrical grooves 101 on opposite sides. Rectangular sliders adapted to the grooves 101 are reserved on opposite sides of the sliding advance plate 13. A spherical groove is formed on the side of the sliding advance plate 13 away from the drive box 12, and a rotating ball is rotatably connected within the groove. An adjusting screw 5 is welded to the outer wall of the rotating ball. An internally threaded tube is embedded on the back of the syringe holder 1, and the adjusting screw 5 is rotatably connected within the internally threaded tube. The centerline of the internally threaded tube is aligned with the forward direction of the sliding advance plate 13. By using the adjusting screw 5, if an obstacle arises during the advancement of the needle tube 11 that the machine cannot handle, the advancement can be quickly cut off, seamlessly replacing it with manual puncture and advancement, thereby reducing patient discomfort.

[0024] Please refer to Figure 2-5 The end of the adjusting screw 5 away from the sliding push plate 13 is fixed with a multi-functional knob block 6, and the surface of the multi-functional knob block 6 is provided with a button 7; used to switch the forward and backward movement of the ablation needle 31 and the sampling needle 32. The syringe holder 1 is fitted with a touch screen 4 on the side away from the drive head 3, and the outer circumference of the sliding push plate 13 has a wire hole that communicates with the inside of the drive box 12. A wire harness hose 14 is provided between the outlet end of the wire hole and the wire hole of the main arm 8. This is beneficial for concentrating complex wire harnesses, making it easy to wrap the machine during operation and prevent the machine from being contaminated by blood stains.

[0025] Please refer to Figure 4 The drive box 12 has an observation sampling window 1201 in the middle of the side away from the drive head 3. With the observation sampling window 1201, when using it, you only need to pull the head of the sampling needle 32 back to the position of the observation sampling window 1201.

[0026] Please refer to Figure 4 , Figure 6 and Figure 10 The drive structure includes a normally open motor 22 and a mounting partition 19 fixed on the inner wall of the drive box 12 near both ends of the observation sampling window 1201. The output shaft of the normally open motor 22 is fixed with a drive pulley 23. A bearing seat is fixed in the middle of the lower surface of the mounting partition 19. A rotating rod is rotatably connected in the middle of the bearing seat. A driven pulley 28 is fixed at the end of the rotating rod away from the bearing seat. The same conveyor belt 43 is wound between the driven pulley 28 and the driving pulley 23, and a reversing block 25 is slidably connected between the two working surfaces of the conveyor belt 43; an L-shaped pressure block 42 is fixed on the side of the reversing block 25 near the ablation needle 31, and an I-shaped rotating block that is compatible with the L-shaped pressure block 42 is fixed at the top of the ablation needle 31, and the bottom end of the I-shaped rotating block is fixed to the ablation needle 31; Furthermore, an I-shaped anti-detachment block is fixed to the top of the long gear 27, and an L-shaped pressure block 42 is sleeved on the outer circumference of the I-shaped anti-detachment block. The L-shaped pressure block 42 is fixed to the side of the reversing block 25 by screws. A second drive motor 26 is fixed near the middle of the inner wall of the drive box 12, and a drive gear that meshes with the long gear 27 is fixed to the top of the output shaft of the second drive motor 26. Through the cooperation of the reversing block 25 and the conveyor belt 43, the ablation needle 31 can be pushed forward and pulled back, and the ablation needle 31 can also be rotated under the action of the drive gear.

[0027] In this invention, the ablation needle 31 is made of spring steel, and the tip of the ablation needle 31 is bent. By setting a bent section with elastic recovery function, the area of ​​the ablation and erosion area can be changed according to the length of the ablation needle 31 and the rotation.

[0028] Please refer to Figure 6 and Figure 9 The second drive structure includes grooved slide rails 15 fixed to the inner walls of opposite sides of the drive box 12 with opposite openings. Symmetrical and equal-height boss sliders 38 are slidably connected between the two grooved slide rails 15. A fixed support plate 17 is fixed between the two boss sliders 38. A dual-axis motor 16 is fixed on the upper surface of the fixed support plate 17 between the two boss sliders 38. An active wheel 29 is fixed to the output shaft end of the dual-axis motor 16 near the sampling needle 32. A connecting rod is rotatably connected to the circumferential edge of the disk surface of the active wheel 29. A needle rod fixing block 30 is rotatably connected to the bottom end of the connecting rod. The needle rod fixing block 30 is snapped into the top outer wall of the sampling needle 32. By starting the dual-axis motor 16, the sampling needle 32 can be quickly slid up and down, and then the sample can be grasped in conjunction with the protruding gripper hook 34. Please refer to Figure 6 and Figure 9 The other end of the output shaft of the dual-axis motor 16 is fixed with an anti-torsion sliding shaft 39, and the end of the anti-torsion sliding shaft 39 is slidably sleeved with a magnet bushing 40. The upper surface of the fixed plate 17 is fixed with a peristaltic pump 18 at the end away from the dual-axis motor 16. The rotation shaft of the peristaltic pump 18 coincides with the axis of the magnet bushing 40 and there is a gap between the end of the pump and the end of the magnet bushing 40. Two electromagnets 41 are fixed on the side of the peristaltic pump 18 near the magnet bushing 40; and a suction tube 21 and an outlet tube 37 are fixed at the inlet and outlet ends of the peristaltic pump 18, respectively. The end of the outlet tube 37 away from the peristaltic pump 18 is connected to the top of the injection hole 36 in the sampling needle 32. By driving the peristaltic pump 18 to rotate by the electromagnets 41, the medicine can be injected by energizing the electromagnets 41 when medicine needs to be injected.

[0029] Please refer to Figure 6 and Figure 9The top of the two protruding sliders 38 is fixed with the same H-shaped abutment 20, and the top of the H-shaped abutment 20 is fixed with a reversing block 1 24 on the side of the conveyor belt 43. The internal structure of reversing block 1 24 and reversing block 25 is the same. The reversing block 1 24 is a cuboid structure. The top of reversing block 1 24 has two vertical rectangular through holes 48. The side of reversing block 1 24 has a magnet fixing hole 49 that passes through both rectangular through holes 48. The two ends of the magnet fixing hole 49 are respectively fixed with symmetrical electromagnets 2 44. The top of reversing block 1 24 has an anti-slip hole that passes through the magnet fixing hole 49. A fixing plug 45 is fixed in the anti-slip hole. A return spring 47 is fixed at the bottom of the fixing plug 45. An iron core slider 46 is fixed at the bottom of the return spring 47. By setting the iron core slider 46 between the two conveyor belts 43, and cooperating with the setting of the second electromagnet 44, when it is necessary to control the reversing block 24 to move up and down, it is only necessary to control the second electromagnet 44 on one side to be energized. At this time, the iron core slider 46 will be tightly attached to the surface of the conveyor belt 43 on the side where it is located.

[0030] In this invention, silicone pads are provided at both ends of the iron core slider 46, and the iron core slider 46 is slidably connected in the magnet fixing hole 49, which makes it easier to clamp the conveyor belt 43 more tightly.

[0031] When using this device, first place it on the side of the operating table and fix it to the ground. Then, use remote control to move the drive head 3 to the puncture position. At this time, the extension direction of the needle tube 11 is roughly aligned with the path to be punctured. Then, control the sliding push plate 13 in the syringe holder 1 to slowly advance the needle tube 11 for insertion. Before puncture, ensure that the tips of the sampling needle 32 and the ablation needle 31 at the tip of the needle tube 11 are retracted into the needle tube 11. Sampling is performed when the needle tube 11 is inserted into the target position. If an obstacle that the machine cannot handle occurs during the advancement of the needle tube 11, quickly cut off the machine advancement and manually and slowly rotate the multi-functional knob block 6 at the end of the adjusting screw 5 to achieve seamless replacement with manual puncture advancement. With the sampling needle 32 equipped with a gripper 34 and a temporary storage slot 35, after the minimally invasive robot inserts the needle 11 into the target location, it is only necessary to control the internal drive mechanism 2 to drive the sampling needle 32 to move back and forth, scraping a portion of the tissue from the target location and storing the scraped sample in the temporary storage slot 35. Then, the sampling needle 32 is withdrawn, and the sample is analyzed. Through the cooperation of the reversing block 25 and the conveyor belt 43, the advancement and withdrawal of the ablation needle 31 are realized. The device works and can rotate the ablation needle 31 under the action of the drive gear; in conjunction with the bending section with elastic recovery function, the area of ​​the ablation and erosion area can be changed according to the length of the ablation needle 31 and the rotation. In particular, by setting the iron core slider 46 between the two conveyor belts 43, and in conjunction with the setting of the electromagnet 2 44, when it is necessary to control the reversing block 1 24 to move up and down, it is only necessary to control the electromagnet 2 44 on one side to be energized. At this time, the iron core slider 46 will be tightly attached to the surface of the conveyor belt 43 on the side where it is located.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for minimally invasive spinal surgery, characterized in that, The device includes a platform (10) fixed to the ground on one side of the operating table. A rotating base (9) is rotatably connected to the top of the platform (10), and a main arm (8) is provided at the top of the rotating base (9). A drive head (3) is rotatably connected to the top of the main arm (8), and a journal (2) is rotatably connected to the side of the drive head (3) away from the main arm (8). A syringe holder (1) is rotatably fitted onto the outer circumference of the journal (2), and the syringe holder (1) has an overall F-shaped structure. (1) Includes a main rotating shaft and two parallel side plates. The two parallel side plates are slidably connected to the same sliding propulsion disk (13) on opposite sides. The outer circumference of the sliding propulsion disk (13) away from the main rotating shaft is fixed with a drive box (12) with an internal cavity and an overall elongated structure. The drive box (12) is parallel to the sliding direction of the sliding propulsion disk (13). A needle tube (11) is fixed at the end of the drive box (12) away from the sliding propulsion disk (13). The needle tube (11) has a combined perforation (1101) inside, and an ablation needle (31) and a sampling needle (32) that fit together are slidably inserted into the combined perforation (1101). The drive box (12) is provided with a drive structure one and a drive structure two that are adapted to the ablation needle (31) and the sampling needle (32). The sampling needle (32) has a hook (34) fixed on the side of the tip of the needle (31) near the ablation needle (31), and the outer wall of the sampling needle (32) has a through crescent groove (33) on the side of the ablation needle (31). A temporary storage groove (35) is opened at the bottom of the through crescent groove (33) near the hook (34), and an injection hole (36) is reserved in the middle of the sampling needle (32). The drive structure includes a normally open motor (22) and a mounting partition (19) fixed on the inner wall of the drive box (12) near both ends of the observation sampling window (1201). The output shaft of the normally open motor (22) is fixed with a drive pulley (23). A bearing seat is fixed in the middle of the lower surface of the mounting partition (19). A rotating rod is rotatably connected in the middle of the bearing seat. A driven pulley (28) is fixed at the end of the rotating rod away from the bearing seat. The same conveyor belt (43) is wound between the driven pulley (28) and the drive pulley (23). A reversing block (25) is slidably connected between the two working surfaces of the conveyor belt (43). The second drive structure includes grooved slide rails (15) with opposite openings on the inner walls of opposite sides of the drive box (12), and symmetrical and equal-height boss sliders (38) are slidably connected between the two grooved slide rails (15). The top ends of the two protruding sliders (38) are fixed with the same H-shaped abutment (20), and the top end of the H-shaped abutment (20) is fixed with a reversing block one (24) on the side of the conveyor belt (43). The internal structure of reversing block one (24) and reversing block two (25) is the same. The reversing block one (24) is a cuboid in shape. The top end of reversing block one (24) has two vertical rectangular through holes (48). The surface has a magnet fixing hole (49) that is connected to both rectangular through holes (48). Two electromagnets (44) are fixed at both ends of the magnet fixing hole (49). A non-slip hole is opened at the top center of the commutator block (24) that is connected to the magnet fixing hole (49). A fixing plug (45) is fixed in the non-slip hole. A return spring (47) is fixed at the bottom end of the fixing plug (45). An iron core slider (46) is fixed at the bottom end of the return spring (47).

2. The robot for minimally invasive spinal surgery according to claim 1, characterized in that, The drive head (3) has a horizontal disc groove (302) on one side near the journal (2), and the circular surface of the disc groove (302) is parallel to the rotation axis of the drive head (3). A disc head (201) is rotatably connected in the disc groove (302), and the outer circumference of the disc head (201) is welded to the end of the journal (2). The side of the drive head (3) has a self-locking screw hole (303) that is perpendicular to and communicates with the disc groove (302). A stud block (301) is rotatably connected in the self-locking screw hole (303), and a clamping spring is fixed between the stud block (301) and the surface of the disc head (201). The syringe holder (1) has a rotating hole at one end near the journal (2) that matches the diameter of the end of the journal (2), and a clamping locking ring is sleeved on the outer wall at the junction of the journal (2) and the syringe holder (1).

3. The robot for minimally invasive spinal surgery according to claim 1, characterized in that, The syringe holder (1) has two parallel side plates with symmetrical sliding grooves (101) on opposite sides, and rectangular sliders adapted to the sliding grooves (101) are reserved on opposite sides of the sliding push plate (13); the sliding push plate (13) has a spherical groove on the side away from the drive box (12), and a rotating ball is rotatably connected in the spherical groove, and an adjusting screw (5) is welded to the outer wall of the rotating ball; the syringe holder (1) has an internal threaded tube embedded on the back, and the adjusting screw (5) is rotatably connected in the internal threaded tube, and the center line of the internal threaded tube is consistent with the forward direction of the sliding push plate (13).

4. A robot for minimally invasive spinal surgery according to claim 3, characterized in that, The adjusting screw (5) is fixed with a multi-functional knob block (6) at one end away from the sliding push plate (13), and the surface of the multi-functional knob block (6) is provided with a button (7); used to switch the forward and backward movement of the ablation needle (31) and the sampling needle (32); the syringe holder (1) is fitted with a touch screen (4) on the side away from the drive head (3), and the outer circumference of the sliding push plate (13) is provided with a wire hole that communicates with the inside of the drive box (12), and a wire harness hose (14) is provided between the outlet end of the wire hole and the wire hole of the main arm (8).

5. A robot for minimally invasive spinal surgery according to claim 1, characterized in that, An observation sampling window (1201) is provided in the middle of the side of the drive box (12) away from the drive head (3).

6. A robot for minimally invasive spinal surgery according to claim 1, characterized in that, The drive structure also includes an L-shaped pressure block (42) fixed on the side of the reversing block (25) near the ablation needle (31), and an I-shaped rotating block that is compatible with the L-shaped pressure block (42) is fixed at the top of the ablation needle (31). The top of the ablation needle (31) is fitted with a long gear (27), and the top of the long gear (27) is fixed with an I-shaped anti-detachment block. The outer circumferential wall of the I-shaped anti-detachment block is fitted with an L-shaped pressure block (42), and the L-shaped pressure block (42) is fixed to the side of the reversing block two (25) by screws. The inner wall of the drive box (12) is fixed with a drive motor two (26) near the middle, and the top of the output shaft of the drive motor two (26) is fixed with a drive gear that meshes with the long gear (27).

7. A robot for minimally invasive spinal surgery according to claim 6, characterized in that, The ablation needle (31) is made of spring steel, and the tip of the ablation needle (31) is bent.

8. A robot for minimally invasive spinal surgery according to claim 1, characterized in that, A fixed plate (17) is fixed between the two boss sliders (38), and a dual-axis motor (16) is fixed between the two boss sliders (38) on the upper surface of the fixed plate (17). A drive wheel (29) is fixed at the end of the output shaft of the dual-axis motor (16) near the sampling needle (32). A connecting rod is rotatably connected at the circumferential edge of the disk surface of the drive wheel (29), and a needle bar fixing block (30) is rotatably connected at the bottom end of the connecting rod. The needle bar fixing block (30) is snapped onto the top outer wall of the sampling needle (32). The other end of the output shaft of the dual-axis motor (16) is fixed with an anti-torsion sliding shaft (39), and the end of the anti-torsion sliding shaft (39) is slidably sleeved with a magnet bushing (40). The upper surface of the fixed plate (17) away from the dual-axis motor (16) is fixed with a peristaltic pump (18). The rotation shaft of the peristaltic pump (18) coincides with the axis of the magnet bushing (40) and there is a gap between the end of the peristaltic pump (18) and the end of the magnet bushing (40). Two electromagnets (41) are fixed on the side of the peristaltic pump (18) near the magnet bushing (40). The inlet and outlet ends of the peristaltic pump (18) are respectively fixed with a suction pipe (21) and an outlet pipe (37). The end of the outlet pipe (37) away from the peristaltic pump (18) is connected to the top of the injection hole (36) in the sampling needle (32).

9. A robot for minimally invasive spinal surgery according to claim 8, characterized in that, Both ends of the iron core slider (46) are provided with silicone pads, and the iron core slider (46) is slidably connected in the magnet fixing hole (49).

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