Self-induction unlocking type spine minimally invasive decompression manipulator

Abstract

The invention relates to a self-induction unlocking type spine minimally invasive decompression manipulator which comprises a manipulator body, a self-induction unlocking device is arranged on the manipulator body, a guide device is arranged on the self-induction unlocking device, a replaceable rod seat is arranged below the guide device, and an orthopedic power cutter is arranged in the guide device. The replaceable rod seat is provided with a guide rod, the lower end of the guide rod and the lower end of the orthopedic power cutter are jointly connected with a rotary bone hook assembly, the guide rod and the orthopedic power cutter are arranged in a collinear mode, and an adjusting device is arranged at the position, located at the upper end of the guide device, of the manipulator body and comprises a locking assembly arranged on the guide device. Fine adjustment devices are distributed on the two sides of the locking assembly in a mirror image mode, a connecting device is arranged on one side of the manipulator body, and a shaft fixing device is arranged on the other side of the manipulator body. Therefore, the forward path collinear of the guide rod and the orthopedic power cutter can be effectively met, and corresponding cutting or excision operation can be smoothly carried out. And reliable positioning of the inner surface of the vertebral plate can be achieved through the rotary bone hook assembly, and the cutting or excision precision is improved.

Description

Technical Field

[0001] The invention relates to a spinal minimally invasive decompression manipulator, in particular to a self-sensing unlocking type spinal minimally invasive decompression manipulator. Background Art

[0002] In recent years, with the development of spinal surgery technology, various surgical methods have been applied to the clinical treatment of spinal degenerative diseases, such as cervical disc herniation, lumbar disc herniation, etc., such as total laminectomy, hemi-laminectomy, artificial pedicle screw implantation and internal fixation, navigation pedicle screw implantation and internal fixation, discectomy and fusion, endoscopic minimally invasive discectomy. Spinal surgical robots are also being gradually introduced into the field of spinal surgery, such as spinal puncture biopsy, pedicle screw placement, etc.

[0003] Although spinal surgery is diverse and complex, it can usually be divided into two parts: decompression and internal fixation. It can be seen that decompression is a very important surgical operation link in minimally invasive spinal surgery. For robots currently involved in spinal decompression surgery, pressure sensors are used to control the "feeding" depth of orthopedic power (such as ultrasonic bone knives, micro-oscillating saws, grinding drills, etc.). When the pressure sensor shows that the pressure of the orthopedic power tool on the vertebral bone is less than a certain value, it is considered that the bone is cut through. However, in fact, when the quality of the vertebral bone is poor, the pressure sensor in the vertical direction is difficult to accurately reflect the changes in the pressure of the orthopedic power tool on the vertebral bone, and cannot accurately control the "feeding" depth. There are certain risks in using it, and it is easy to cause improper displacement of the tool, such as too shallow to cut through or too deep into the spinal canal. Sometimes it is even necessary to constantly correct the "feeding" depth through manual naked eye observation. This has become a bottleneck problem for spinal minimally invasive decompression surgery robots, and has seriously restricted the development of spinal minimally invasive decompression surgery robots in the field of spinal surgery.

[0004] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create a self-sensing unlocking spinal minimally invasive decompression manipulator to make it more valuable for industrial use. Summary of the invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide a self-sensing unlocking minimally invasive spinal decompression manipulator.

[0006] The self-sensing unlocking type minimally invasive spinal decompression manipulator of the present invention comprises a manipulator body, wherein: the manipulator body is provided with a self-sensing unlocking device, the self-sensing unlocking device is provided with a guiding device, a replaceable rod seat is provided below the guiding device, an orthopedic power tool is provided in the guiding device, the replaceable rod seat is provided with a guiding rod, the guiding rod and the lower end of the orthopedic power tool are jointly connected with a rotating bone hook assembly, the guiding rod and the orthopedic power tool are arranged in a colinear manner, the adjusting device comprises a locking assembly arranged on the guiding device, fine-tuning devices are distributed in mirror images on both sides of the locking assembly, a connecting device is provided on one side of the manipulator body, and an axis fixing device is provided on the other side of the manipulator body;

[0007] The self-sensing unlocking device includes a connecting seat connected to a robot body, the connecting seat is connected to an adjusting plate via a rotating shaft, the adjusting plate is located at the lower end of the guide device, a straightening spring is arranged between the connecting seat and the adjusting plate, a limiting rod is threadedly connected to the connecting seat, the top of the limiting rod is in contact with the adjusting plate, a supporting column is arranged on one side of the connecting seat, a sliding block is movably connected to the supporting column, a swing arm is movably arranged on the sliding block, an extension plate is arranged at the upper end of the locking assembly of the robot body, a contact frame is arranged on the extension plate toward the direction of the swing arm, a touch plate is arranged in the contact frame, and the touch plate is in contact with the swing arm.

[0008] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the guide device includes a lower spring cover connected to the manipulator body, the lower spring cover is connected to the replaceable rod seat, an upper spring cover is sleeved on the lower spring cover, a guide space is formed between the lower spring cover and the upper spring cover, a spring assembly is arranged in the guide space, the orthopedic power tool is inserted into the spring assembly, and a locking assembly is arranged on the upper end of the upper spring cover.

[0009] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the lower spring cover is connected to the manipulator body by a fastening screw.

[0010] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the replaceable rod seat includes a rod seat body screwed to the lower end of the manipulator body, the rod seat body extends downward with mirror-distributed positioning fins, and a guide rod is screwed between the positioning fins.

[0011] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the orthopedic power tool includes a tool barrel arranged on the outside of the guide device and the inside of the locking assembly, the tool barrel has a tool body extending downward, the lower end of the tool body is provided with a main mounting hole, the lower end of the guide rod is provided with a secondary mounting hole, and a rotating bone hook assembly is connected between the main mounting hole and the secondary mounting hole by mounting screws; the lower end of the guide rod is also provided with a flat guide mechanism.

[0012] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the rotating bone hook assembly includes a shuttle-shaped guide block, the shuttle-shaped guide block is provided with a mounting screw, and the inner wall of the shuttle-shaped guide block is provided with a plurality of mirror-distributed contact assemblies; the contact assembly is a guide contact block, and the guide contact block clamps the lower end of the guide rod.

[0013] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the locking assembly includes a floating cross plate arranged at the upper end of the guide device, and the upper ends of the orthopedic power tool and the fine-tuning device pass through the floating cross plate; the floating cross plate includes a hoop plate divided into front and rear petals, and the hoop plates are connected by locking screws.

[0014] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the fine-tuning device includes a guide column connected to the manipulator body, a positioning cone rod is provided at the bottom of the guide column, a fixed sleeve is provided on the guide column, a locking screw is provided on the fixed sleeve, a fine-tuning bolt is movably connected to the top of the guide column, the fine-tuning bolt is located at the upper end of the locking assembly, and a fine-tuning screw sleeve is provided on the fine-tuning bolt.

[0015] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the connecting device is an L-shaped connecting sleeve, and a fixing hole is provided on the L-shaped connecting sleeve.

[0016] Furthermore, in the above-mentioned self-sensing unlocking minimally invasive spinal decompression manipulator, the fixed axis device includes a Y-axis rod, and the Y-axis rod is connected to the manipulator body through a hand-tightened cone head.

[0017] By means of the above scheme, the present invention has at least the following advantages:

[0018] 1. The lower end of the guide rod is connected with a rotating bone hook assembly, which can realize the precise depth positioning of the inner surface of the vertebral plate, effectively control the "feed depth" of the orthopedic power tool, and ensure that the guide rod and the forward path of the orthopedic power tool are in line, so as to realize the completely precise cutting or resection operation of the corresponding vertebral plate bone.

[0019] 2. It is equipped with an independent guide device, which is equipped with a spring assembly, which can always provide appropriate upward pulling force, so that the orthopedic power tool can adapt to the height changes of the inner surface of the vertebral plate during use, effectively preventing the orthopedic power tool assembly from piercing the nerves and ensuring the safety of the operation.

[0020] 3. When the rotating bone hook sinks into the small concave on the inner surface of the vertebral plate, making it impossible for the tool to move forward to cut or remove, the manipulator body rotates significantly around the axis, which means that the manipulator of the present invention can autonomously "sense" the "stuck" state of the rotating bone hook. The touch plate will continue to squeeze the swing arm to drive the contact frame downward as the rotation angle of the manipulator body around the axis continues to increase. The contact frame automatically pushes the floating cross plate downward, and the rotating bone hook can drop out of the small concave to achieve automatic "unlocking". Instantly, the rotating bone hook is lifted by the spring again to prevent the tool and the rotating bone hook from piercing the nerve, ensuring the safety of the operation. In this way, the orthopedic power tool can continue to move forward and automatically cut or remove the vertebral plate bone tissue smoothly, achieving safe and reliable nerve decompression.

[0021] 4. It can be adapted to different minimally invasive spinal decompression surgical robots.

[0022] 5. The overall structure is simple, easy to manufacture and maintain, and easy to disinfect.

[0023] 6. Small size, easy to transport and carry.

[0024] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a self-sensing unlocking minimally invasive spinal decompression manipulator.

[0026] Figure 2 It is a schematic diagram of the front structure of the self-sensing unlocking minimally invasive spinal decompression manipulator.

[0027] Figure 3 This is a schematic diagram of the semi-section structure of the self-sensing unlocking minimally invasive spinal decompression manipulator. (The guide rod and the orthopedic power tool overlap and block each other)

[0028] Figure 4 It is a schematic diagram of the combination of the rotating bone hook assembly.

[0029] Figure 5 This is a schematic diagram of the installation of the self-sensing unlocking device.

[0030] Figure 6 It is a side structural diagram of the self-sensing unlocking device.

[0031] The meanings of the reference numerals in the drawings are as follows.

[0032] 1 Robot body 2 Replaceable rod holder

[0033] 3 Orthopedic Power Tool 4 Guide Rod

[0034] 5 Rotating bone hook assembly 6 Connecting device

[0035] 7 Fixed axis device 8 Lower spring cover

[0036] 9 Upper spring cover 10 Spring assembly

[0037] 11 Positioning fin 12 Mounting screw

[0038] 13 Flat flow guide 14 Guide contact block

[0039] 15 Floating cross plate 16 Guide column

[0040] 17 Positioning cone rod 18 Fixed sleeve

[0041] 19 Fine-tuning bolt 20 Fine-tuning screw sleeve

[0042] 21 Hand-tightened cone head 22 Tool barrel

[0043] 23 Self-sensing unlocking device 24 Connecting seat

[0044] 25 Adjustment plate 26 Righting spring

[0045] 27 Limit rod 28 Support column

[0046] 29 Slider 30 Swing arm

[0047] 31 Touch panel 32 Expansion board

[0048] 33 contact frame 34 shaft

[0049] 35 Traction shaft DETAILED DESCRIPTION

[0050] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0051] like Figures 1 to 6The self-sensing unlocking type minimally invasive spinal decompression manipulator includes a manipulator body 1, which is different in that: a self-sensing unlocking device 23 is provided on the manipulator body 1, and a guide device is provided on the self-sensing unlocking device 23, which is used to guide the subsequent orthopedic power tool 3 and the guide rod 4 to the corresponding working position. Specifically, a replaceable rod seat 2 is provided below the guide device, and an orthopedic power tool 3 is provided in the guide device. At the same time, in order to achieve stable slotting and cutting or resection of vertebral lamina bone, a guide rod 4 is provided on the replaceable rod seat 2, and the guide rod 4 and the lower end of the orthopedic power tool 3 are connected together with a rotating bone hook assembly 5. During use, the guide rod 4 is collinear with the forward path of the orthopedic power tool 3. In order to meet the adjustment and control of the cutting or resection depth of the vertebral lamina bone, the present invention is provided with a locking assembly at the upper end of the guide device of the manipulator body 1, and fine-tuning devices are distributed on both sides of the locking assembly in a mirror image. Furthermore, considering the need for docking with the surgical robot, a connecting device 6 is provided on one side of the manipulator body 1. If corresponding axial forward control is required, an axis fixing device 7 may be provided on the other side of the robot body 1. During manufacturing, the robot body 1 may select a universal base for a tool holder to reduce implementation costs.

[0052] In order to better implement the present invention, the self-sensing unlocking device 23 used includes a connecting seat 24 connected to the manipulator body 1, and the connecting seat 24 is connected to an adjusting plate 25 through a rotating shaft 34, and the adjusting plate 25 is located at the lower end of the guide device. At the same time, a straightening spring 26 is arranged between the connecting seat 24 and the adjusting plate 25 to facilitate resetting after unlocking. A limit rod 27 is threadedly connected to the connecting seat 24, and the top of the limit rod 27 is in contact with the adjusting plate 25. In this way, the final inclination angle of the manipulator body 1 and the rotating bone hook assembly 5 during unlocking can be adjusted as needed. Considering the convenience of the unlocking operation, a support column 28 is arranged on one side of the connecting seat 24, and a slider 29 is movably connected to the upper part of the support column 28, and a swing arm 30 is movably arranged on the slider 29. During implementation, in order to achieve smooth guiding of the slider, the upper end of the support column 28 presents a semi-enclosed structure, and the semi-enclosed structure is provided with a mirror-distributed guide groove, and a slider 29 ( Figure 6Because the structure is blocked, it is indicated by a dotted frame), and the guide structure of the slider 29 itself is embedded in the guide groove to achieve its free movement. Considering the traction needs of the slider 29, the swing arm 30 is a multi-link structure, the upper end of which is connected to the support column 28, and the lower end of which is connected to the slider 29, and the multi-link structure is provided with a traction shaft 35. In this way, the swing arm 30 can have a suitable deformation stroke under the traction of the slider 29. In addition, considering the need to achieve self-unlocking, the manipulator body 1 is provided with an expansion plate 32 at the upper end of the locking assembly, and the expansion plate 32 is provided with a contact frame 33 in the direction of the swing arm 30, and a touch plate 31 is provided in the contact frame 33. After assembly, the touch plate 31 contacts the swing arm 30. Therefore, when the orthopedic power tool is blocked from moving forward, the touch plate 31 can automatically squeeze the swing arm 30 to achieve unlocking movement guidance.

[0053] During use, when the rotating bone hook assembly 5 is stuck, the touch plate 31 can automatically and continuously squeeze the swing arm 30 as the rotation angle of the manipulator body 1 continues to increase. Thus, the floating cross plate 15 moves downward by the pressure exerted by the touch plate 31 on the contact frame 33. As a result, the rotating bone hook assembly 5 moves downward, achieving automatic escape and unlocking.

[0054] In combination with a preferred embodiment of the present invention, the guide device includes a lower spring cover 8 connected to the manipulator body 1, the lower spring cover 8 is connected to the replaceable rod seat 2, and an upper spring cover 9 is sleeved on the lower spring cover 8. As a result, a guide space is formed between the lower spring cover 8 and the upper spring cover 9. In order to achieve effective spacing adjustment, a spring assembly 10 is provided in the guide space, and the orthopedic power tool 3 is inserted into the spring assembly 10. At the same time, in order to meet the combination positioning of the orthopedic power tool 3, a locking assembly is provided at the upper end of the upper spring cover 9. During assembly, the lower spring cover 8 is connected to the manipulator body 1 by a fastening screw. In this way, effective locking can be achieved, and no shaking will occur during use and adjustment, ensuring accurate positioning during subsequent use.

[0055] Further, in order to select the appropriate type of guide rod 4 for different surgical needs and facilitate quick replacement, the replaceable rod seat 2 includes a rod seat body connected to the lower end of the manipulator body 1 by screws. Specifically, the rod seat body extends downward with mirror-distributed positioning fins 11, and the guide rod 4 is screwed between the positioning fins 11. In this way, the locking and positioning of the guide rod 4 can be achieved.

[0056] In view of the actual implementation, the orthopedic power tool 3 includes a tool barrel 22 arranged on the outside of the guide device and the inside of the locking assembly, and the tool barrel 22 extends downward with a tool body. In this way, while satisfying the positioning, it can be docked with the orthopedic power tool 3 preset by the surgical robot, so that the orthopedic power tool 3 enters the working state of the ultrasonic bone cutter. At the same time, considering the stable connection with the rotating bone hook assembly 5, so that it can perform effective path guidance, the present invention is provided with a main mounting hole at the lower end of the tool body, and a secondary mounting hole is provided at the lower end of the guide rod 4, and the rotating bone hook assembly 5 is connected between the main mounting hole and the secondary mounting hole by a mounting screw 12. At the same time, a flat flow guide mechanism 13 is also provided at the lower end of the guide rod 4. In this way, during use, it will not constitute an obstruction to the cut or removed vertebral plate bone tissue, and will not affect the forward movement of the orthopedic power tool 3.

[0057] In order to provide effective forward guidance after entering the spinal canal and ensure that the orthopedic power tool 3 and the guide rod 4 are always in a colinear state, the rotating bone hook assembly 5 includes a shuttle-shaped guide block, on which a mounting screw 12 is provided for easy locking. At the same time, in order to achieve a more fitting combination, the inner wall of the shuttle-shaped guide block is provided with a plurality of mirror-distributed contact components. Specifically, the contact component is a guide contact block 14, which clamps the flat guide mechanism 13 at the lower end of the guide rod 4. In addition, a clearance groove is provided on the shuttle-shaped guide block, which does not contact the lower end of the orthopedic power tool 3, and there will be no interference in the cutting. In this way, the rotating bone hook assembly 5 can move along the inner surface of the vertebral plate in the spinal canal under the traction of the guide rod 4, and then guide the orthopedic power tool 3 to continue to move forward to cut off or remove the corresponding vertebral plate bone tissue.

[0058] Considering the need for synchronous control and adjustment during use, the locking assembly used includes a floating cross plate 15 arranged at the upper end of the upper spring cover 9 to which the guide device belongs. At the same time, the upper ends of the orthopedic power tool 3 and the fine-tuning device pass through the floating cross plate 15. Considering the convenience of assembly and combined locking, the floating cross plate 15 includes a hoop with front and rear petals, and the hoop pieces are connected by locking screws. In this way, under the operation of the fine-tuning device, the locking assembly can drive the orthopedic power tool 3 and the guide rod 4 to move up and down in coordination.

[0059] Further, in order to better fit the part that needs to be removed and have better vertical guide adjustment, the fine-tuning device includes a guide column 16 connected to the manipulator body 1. Specifically, considering the need for locking the lower end between the guide column 16 and the manipulator body 1, a positioning cone rod 17 is provided at the bottom of the guide column 16. The bottom of the guide column 16 is clamped by the positioning cone rod 17 to connect it to the manipulator body 1. Of course, the bottom bolt and other methods can also be used to achieve the limit, which will not be repeated here. At the same time, considering the final positioning of the orthopedic power tool 3 moving downward, a fixed sleeve 18 is sleeved on the guide column 16, and a locking screw is provided on the fixed sleeve 18. In this way, after the fixed sleeve 18 contacts the lower end of the manipulator body 1, the orthopedic power tool 3 can no longer continue to explore. During use, in order to achieve convenient fine-tuning, the top of the guide column 16 is movably connected with a fine-tuning bolt 19, the fine-tuning bolt 19 is located at the upper end of the locking assembly, and a fine-tuning screw sleeve 20 is provided on the fine-tuning bolt 19. In this way, by adjusting the fine-tuning screw sleeve 20, pressure can be applied to the locking assembly to cause the orthopedic power tool 3, the guide rod 4, and the rotating bone hook assembly 5 to descend synchronously.

[0060] For non-adjustable surgical robots, the connecting device 6 used is an L-shaped connecting sleeve, and a fixing hole is provided on the L-shaped connecting sleeve. In this way, it can be docked with the connecting rod of the surgical robot through the fixing hole and locked by the corresponding locking mechanism. This structure is also suitable for connecting auxiliary instruments of non-fully automatic surgical robots. At the same time, it is convenient to disassemble and disinfect. Of course, if it is docked with a robot that can be operated automatically, in order to meet the effective Y-axis forward direction guidance, it is convenient to directly drive the orthopedic power tool 3 to move forward. The fixed axis device 7 used includes a Y-axis rod, and the Y-axis rod is connected to the manipulator body 1 through a hand-tightened cone head 21. In this way, it can be directly connected to the Y-axis drive device of the surgical robot to achieve effective forward control in the Y-axis direction. In addition, the characteristics of the hand-tightened cone head 21 can be used to facilitate disassembly or gap adjustment, which is also convenient for subsequent disassembly and disinfection.

[0061] The working principle of the present invention is as follows:

[0062] Take the example of a surgical robot that is connected to automation to perform operations.

[0063] At the corresponding position of the diseased vertebral plate, an incision is made in advance. Afterwards, the rotating bone hook assembly 5 cooperates with the orthopedic power tool 3 and the lower end of the guide rod 4 to enter the spinal canal close to the inner surface of the vertebral plate for preparation.

[0064] Next, the operator can manually adjust the corresponding fine-tuning screw sleeve 20 to allow the guide column 16 to guide the floating cross plate 15 to be adjusted down to an appropriate depth, so that the spring assembly 10 in the guide device can pull the rotatable bone hook assembly 5 with an appropriate pulling force to ensure that the rotatable bone hook assembly 5 is in the vertebral canal and is in a suitable preset position that is tightly attached to the inner surface of the vertebral plate.

[0065] Afterwards, the orthopedic power tool 3 starts to work, and under the guidance of the Y-axis drive device connected to the Y-axis rod, the vertebral lamina bone is subjected to corresponding slotting, cutting or removal operations. During this period, the rotating bone hook assembly 5 can continuously slide along the inner surface of the vertebral lamina in the spinal canal to achieve guided forward movement.

[0066] Finally, the orthopedic power tool 3 is always in a suitable vertebral bone cutting state or resection depth.

[0067] During use, since the inner surface of the vertebral plate is not a smooth surface, there may be small depressions. Therefore, the rotating bone hook 5 may be "stuck" in the small depression under the upward pulling effect of the spring assembly 10, making it difficult to proceed with cutting.

[0068] Relying on the intervention of the self-sensing unlocking device 23, the manipulator body 1 rotates around the rotating shaft 34. Specifically, when the rotating bone hook 5 is in a stuck state, the angle of the touch plate 31 rotating around the rotating shaft 34 along with the manipulator body 1 continues to increase. As a result, the touch plate 31 continues to automatically squeeze the swing arm 30, and then pushes the contact frame 33 to move downward. At the same time, the contact frame 33 automatically drives the floating cross plate 15 downward, and the rotating bone hook assembly 5 can descend and escape from the small recess on the inner surface of the vertebral plate, achieving automatic "unlocking". In this way, the orthopedic power tool 3 can continue to move forward, cut or remove the corresponding vertebral plate bone tissue, and successfully achieve nerve decompression.

[0069] It should be noted that the contents described in the embodiments are only used to illustrate the structure and working principle of the present invention, and do not involve the protection of surgical methods.

[0070] It can be seen from the above textual description and the accompanying drawings that the present invention has the following advantages:

[0071] 1. The lower end of the guide rod is connected with a rotating bone hook assembly, which can realize the precise depth positioning of the inner surface of the vertebral plate, effectively control the "feed depth" of the orthopedic power tool, and ensure that the guide rod and the forward path of the orthopedic power tool are in line, so as to realize the completely precise cutting or resection operation of the corresponding vertebral plate bone.

[0072] 2. It is equipped with an independent guide device, which is equipped with a spring assembly, which can always provide appropriate upward pulling force, so that the orthopedic power tool can adapt to the height changes of the inner surface of the vertebral plate during use, effectively preventing the orthopedic power tool assembly from piercing the nerves and ensuring the safety of the operation.

[0073] 3. When the rotating bone hook sinks into the small concave on the inner surface of the vertebral plate, making it impossible for the tool to move forward to cut or remove, the manipulator body rotates significantly around the axis, which means that the manipulator of the present invention can autonomously "sense" the "stuck" state of the rotating bone hook. The touch plate will continue to squeeze the swing arm to drive the contact frame downward as the rotation angle of the manipulator body around the axis continues to increase. The contact frame automatically pushes the floating cross plate downward, and the rotating bone hook can drop out of the small concave to achieve automatic "unlocking". Instantly, the rotating bone hook is lifted by the spring again to prevent the tool and the rotating bone hook from piercing the nerve, ensuring the safety of the operation. In this way, the orthopedic power tool can continue to move forward and automatically cut or remove the vertebral plate bone tissue smoothly, achieving safe and reliable nerve decompression.

[0074] 4. It can be adapted to different minimally invasive spinal decompression surgical robots.

[0075] 5. The overall structure is simple, easy to manufacture and maintain, and easy to disinfect.

[0076] 6. Small size, easy to transport and carry.

[0077] In addition, the indicated orientations or positional relationships described in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or structure referred to must have a specific orientation or be operated with a specific orientation structure. Therefore, they cannot be understood as limitations on the present invention.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A self-sensing unlocking minimally invasive spinal decompression manipulator, comprising a manipulator body, characterized in that: The manipulator body is provided with a self-sensing unlocking device, the self-sensing unlocking device is provided with a guiding device, a replaceable rod seat is provided below the guiding device, an orthopedic power tool is provided in the guiding device, the replaceable rod seat is provided with a guiding rod, the guiding rod and the lower end of the orthopedic power tool are commonly connected with a rotating bone hook assembly, the guiding rod and the orthopedic power tool are arranged in a colinear manner, the adjusting device includes a locking assembly provided on the guiding device, and fine-tuning devices are distributed in mirror images on both sides of the locking assembly, a connecting device is provided on one side of the manipulator body, and an axis fixing device is provided on the other side of the manipulator body; The self-sensing unlocking device includes a connecting seat connected to a manipulator body, the connecting seat is connected to an adjusting plate via a rotating shaft, the adjusting plate is located at the lower end of the guide device, a straightening spring is arranged between the connecting seat and the adjusting plate, a limiting rod is threadedly connected to the connecting seat, the top of the limiting rod is in contact with the adjusting plate, a supporting column is arranged on one side of the connecting seat, a sliding block is movably connected to the upper part of the supporting column, a swing arm is movably arranged on the sliding block, an extension plate is arranged at the upper end of the locking assembly of the manipulator body, a contact frame is arranged on the extension plate toward the direction of the swing arm, a touch plate is arranged in the contact frame, and the touch plate is in contact with the swing arm.

2. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The guiding device includes a lower spring cover connected to the manipulator body, the lower spring cover is connected to the replaceable rod seat, an upper spring cover is sleeved on the lower spring cover, a guiding space is formed between the lower spring cover and the upper spring cover, a spring assembly is arranged in the guiding space, the orthopedic power tool is inserted into the spring assembly, and a locking assembly is arranged at the upper end of the upper spring cover.

3. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 2 is characterized in that: The lower spring cover is connected to the manipulator body through fastening screws.

4. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The replaceable rod seat comprises a rod seat body connected to the lower end of the manipulator body by screws, the rod seat body extends downward with mirror-distributed positioning fins, and guide rods are screwed between the positioning fins.

5. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The orthopedic power tool includes a tool cylinder arranged on the outside of the guide device and the inside of the locking assembly, the tool cylinder has a tool body extending downward, the lower end of the tool body is provided with a main mounting hole, the lower end of the guide rod is provided with a secondary mounting hole, and a rotating bone hook assembly is connected between the main mounting hole and the secondary mounting hole by mounting screws; the lower end of the guide rod is also provided with a flat guide mechanism.

6. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The rotating bone hook assembly includes a shuttle-shaped guide block, on which a mounting screw is inserted, and the inner wall of the shuttle-shaped guide block is provided with a plurality of contact assemblies distributed in a mirror image; the contact assembly is a guide contact block, and the guide contact block clamps the lower end of the guide rod.

7. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The locking assembly includes a floating cross plate arranged at the upper end of the guide device, and the upper ends of the orthopedic power tool and the fine-tuning device pass through the floating cross plate; the floating cross plate includes a hoop plate with front and rear petals, and the hoop plates are connected by locking screws.

8. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The fine-tuning device includes a guide column connected to the manipulator body, a positioning cone rod is arranged at the bottom of the guide column, a fixed sleeve is sleeved on the guide column, a locking screw is arranged on the fixed sleeve, a fine-tuning bolt is movably connected to the top of the guide column, the fine-tuning bolt is located at the upper end of the locking assembly, and a fine-tuning screw sleeve is arranged on the fine-tuning bolt.

9. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1, characterized in that: The connecting device is an L-shaped connecting sleeve, and a fixing hole is arranged on the L-shaped connecting sleeve.

10. The self-sensing unlocking minimally invasive spinal decompression manipulator according to claim 1 is characterized in that: The axis fixing device comprises a Y-axis rod, and the Y-axis rod is connected to the robot body through a hand-tightening cone head.

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