Self-initiating unlocking spinal minimally invasive decompression robotic arm

Abstract

This invention relates to a self-sensing unlocking spinal minimally invasive decompression robot, comprising a robot body, a self-sensing unlocking device on the robot body, a guide device on the self-sensing unlocking device, a replaceable rod seat below the guide device, an orthopedic powered blade disposed within the guide device, a guide rod on the replaceable rod seat, and a rotating bone hook assembly connected to the lower ends of the guide rod and the orthopedic powered blade. The guide rod and the orthopedic powered blade are collinearly arranged. An adjustment device is located above the guide device on the robot body, the adjustment device including a locking component disposed on the guide device, fine-tuning devices mirrored on both sides of the locking component, a connecting device on one side of the robot body, and a fixed-axis device on the other side of the robot body. This effectively ensures that the guide rod and the orthopedic powered blade travel along the same path, facilitating the corresponding cutting or resection operations. The rotating bone hook assembly enables reliable positioning of the inner surface of the vertebral lamina, improving the accuracy of cutting or resection.

Description

Technical Field

[0001] This invention relates to a minimally invasive spinal decompression robotic hand, and more particularly to a self-sensing unlocking minimally invasive spinal decompression robotic hand. Background Technology

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

[0003] Although spinal surgeries are diverse and complex, they can generally be divided into two parts: decompression and internal fixation. Decompression is therefore a crucial step in minimally invasive spinal surgery. Currently, robots used in spinal decompression surgery employ pressure sensors to control the depth of incision of orthopedic powered instruments (such as ultrasonic bone scalpels, micro-oscillating saws, and drills). When the pressure sensor indicates that the pressure of the orthopedic instrument on the vertebral lamina is below a certain value, it is considered that the bone has been cut through. However, in reality, when the vertebral lamina is of poor quality, the pressure sensor in the vertical direction cannot accurately reflect changes in the pressure of the orthopedic instrument on the vertebral lamina, and therefore cannot accurately control the depth of incision. This poses certain risks, easily leading to improper instrument displacement, such as being too shallow and failing to cut through, or too deep and entering the spinal canal. Sometimes, it is even necessary to continuously correct the depth of incision through manual visual observation. This has become a bottleneck problem for minimally invasive spinal decompression surgical robots, severely restricting their development in the field of spinal surgery.

[0004] In view of the above-mentioned shortcomings, the designer actively researched and innovated in order to create a self-sensing unlocking spinal minimally invasive decompression robotic hand, which would have greater industrial application value. Summary of the Invention

[0005] To address the aforementioned technical problems, the purpose of this invention is to provide a self-sensing unlocking spinal minimally invasive decompression robotic hand.

[0006] The present invention relates to a self-sensing unlocking spinal minimally invasive decompression robotic hand, comprising a robotic hand body, wherein: a self-sensing unlocking device is provided on the robotic hand body, a guide device is provided on the self-sensing unlocking device, a replaceable rod seat is provided below the guide device, an orthopedic power cutter is provided in the guide device, a guide rod is provided on the replaceable rod seat, a rotating bone hook assembly is connected to the lower end of the guide rod and the orthopedic power cutter, the guide rod and the orthopedic power cutter are arranged in a coaxial manner, the adjustment device includes a locking assembly provided on the guide device, fine adjustment devices are distributed mirror images on both sides of the locking assembly, a connecting device is provided on one side of the robotic hand body, and a fixed axis device is provided on the other side of the robotic hand body;

[0007] The self-sensing unlocking device includes a connecting seat connected to the 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 provided between the connecting seat and the adjusting plate. A limit rod is threaded onto the connecting seat. The top end of the limit rod contacts the adjusting plate. A support column is provided on one side of the connecting seat. A slider is movably connected to the support column. A swing arm is movably mounted on the slider. An extension plate is provided at the upper end of the robot body located on the locking assembly. A contact frame is provided on the extension plate facing the swing arm. A contact plate is provided inside the contact frame. The contact plate contacts the swing arm.

[0008] Furthermore, in the aforementioned self-sensing unlocking spinal minimally invasive decompression manipulator, the guiding device includes a lower spring cover connected to the manipulator body, the lower spring cover being in communication with a replaceable rod seat, an upper spring cover being fitted on the lower spring cover, a guiding space being formed between the lower spring cover and the upper spring cover, a spring assembly being provided in the guiding space, the orthopedic power knife being inserted into the spring assembly, and a locking assembly being provided at the upper end of the upper spring cover.

[0009] Furthermore, in the aforementioned self-sensing unlocking spinal minimally invasive decompression robotic hand, the lower spring cover is connected to the robotic hand body via fastening screws.

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

[0011] Furthermore, in the aforementioned self-sensing unlocking spinal minimally invasive decompression manipulator, the orthopedic powered blade includes a blade cylinder disposed outside the guide device and inside the locking assembly. The blade cylinder extends downward to form a blade body. The lower end of the blade body is provided with a main mounting hole, and the lower end of the guide rod is provided with a secondary mounting hole. 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 aforementioned self-sensing unlocking spinal minimally invasive decompression manipulator, the rotating bone hook assembly includes a spindle-shaped guide block, on which mounting screws are passed, and the inner wall of the spindle-shaped guide block is provided with a plurality of mirror-distributed contact components; the contact components are guide contact blocks, which clamp the lower end of the guide rod.

[0013] Furthermore, in the aforementioned self-sensing unlocking spinal minimally invasive decompression manipulator, the locking assembly includes a floating horizontal plate disposed at the upper end of the guide device, through which the upper ends of the orthopedic power cutter and the fine-tuning device pass; the floating horizontal plate includes front and rear segmented clamps, which are connected by locking screws.

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

[0015] Furthermore, in the aforementioned self-sensing unlocking spinal minimally invasive decompression robotic hand, the connecting device is an L-shaped connecting sleeve, and the L-shaped connecting sleeve is provided with fixing holes.

[0016] Furthermore, in the aforementioned self-sensing unlocking spinal minimally invasive decompression manipulator, the fixed-axis device includes a Y-axis rod, which is connected to the manipulator body via a hand-tightening cone.

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

[0018] 1. The lower end of the guide rod is connected to a rotating bone hook assembly, which can achieve precise positioning of the inner surface of the vertebral lamina, effectively control the "insertion depth" of the orthopedic power cutter, and ensure that the guide rod and the orthopedic power cutter travel along the same path, so as to achieve complete and precise cutting or removal of the corresponding vertebral lamina bone.

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

[0020] 3. When the rotating bone hook becomes stuck in a small depression on the inner surface of the vertebral lamina, preventing the cutting tool from advancing to cut or remove the bone, the robotic arm rotates significantly around its axis. This means that the robotic arm of this invention can autonomously "sense" the "jamming" state of the rotating bone hook. As the angle of rotation of the robotic arm around its axis increases, the contact plate continuously squeezes the swing arm, causing the contact frame to move downward. The contact frame automatically pushes the floating horizontal plate downward, allowing the rotating bone hook to descend and disengage from the small depression, achieving automatic "unlocking." Instantly, the rotating bone hook is lifted by the spring, preventing the cutting tool and rotating bone hook from piercing the nerve and ensuring surgical safety. In this way, the orthopedic powered cutting tool can continue to advance smoothly and automatically cut or remove the vertebral lamina bone tissue, 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. Compact size, easy to transport and carry.

[0024] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

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

[0026] Figure 2 This is a frontal structural diagram of a self-sensing unlocking spinal minimally invasive decompression robotic arm.

[0027] Figure 3 This is a half-section diagram of a self-sensing unlocking spinal minimally invasive decompression robotic arm. (The guide rod overlaps and obstructs the view of the orthopedic powered instrument.)

[0028] Figure 4 This is a schematic diagram 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 This is a side view diagram of the self-sensing unlocking device.

[0031] The meanings of the labels in the figures are as follows.

[0032] 1. Robotic arm body 2. Replaceable lever mount

[0033] 3. Orthopedic powered cutting tool 4. Guide rod

[0034] 5 Rotary 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 fins 12 Mounting screws

[0038] 13 Flat flow guide mechanism 14 Guide contact block

[0039] 15 Floating horizontal plate 16 Guide column

[0040] 17 Positioning cone rod 18 Fixed sliding sleeve

[0041] 19 Fine-tuning bolt 20 Fine-tuning insert

[0042] 21 Hand-tightening conical tip 22 Tool holder

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

[0044] 25 Adjusting plate 26 Straightening spring

[0045] 27 Limiting rod 28 Support column

[0046] 29 Slider 30 Swing Arm

[0047] 31 Touchpad 32 Expansion board

[0048] 33 Contact frame 34 Rotating shaft

[0049] 35 Traction Axle Detailed Implementation

[0050] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0051] like Figures 1 to 6The self-sensing unlocking spinal minimally invasive decompression robotic hand includes a robotic hand body 1, which is unique in that: the robotic hand body 1 is equipped with a self-sensing unlocking device 23, and the self-sensing unlocking device 23 is equipped with a guide device for guiding the subsequent orthopedic power cutter 3 and guide rod 4 to the corresponding working positions. Specifically, a replaceable rod seat 2 is set below the guide device, and the orthopedic power cutter 3 is set in the guide device. At the same time, in order to achieve stable grooving and cutting or resection of the vertebral lamina bone, a guide rod 4 is set in the replaceable rod seat 2. The guide rod 4 and the lower end of the orthopedic power cutter 3 are connected to a rotating bone hook assembly 5. During use, the guide rod 4 and the orthopedic power cutter 3 travel along the same path. In order to meet the adjustment and control of the cutting or resection depth of the vertebral lamina bone, the present invention is equipped with a locking assembly at the upper end of the robotic hand body 1 located on the guide device, and fine adjustment devices are distributed on both sides of the locking assembly. Furthermore, considering the need for docking with a surgical robot, a connecting device 6 is set on one side of the robotic hand body 1. If corresponding axial forward control is required, a fixed-axis device 7 can be provided on the other side of the robot body 1. During manufacturing, the robot body 1 can be equipped with a universal tool holder base to reduce implementation costs.

[0052] To better implement this invention, the self-sensing unlocking device 23 includes a connecting seat 24 connected to the robotic arm body 1. The connecting seat 24 is connected to an adjusting plate 25 via a rotating shaft 34, and the adjusting plate 25 is located at the lower end of the guide device. Simultaneously, a straightening spring 26 is provided between the connecting seat 24 and the adjusting plate 25 to facilitate reset after unlocking. A limit rod 27 is threaded onto the connecting seat 24, and the top end of the limit rod 27 contacts the adjusting plate 25. This allows for adjustment of the tilt angle of the robotic arm body 1 and the rotating bone hook assembly 5 during unlocking, as needed. Considering the convenience of the unlocking operation, a support column 28 is provided on one side of the connecting seat 24, and a slider 29 is movably connected to the upper part of the support column 28. A swing arm 30 is movably provided on the slider 29. During implementation, to ensure smooth guidance of the slider, the upper end of the support column 28 has a semi-enclosed structure, and the semi-enclosed structure is provided with mirrored guide grooves. The slider 29 is located within the semi-enclosed structure. Figure 6(Due to the obscured structure, a dashed frame is used to represent the slider 29). The slider 29's own guide structure is embedded in the guide groove, allowing it to move freely. Considering the traction requirements of the slider 29, the swing arm 30 is a multi-link structure, with its upper end connected to the support column 28 and its lower end connected to the slider 29. The multi-link structure is equipped 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. Furthermore, considering the need to achieve self-assembly unlocking, the robot body 1 is provided with an extension plate 32 at the upper end of the locking assembly. The extension plate 32 is provided with a contact frame 33 facing the swing arm 30, and a contact plate 31 is provided inside the contact frame 33. After assembly, the contact plate 31 contacts the swing arm 30. Thus, when the orthopedic power tool is obstructed, the contact plate 31 automatically squeezes the swing arm 30 to achieve unlocking motion guidance.

[0053] During use, when the rotating bone hook assembly 5 becomes stuck, the contact plate 31 can simultaneously and continuously press the swing arm 30 as the rotation angle of the robotic arm body 1 increases. Thus, the pressure applied by the contact plate 31 to the contact frame 33 causes the floating horizontal plate 15 to move downwards. Consequently, the rotating bone hook assembly 5 descends, achieving automatic escape and unlocking.

[0054] According to a preferred embodiment of the present invention, the guiding device includes a lower spring cover 8 connected to the robot body 1, the lower spring cover 8 being conductive to the replaceable rod seat 2, and an upper spring cover 9 being fitted onto the lower spring cover 8. This creates a guiding space between the lower spring cover 8 and the upper spring cover 9. To achieve effective spacing adjustment, a spring assembly 10 is installed within the guiding space, into which the orthopedic power tool 3 is inserted. Simultaneously, to ensure the engagement and 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 robot body 1 via fastening screws. This ensures effective locking, preventing wobbling during use and adjustment, and guaranteeing accurate positioning during subsequent use.

[0055] Furthermore, to accommodate different surgical needs and facilitate quick replacement, the replaceable rod holder 2 includes a rod holder body that is screwed to the lower end of the robotic arm body 1. Specifically, the rod holder body extends downwards with mirror-distributed positioning fins 11, and the guide rods 4 are screwed between the positioning fins 11. This allows for the locking and positioning of the guide rods 4.

[0056] In practical implementation, the orthopedic powered blade 3 includes a blade cylinder 22 located outside the guide device and inside the locking assembly, with the blade body extending downwards from the blade cylinder 22. This allows for positioning while simultaneously docking with the orthopedic powered blade 3 pre-programmed into the surgical robot, enabling the orthopedic powered blade 3 to enter its ultrasonic bone scalpel working state. Furthermore, considering the stable connection with the rotating bone hook assembly 5 and its effective path guidance, the invention features a main mounting hole at the lower end of the blade body and a secondary mounting hole at the lower end of the guide rod 4. The rotating bone hook assembly 5 is connected between the main and secondary mounting holes via mounting screws 12. Additionally, a flat guide mechanism 13 is provided at the lower end of the guide rod 4. This ensures that the cut or removed vertebral lamina bone tissue is not obstructed during use, and the forward movement of the orthopedic powered blade 3 is not affected.

[0057] To ensure effective forward guidance after entering the spinal canal and to guarantee that the orthopedic power cutter 3 and guide rod 4 remain collinear, the rotating bone hook assembly 5 includes a spindle-shaped guide block with mounting screws 12 for easy locking. Simultaneously, for a closer fit, the inner wall of the spindle-shaped guide block has several 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. Furthermore, the spindle-shaped guide block has a clearance groove, preventing it from contacting the lower end of the orthopedic power cutter 3 and avoiding cutting interference. Thus, under the traction of the guide rod 4, the rotating bone hook assembly 5 can move along the inner surface of the lamina within the spinal canal, thereby guiding the orthopedic power cutter 3 to continuously cut or remove the corresponding lamina bone tissue.

[0058] To accommodate the need for synchronized control and adjustment during use, the locking assembly includes a floating horizontal plate 15 positioned on the upper end of the upper spring cover 9 of the guide device. Simultaneously, the upper ends of the orthopedic power tool 3 and the fine-tuning device pass through the floating horizontal plate 15. For ease of assembly and locking, the floating horizontal plate 15 includes front and rear split clamps connected by locking screws. Thus, under the action of the fine-tuning device, the locking assembly can drive the orthopedic power tool 3 and the guide rod 4 to move vertically in tandem.

[0059] Furthermore, to better fit the area to be removed and provide better vertical guidance, the fine-tuning device includes a guide post 16 connected to the robot body 1. Specifically, considering the need for lower-end locking between the guide post 16 and the robot body 1, a positioning cone rod 17 is provided at the bottom of the guide post 16. The positioning cone rod 17 locks the bottom of the guide post 16, connecting it to the robot body 1. Of course, bottom bolts or other methods can also be used for limiting the movement, which will not be elaborated here. At the same time, considering the final positioning of the orthopedic power cutter 3 as it moves downward, a fixed sliding sleeve 18 is fitted on the guide post 16, and a locking screw is provided on the fixed sliding sleeve 18. In this way, after the fixed sliding sleeve 18 contacts the lower end of the robot body 1, the orthopedic power cutter 3 can no longer descend. During use, to achieve convenient fine-tuning, a fine-tuning bolt 19 is movably connected to the top of the guide post 16. 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 sleeve 20, pressure can be applied to the locking assembly, causing the orthopedic power cutter 3, guide rod 4, and rotating bone hook assembly 5 to descend synchronously.

[0060] For non-adjustable surgical robots, the connecting device 6 is an L-shaped connecting sleeve with fixing holes. This allows it to connect to the connecting rods of the surgical robot through the fixing holes and be locked in place by a corresponding locking mechanism. This structure is also suitable for connecting auxiliary instruments to non-fully automated surgical robots. It also facilitates disassembly and sterilization. Of course, when docking with a robot capable of automated operation, to ensure effective Y-axis forward guidance and facilitate direct movement of the orthopedic power tool 3, the fixed-axis device 7 includes a Y-axis rod, which is connected to the robot body 1 via a hand-tightening cone 21. This allows direct connection to the Y-axis drive device of the surgical robot, achieving effective forward control in the Y-axis direction. Furthermore, the hand-tightening cone 21 facilitates easy disassembly or gap adjustment, and also facilitates subsequent disassembly and sterilization.

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

[0062] Take, for example, a surgical robot that operates automatically via connectivity.

[0063] An incision is made at the corresponding location of the diseased vertebral lamina. Then, the rotating bone hook assembly 5, together with the orthopedic power cutter 3 and the lower end of the guide rod 4, is inserted into the spinal canal close to the inner surface of the vertebral lamina for preparation.

[0064] Next, the operator can manually adjust the corresponding fine-tuning sleeve 20 to guide the floating cross plate 15 to a suitable depth, so that the spring assembly 10 in the guide device can pull the rotating bone hook assembly 5 with appropriate tension, ensuring that the rotating bone hook assembly 5 is in the spinal canal and in a suitable preset position that is in close contact with the inner surface of the vertebral lamina.

[0065] Subsequently, the orthopedic powered cutting tool 3 begins operation, performing corresponding slotting, cutting, or resection operations on the vertebral lamina bone under the guidance of the Y-axis drive device connected to the Y-axis rod. During this process, the rotating bone hook assembly 5 continuously slides along the inner surface of the vertebral lamina within the spinal canal, achieving guided forward movement.

[0066] Ultimately, the orthopedic power tool 3 is always kept at the appropriate lamina bone cutting state or resection depth.

[0067] During use, because the inner surface of the lamina is not a smooth surface, there may be small depressions. Therefore, the rotating bone hook 5 may get "stuck" in the small depressions under the upward lifting action of the spring assembly 10, making it difficult to move forward for cutting.

[0068] With the intervention of the self-sensing unlocking device 23, the robotic arm body 1 rotates around the pivot 34. Specifically, when the rotating bone hook 5 is stuck, the angle of the contact plate 31 as the robotic arm body 1 rotates around the pivot 34 continuously increases. As a result, the contact plate 31 continuously and automatically presses the swing arm 30, which in turn pushes the contact frame 33 downward. At the same time, the contact frame 33 automatically drives the floating horizontal plate 15 downward, and the rotating bone hook assembly 5 can then descend and disengage from the small concave on the inner surface of the vertebral lamina, achieving automatic "unlocking". In this way, the orthopedic power cutter 3 can continue to move forward, cutting or removing the corresponding vertebral lamina bone tissue, and successfully achieving nerve decompression.

[0069] It should be noted that the descriptions in the embodiments are only for illustrating the structure and working principle of the present invention and do not involve the protection of surgical methods.

[0070] As can be seen from the above description and the accompanying drawings, the present invention has the following advantages:

[0071] 1. The lower end of the guide rod is connected to a rotating bone hook assembly, which can achieve precise positioning of the inner surface of the vertebral lamina, effectively control the "insertion depth" of the orthopedic power cutter, and ensure that the guide rod and the orthopedic power cutter travel along the same path, so as to achieve complete and precise cutting or removal of the corresponding vertebral lamina bone.

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

[0073] 3. When the rotating bone hook becomes stuck in a small depression on the inner surface of the vertebral lamina, preventing the cutting tool from advancing to cut or remove the bone, the robotic arm rotates significantly around its axis. This means that the robotic arm of this invention can autonomously "sense" the "jamming" state of the rotating bone hook. As the angle of rotation of the robotic arm around its axis increases, the contact plate continuously squeezes the swing arm, causing the contact frame to move downward. The contact frame automatically pushes the floating horizontal plate downward, allowing the rotating bone hook to descend and disengage from the small depression, achieving automatic "unlocking." Instantly, the rotating bone hook is lifted by the spring, preventing the cutting tool and rotating bone hook from piercing the nerve and ensuring surgical safety. In this way, the orthopedic powered cutting tool can continue to advance smoothly and automatically cut or remove the vertebral lamina bone tissue, 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. Compact size, easy to transport and carry.

[0077] Furthermore, the orientations or positional relationships described in this invention are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the purpose of facilitating the description of this invention and simplifying the description, and are not intended to indicate or imply that the device or structure referred to must have a specific orientation, or to operate in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-sensing unlocking spinal minimally invasive decompression robotic hand, comprising a robotic hand body, characterized in that: The robotic arm body is equipped with a self-sensing unlocking device, a guide device, a replaceable rod seat below the guide device, an orthopedic power cutter in the guide device, a guide rod on the replaceable rod seat, and a rotating bone hook assembly connected to the lower end of the guide rod and the orthopedic power cutter. The guide rod and the orthopedic power cutter are arranged in a coaxial layout. The adjustment device includes a locking assembly on the guide device, and fine-tuning devices are mirror-distributed on both sides of the locking assembly. A connecting device is provided on one side of the robotic arm body, and a fixed axis device is provided on the other side of the robotic arm body. The self-sensing unlocking device includes a connecting seat connected to the 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 provided between the connecting seat and the adjusting plate. A limit rod is threaded onto the connecting seat. The top end of the limit rod contacts the adjusting plate. A support column is provided on one side of the connecting seat. A slider is movably connected to the upper part of the support column. A swing arm is movably mounted on the slider. An extension plate is provided at the upper end of the robot body located on the locking assembly. A contact frame is provided on the extension plate facing the swing arm. A contact plate is provided inside the contact frame. The contact plate contacts the swing arm. The guiding device includes a lower spring cover connected to the robot body, the lower spring cover being in communication with a replaceable rod seat, an upper spring cover being sleeved on the lower spring cover, the lower spring cover and the upper spring cover forming a guiding space, a spring assembly being provided in the guiding space, the orthopedic power knife being inserted into the spring assembly, and a locking assembly being provided at the upper end of the upper spring cover; The orthopedic power cutting tool includes a cutting tool cylinder disposed outside the guide device and inside the locking assembly. The cutting tool cylinder extends downward to form a cutting tool body. The lower end of the cutting tool body is provided with a main mounting hole, and the lower end of the guide rod is provided with a secondary mounting hole. A rotating bone hook assembly is connected between the main mounting hole and the secondary mounting hole by a mounting screw. The lower end of the guide rod is also provided with a flat flow guiding mechanism. The locking assembly includes a floating horizontal plate disposed at the upper end of the guide device, through which the upper ends of the orthopedic power cutter and the fine-tuning device pass; the floating horizontal plate includes front and rear split clamps, which are connected by locking screws.

2. The self-sensing unlocking spinal minimally invasive decompression robotic hand according to claim 1, characterized in that: The lower spring cover is connected to the robot body by fastening screws.

3. The self-sensing unlocking spinal minimally invasive decompression robotic hand according to claim 1, characterized in that: The replaceable rod holder includes a rod holder body that is screwed to the lower end of the robot arm body. The rod holder body has mirror-distributed positioning fins extending downwards, and guide rods are screwed between the positioning fins.

4. The self-sensing unlocking spinal minimally invasive decompression robotic hand according to claim 1, characterized in that: The rotating bone hook assembly includes a spindle-shaped guide block with mounting screws passing through it. The inner wall of the spindle-shaped guide block is provided with a plurality of mirror-distributed contact components. The contact components are guide contact blocks that hold the lower end of the guide rod.

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

6. The self-sensing unlocking spinal minimally invasive decompression robotic hand according to claim 1, characterized in that: The connecting device is an L-shaped connecting sleeve, and the L-shaped connecting sleeve is provided with fixing holes.

7. The self-sensing unlocking spinal minimally invasive decompression robotic hand according to claim 1, characterized in that: The fixed-axis device includes a Y-axis rod, which is connected to the robot body via a hand-tightened cone.

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