Training device for spinal surgery

Abstract

The invention provides a training device for spinal surgery. The training device comprises a multi-degree-of-freedom mechanical arm, a guider, a deflection observation module, a visual observation module, a bearing module, a control module, an alarm module and the like. Wherein the deflection observation module is fixedly connected with the guider to measure the radial deflection of the cutting tool, and the bearing module is used for placing a sample and is provided with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. The sensors and the optical tracers can monitor in real time and transmit measurement signals to the control module, when detection values of the sensors deviate from an allowable range, the control module controls the multi-degree-of-freedom mechanical arm to conduct correction compensation and conduct voice reminding through the alarm module, and an operator senses movement compensation of the mechanical arm, so that the multi-degree-of-freedom mechanical arm is accurately controlled. Therefore, correction skills can be mastered skillfully, a doctor can be assisted to cultivate a good screw placement drilling hand feeling, and the training purpose is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a training device for spinal surgery. Background Art

[0002] With the rapid progress of domestic biomedical engineering technology, clinical surgical techniques and methods keep pace with the times. More and more computer-assisted equipment and robot-assisted equipment are entering the operating room. During the operation, clinicians not only need to use mechanical instruments such as scalpels, but also need to learn how to work with computer-assisted equipment and robot-assisted equipment. At the same time, surgical training and internships are no longer solely dependent on clinical surgery. The use of training equipment also plays an important role in the standardization and training of doctors' surgical operations. There are fewer instruments and systems for training bone tissue resection in neurosurgery, and even fewer training instruments for vertebral cutting assisted by robots and optical navigation systems.

[0003] The spine is an important motor nerve center of the human body. Neurosurgery spinal surgery is extremely risky. Improving doctors' surgical experience and surgical standards will fully ensure the safety of patients. Some existing surgical training devices lack quantitative data, cannot restore the various actual operation details of the operation, and cannot provide effective training feedback to the operator. At the same time, due to the special physiological structure of the spine, it will undergo vertical elastic displacement and pitch rotation during surgery. The existing training platform is unable to simulate this elastic characteristic of the spine, resulting in a large difference between the training process and the actual surgery. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a training device for spinal surgery, which uses multimodal sensing technology to detect the state of the surgical training process, thereby improving the stability of the doctor's nail placement and avoiding problems such as drilling jump and slippage.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a training device for spinal surgery, the training device comprising a multi-degree-of-freedom mechanical arm with a force control function, the movable end of the multi-degree-of-freedom mechanical arm is equipped with a guide, the guide comprises a connecting handle and a guide rod, the upper end of the connecting handle is fixedly connected to the movable end of the mechanical arm, and the lower end of the connecting handle is connected to the guide rod;

[0006] The interior of the guide rod is hollow, and a swivel support is coaxially mounted on the upper end of the guide rod. The swivel support is used to coaxially load a chuck of a cutting tool so that the chuck can rotate in the guide rod. The chuck is used to clamp a rod-shaped instrument, and the rod-shaped instrument includes a drill bit and a Kirschner wire.

[0007] The lower end of the guide rod is coaxially connected with a deflection observation module, and the deflection observation module includes a hollow mounting tube, and the barrel of the mounting tube is radially provided with a plurality of threaded holes, and the plurality of threaded holes are used to respectively install different types of non-contact distance measuring sensors, and the detection head of the non-contact distance measuring sensor faces the hollow cavity of the mounting tube; the rod-shaped instrument coaxially penetrates the guide rod and the mounting tube downward, so that the detection head can measure the deflection displacement of the rod-shaped instrument along the radial direction;

[0008] The training device also includes a control module, which is communicatively connected with the sensor assembly and the multi-degree-of-freedom robotic arm. When the sensor assembly detects an abnormality, it indicates that the person holding the cutting tool has an operational deviation, and the control module controls the multi-degree-of-freedom robotic arm to perform compensation correction; the sensor assembly includes a non-contact ranging sensor.

[0009] Optionally, the multi-degree-of-freedom robotic arm has at least six degrees of freedom; the middle segment of the connecting handle is formed with a bending angle greater than 90 degrees, so that the guide rod forms an angle of 30° to 60° relative to the horizontal plane or the vertical plane.

[0010] Optionally, the inner wall surface of the mounting tube is formed with an avoidance groove connected to the threaded hole, the detection head of the non-contact distance measurement sensor is located in the avoidance groove, the fixing nut is sleeved on the shell surface of the non-contact distance measurement sensor located outside the mounting tube, and the detection head and the fixing nut are respectively pressed against the inner wall surface and the outer wall surface of the mounting tube, thereby locking the non-contact distance measurement sensor;

[0011] The deflection observation module also includes a docking tube coaxially connected to the mounting tube, and the docking tube is threadedly connected to the external thread of the lower end of the guide rod.

[0012] Optionally, an optical tracer is mounted on the connecting handle or the guide rod of the guide, an optical tracer is also mounted on the cutting tool, and the sensor assembly includes the optical tracer.

[0013] Optionally, the training device also includes a supporting module for placing cutting samples, the supporting module includes a base platform, the inner cavity of the base platform is provided with a multidimensional cutting force sensor, the floating platform is located above the base platform, and the upper surface of the base platform is connected to the lower surface of the floating platform by a plurality of elastic elements arranged side by side; the sensor assembly includes the multidimensional cutting force sensor.

[0014] Optionally, the elastic element includes a vertical support block, which has a gap groove opened in the horizontal direction, and the multiple gap grooves are arranged along the height direction of the vertical support block; wherein the opening directions of the upper and lower adjacent gap grooves are opposite, and the gap grooves include sheet gaps and columnar gaps connected to each other in the horizontal direction, the columnar gap is located at the end of the gap groove away from the opening, the center line of the columnar gap is perpendicular to the opening direction of the gap groove, and the gap of the sheet gap in the up and down directions is smaller than the inner diameter of the columnar gap.

[0015] Optionally, a positioning groove and a threaded through hole compatible with the cutting sample block are provided at the center of the floating platform, and a rounded rectangular interface base compatible with the positioning groove at the center of the floating platform is provided at the bottom of the cutting sample block, and an internal threaded hole is provided at the center of the base, which is compatible with the threaded through hole at the center of the floating platform.

[0016] Optionally, the floating platform is provided with a mounting groove for installing the multidimensional acceleration sensor and a mounting hole for installing the optical tracer, the mounting groove is arranged on the edge of the upper surface of the floating platform, the mounting hole is arranged on the side wall surface of the floating platform, and is connected upward to the optical tracer through a vertically arranged tracer connecting rod; the sensor assembly includes the multidimensional acceleration sensor and the optical tracer.

[0017] Optionally, the training device further comprises a visual observation module, which comprises an optical camera and a lens; and the control module is communicatively connected to the visual observation module.

[0018] Optionally, the control module includes a memory, a computer, and a display; the training device also includes an alarm module, and the alarm module is communicatively connected to the control module.

[0019] As described above, the present invention provides a training device for spinal surgery, which includes a multi-degree-of-freedom mechanical arm, a guide, a deflection observation module, a visual observation module, a bearing module, a control module, an alarm module, etc. Among them, the deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool, and an optical tracer is fixed on the guide, cutting tool, bearing module and other components to monitor the trajectory. The bearing module is used to place the sample and is provided with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. When the operator holds the cutting tool to perform cutting operations on the sample, each sensor can monitor in real time and transmit the measurement signal to the control module. When the detection value of the sensor deviates from the allowable range, the control module controls the multi-degree-of-freedom mechanical arm to make corrections and compensations and gives voice reminders through the alarm module. The operator can master the correction skills by sensing the movement compensation of the mechanical arm, and assist the doctor to develop a good nail placement and drilling feel, so as to achieve the training purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1Shown is a schematic diagram of the overall structure of the training device in Embodiment 1 of the present invention.

[0021] Figure 2 Shown is a schematic diagram of the structure of the guide in the first embodiment of the present invention.

[0022] Figure 3 Shown is a schematic diagram of the three-dimensional structure of the deflection observation module in the first embodiment of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the installation tube in the first embodiment of the present invention.

[0024] Figure 5 It is a schematic cross-sectional structure diagram of the installation tube in the first embodiment of the present invention.

[0025] Figure 6 Shown is a top view structural schematic diagram of the deflection observation module in the first embodiment of the present invention.

[0026] Figure 7 It shows a schematic diagram of the structure of the carrier module in the first embodiment of the present invention.

[0027] Figure 8 It is a schematic diagram of the structure of the cutting sample block in the first embodiment of the present invention.

[0028] Fig. 9 Shown is a schematic structural diagram of a floating platform in Embodiment 1 of the present invention.

[0029] Component number description

[0030] Cutting tool 1; deflection observation module 2; cutting sample 3; visual observation module 4; bearing module 5; multi-degree-of-freedom robot arm 6; connecting handle 60; guide rod 64; flange 61; slewing support 63; mounting tube 200; threaded hole 202; non-contact distance sensor 206; detection head 208; hollow cavity 204; fixing nut 207; avoidance groove 205; docking tube 201; hollow cavity 203; external thread 65; optical tracer 62; floating platform 52; multi-dimensional acceleration sensor 51; elastic element 53; optical tracer 56; base platform 54; lamellar gap 531; columnar gap 532; first side 533; second side 534; sample surface 301; positioning groove 523; threaded through hole 525; base 302; internal thread hole 303; mounting groove 522; mounting hole 524; tracer connecting rod 55; through hole 521. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0032] For example, when describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional view showing the device structure will not be partially enlarged according to the general scale, and the schematic view is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional space dimensions of length, width and depth should be included.

[0033] For ease of description, spatial relational terms such as "under", "below", "below", "below", "above", "on", etc. may be used herein to describe the relationship of one element or feature shown in the drawings to other elements or features. It will be understood that these spatial relational terms are intended to include other directions of the device in use or operation in addition to the directions depicted in the drawings. In addition, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can be one or more intervening layers. As used herein, "between..." means including the end point values.

[0034] In the context of the present application, a structure in which a first feature is described as being "above" a second feature may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0035] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner, and therefore the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0036] Embodiment 1

[0037] like Figures 1 to 9As shown, this embodiment provides a training device for spinal surgery, which includes a multi-degree-of-freedom mechanical arm with a force control function, a guide for limiting a cutting tool, a deflection observation module, a visual observation module, a bearing module, a control module, an alarm module, etc. Among them, the deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool, and an optical tracer is fixed on the guide, the cutting tool, the bearing module and other components. The optical tracer is used as an optical navigation module to monitor the movement trajectory of each component. The bearing module is used to place the sample and is provided with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. When the operator holds the cutting tool to perform a cutting operation on the sample, each sensor can monitor in real time and transmit the measurement signal to the control module. When the detection value of the sensor deviates from the allowable range, the control module gives a voice reminder through the alarm module, and can also further control the multi-degree-of-freedom mechanical arm to make corrections and compensations. The operator can master the correction skills by sensing the movement compensation of the mechanical arm, improve the stability of the surgical operation, and achieve the training purpose.

[0038] The following is a detailed introduction to each module:

[0039] First, there is a multi-freedom robot arm 6 with a force control function. The multi-freedom robot arm 6 has at least six degrees of freedom, including X movement, Y movement, Z movement, X rotation, Y rotation, and Z rotation, thereby ensuring high flexibility. The multi-freedom robot arm includes multiple connecting rods and multiple movable joints, and each movable joint realizes relative rotation through a joint drive motor, thereby realizing the adjustment of multiple postures. At the same time, a rotation angle sensor is installed at each movable joint to monitor the movement state of each joint, and the control module can control the operation of the joint drive motor to correct and compensate the cutting process. The multi-freedom robot arm can imitate human body movement to realize waist rotation, shoulder rotation, elbow rotation, wrist rotation, pitch and other posture adjustments, thereby satisfying cutting operations at different points and angles.

[0040] Furthermore, the movable end of the multi-degree-of-freedom mechanical arm 6 is equipped with a guide, such as Figure 2 As shown, the guide includes a connecting handle 60 and a guide rod 64. The upper end of the connecting handle 60 is fixedly connected to the movable end of the robotic arm 6 through a flange 61, and the lower end of the connecting handle 60 is vertically connected to the guide rod 64. The middle segment of the connecting handle 60 is formed with a bending angle greater than 90 degrees, so that the guide rod forms an angle of 30° to 60° relative to the horizontal plane or the vertical plane, so that the operation of the cutting tool inserted into the guide rod is not blocked and does not interfere with the robotic arm, which is convenient for operation and doctor's positioning.

[0041] Furthermore, the interior of the guide rod 64 is hollow, and a swivel support 63 is coaxially mounted on the upper end of the guide rod. The swivel support 63 adopts a bearing structure and is used to coaxially load the chuck of the cutting tool 1. The chuck can rotate relative to the guide rod 64. The chuck is used to clamp a rod-shaped instrument such as a Kirschner wire or a drill. The rod-shaped instrument coaxially penetrates the guide rod 64 downward. There is a certain gap between the rod-shaped instrument and the inner wall of the guide rod to prevent interference with the guide rod. Here, the swivel support is used to isolate the guide rod from the chuck of the cutting tool to prevent the cutting tool from directly contacting the guide rod during high-speed rotation. In addition, the rod-shaped instrument can also be other similar tools. For example, when bone cutting is required, the rod-shaped instrument can be switched to an electric milling cutter; when a bone screw needs to be rotated, the rod-shaped instrument can be replaced with an electric screwdriver. The guide rod is used to constrain the position of the rod-shaped instrument to ensure the accuracy of its surgical point and tilt angle. In practical applications, it is necessary to replace the guide according to the size of the rod-shaped instrument to ensure that the size of the guide rod is compatible with the rod-shaped instrument.

[0042] Furthermore, the lower end of the guide rod 64 is coaxially connected with a deflection observation module 2 for observing the radial deflection displacement of the rod-shaped instrument. Since the rod-shaped instrument directly acts on the hard bone tissue such as the spine, even under the constraint of the guide rod 64, it will still undergo uncontrollable deflection. At this time, the operator holding the cutting tool is required to make corrections in time, and beginners cannot master the correction skills. The purpose of the deflection observation module is to help the operator master the correction skills. The deflection amount of the rod-shaped instrument is first measured using the deflection observation module, and then the corresponding movement compensation is performed through the multi-degree-of-freedom robotic arm to ensure that the rod-shaped instrument does not deviate from the preset trajectory during the movement. The operator can master the correction skills by sensing the movement compensation of the robotic arm, thereby improving the stability of the doctor's nail placement and opening, avoiding drilling jumps, slippage and other problems, and finally achieving better surgical results in actual surgery.

[0043] like Figures 3 to 6As shown, the deflection observation module 2 includes a hollow mounting tube 200, and the barrel of the mounting tube 200 is provided with a plurality of threaded holes 202 in the radial direction. The plurality of threaded holes 202 are used to respectively install different types of non-contact distance measuring sensors 206, including laser Doppler probes, eddy current distance measuring probes, etc. The detection heads 208 of various distance measuring sensors face the hollow cavity 204 of the mounting tube 200, and are connected through the threaded holes 202 of the side wall, and can also be further fixed by the fixing nut 207. The detection head 208 observes the radial deflection displacement of the rod-shaped instrument inwardly in the radial direction, and provides accurate data feedback for the operator. The rod-shaped instrument also has a certain gap with the inner wall of the mounting tube 200 to prevent interference with the mounting tube. In addition, the inner wall surface of the mounting tube 200 is formed with an avoidance groove 205 connected with the threaded hole 202, and the avoidance groove 205 can accommodate the detection head 208 of the non-contact distance measuring sensor, and at the same time provide an isolation space between the non-contact distance measuring sensor and the rod-shaped instrument to prevent the risk of collision. The detection head 208 of the non-contact distance measurement sensor is located in the avoidance groove 205, and the fixing nut 207 is mounted on the shell surface of the non-contact distance measurement sensor located outside the mounting tube 200. The detection head 208 and the fixing nut 207 are respectively pressed against the inner wall surface and the outer wall surface of the mounting tube 200, thereby locking the non-contact distance measurement sensor.

[0044] The deflection observation module 2 also includes a docking tube 201 coaxially connected to the mounting tube 200 , the hollow cavity 203 of the docking tube 201 is coaxially connected to the hollow cavity 204 of the mounting tube 200 , and the docking tube 201 is threadedly connected to the external thread 65 at the lower end of the guide rod 64 .

[0045] Furthermore, an optical tracer 62 is installed on the connecting handle 60 or the guide rod 64 of the guide, and an optical tracer is also installed on the cutting tool. The optical tracer is used to record the position of the corresponding component and detect whether it deviates from the preset trajectory, especially whether the position offset occurs during the advancement of the tool such as the drill bit, so as to timely detect and give voice reminders, and further compensate and correct through the multi-degree-of-freedom robot arm.

[0046] An optical tracer is a device that uses optical principles to monitor and record fluid movement. Its working principle mainly includes the steps of light source emission-light beam transmission-target object reflection-receiver reception-signal processing. An optical tracer first requires a light source, such as a laser or LED light, to emit a highly monochromatic and directional light beam; the emitted light beam is adjusted and transmitted by an optical system (such as a lens, a reflector, etc.) to form a light beam with a specific direction and shape; when the light beam hits the target object, part of the light beam will be reflected on the surface of the object. The direction and intensity of the reflected light beam are related to the surface characteristics, shape and position of the object; the reflected light beam is adjusted and transmitted by the optical system and finally received by a receiver (such as a photodiode, a CCD camera, etc.). The receiver detects the intensity and direction of the reflected light beam; the receiver converts the received light signal into an electrical signal, and extracts the position, speed, posture and other parameters of the target object through signal processing.

[0047] Furthermore, the present invention also improves the bearing module for placing the cutting sample block to simulate the actual spinal morphology.

[0048] like Figure 7 As shown, the bearing module 5 includes a floating platform 52, a multi-dimensional cutting force sensor, a multi-dimensional acceleration sensor 51, a plurality of parallel elastic elements 53 and an optical tracer 56. The multi-dimensional cutting force sensor is arranged in the base platform 54 and connected to the floating platform through a plurality of elastic elements 53.

[0049] Specifically, the inner cavity of the base platform 54 is provided with a multi-dimensional cutting force sensor, the floating platform 52 is located above the base platform 54, and the upper surface of the base platform 54 and the lower surface of the floating platform are connected through a plurality of elastic elements 53 arranged side by side (in parallel).

[0050] The elastic element 53 includes a vertical support block, which has a gap groove opened in the horizontal direction, and a plurality of gap grooves are arranged in the height direction of the vertical support block. The opening directions of the gap grooves adjacent to each other are opposite, and the gap groove includes a sheet gap 531 and a columnar gap 532 connected to each other in the horizontal direction, and the columnar gap 532 is located at the end of the gap groove away from the opening, and the center line of the columnar gap is perpendicular to the opening direction of the gap groove. The gap of the sheet gap in the vertical direction is smaller than the inner diameter of the columnar gap. More specifically, along the length direction of the vertical support block, the gap groove forms an opening at the first side surface 533 of the vertical support block; along the width direction of the vertical support block, the gap groove passes through the two opposite second side surfaces 534 of the vertical support block; the first side surface is perpendicular to the second side surface, and the length direction, width direction, and height direction of the vertical support block are perpendicular to each other, and the height direction is the vertical direction.

[0051] As an example, the number of the elastic elements 53 is 4. When viewed from top to bottom, the 4 elastic elements are arranged in an X shape and are symmetrical to each other. The elastic element can well simulate the elastic characteristics of the spine. The part between the two gap grooves can simulate the vertebrae. The gap groove can simulate the intervertebral disc between the upper and lower vertebrae. The columnar gap provides the elastic element with the degree of freedom of torsion. The entire floating platform can undergo vertical elastic displacement and pitch-roll rotation under the action of the elastic element, thereby being able to well imitate the movement behavior elasticity of the patient's spine during surgery. Compared with springs or other existing elastic materials, it is more in line with the real physiological characteristics of the spine. The design of the load-bearing module makes the entire device particularly suitable for simulation exercises of spinal surgery, such as pedicle screw placement.

[0052] Further, such as Figure 8 As shown, the cutting sample block 3 is a vertebral sample block, and the sample block surface 301 has the same surface morphology as the human vertebra. A positioning groove 523 and a threaded through hole 525 adapted to the cutting sample block are provided at the center of the floating platform 52, thereby ensuring that the cutting sample block is located on the central axis of the base platform 54 as much as possible, so that the multi-dimensional cutting force sensor can better sense the pressure change. The bottom of the cutting sample block 3 described in the present invention is provided with a rounded rectangular interface base 302 adapted to the positioning groove 523 at the center of the floating platform 52, and an internal threaded hole 303 is provided at the center of the base, and the internal threaded hole 303 is adapted to the threaded through hole 525 at the center of the floating platform.

[0053] Further, if Fig. 9 As shown, the floating platform 52 is provided with a mounting groove 522 for mounting the multi-dimensional acceleration sensor 51 and a mounting hole 524 for mounting the optical tracer 56. The significance of the installation of the mounting groove 522 and the mounting hole 524 is to determine the spatial position and posture of the optical tracer 56 and the multi-dimensional acceleration sensor 51 relative to the cutting sample block by means of mechanical constraints, so as to facilitate the reasoning of the vibration and position posture of the cutting sample block. The mounting groove 522 is arranged at the edge of the upper surface of the floating platform 52, and the mounting hole 524 is arranged on the side wall surface of the floating platform 52, and the optical tracer 56 is connected upwardly through the vertically arranged tracer connecting rod 55, so that it is as far away from the operating area of ​​the floating platform 52 as possible, so as to avoid affecting the surgical operation of the cutting sample block. The floating platform is also provided with a through hole 521 for connecting the upper end surface of the elastic element 53.

[0054] Furthermore, the training device also includes a visual observation module, and the visual observation module 4 includes an optical camera and a lens, so the module is placed independently of the supporting module 5 and the multi-degree-of-freedom robotic arm 6, and can capture and record the process of the tool contacting and operating with each other on the surface of the cutting sample at a distance that does not affect the training operation.

[0055] Furthermore, the training device also includes a control module, which includes a memory, a computer, and a display.

[0056] The memory stores the geometric shape of the cutting sample and the cutting planning path, as well as the operation control program, the state detection and early warning algorithm and the whole process monitoring data.

[0057] Furthermore, the computer is connected in communication with the memory, display, and various sensors (including optical tracers, non-contact distance sensors, multi-dimensional cutting force sensors, and multi-dimensional acceleration sensors) to determine whether the feedback signals of each sensor are within the allowable range, such as the multi-dimensional acceleration sensor detecting a vibration of more than 0.5 mm between the cutting tool and the cutting sample, the non-contact distance sensor detecting a radial deflection of the cutting tool and other rod-shaped instruments themselves, the optical tracer detecting a deviation of more than 1 mm from the planned trajectory, the optical tracer or visual observation module detecting a slip of the entry point of the cutter head on the surface, and the multi-dimensional cutting force sensor detecting a cutting force greater than 2 N along the radial direction of the Kirschner wire or the cutting tool. If the feedback signal of the sensor exceeds the allowable range, a voice reminder is given through the alarm module, and the robot arm is controlled to make corresponding adjustments and corrections, so that the cutting tool and the like are advanced along the preset trajectory without deviation.

[0058] Furthermore, the display is used to display the digital twin image reconstructed by the optical navigation module, the image captured by the visual detection module, and various sensor information and state reasoning information.

[0059] In summary, the present invention provides a training device for spinal surgery, which includes a multi-degree-of-freedom mechanical arm, a guide, a deflection observation module, a visual observation module, a bearing module, a control module, an alarm module, etc. Among them, the deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool, and an optical tracer is fixed on the guide, the cutting tool, the bearing module and other components to monitor the trajectory. The optical tracer is used as an optical navigation module to monitor the movement trajectory of each component. The bearing module is used to place the sample and is provided with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. When the operator holds the cutting tool to perform a cutting operation on the sample, each sensor can monitor in real time and transmit the measurement signal to the control module. When the detection value of the sensor deviates from the allowable range, the control module controls the multi-degree-of-freedom mechanical arm to perform correction compensation and gives a voice reminder through the alarm module. The operator can master the correction skills by sensing the movement compensation of the mechanical arm, and assist the doctor to develop a good nail placement and drilling feel, so as to achieve the training purpose.

[0060] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A spinal surgery training device, characterized in that: The training device comprises a multi-degree-of-freedom mechanical arm with a force control function, a guide is installed at the movable end of the multi-degree-of-freedom mechanical arm, the guide comprises a connecting handle and a guide rod, the upper end of the connecting handle is fixedly connected to the movable end of the mechanical arm, and the lower end of the connecting handle is connected to the guide rod; The interior of the guide rod is hollow, and a swivel support is coaxially mounted on the upper end of the guide rod. The swivel support is used to coaxially load a chuck of a cutting tool so that the chuck can rotate in the guide rod. The chuck is used to clamp a rod-shaped instrument, and the rod-shaped instrument includes a drill bit and a Kirschner wire. The training device further comprises a sensor assembly and a control module, wherein the control module is in communication connection with the sensor assembly and the multi-degree-of-freedom mechanical arm and is used to control the multi-degree-of-freedom mechanical arm according to the monitoring signal of the sensor assembly; the sensor assembly comprises at least a plurality of non-contact distance measuring sensors; The lower end of the guide rod is coaxially connected with a deflection observation module, and the deflection observation module includes a hollow mounting tube, and the barrel of the mounting tube has a plurality of threaded holes radially opened, and the plurality of threaded holes are used to respectively install the plurality of non-contact ranging sensors, and the detection head of the non-contact ranging sensor faces the hollow cavity of the mounting tube; the rod-shaped instrument coaxially penetrates the guide rod and the mounting tube downward, so that the detection head can measure the radial deflection displacement of the rod-shaped instrument.

2. The spinal surgery training device according to claim 1, characterized in that: The multi-degree-of-freedom mechanical arm has at least six degrees of freedom; the middle section of the connecting handle is formed with a bending angle greater than 90 degrees, so that the guide rod forms an angle of 30 to 60 degrees relative to the horizontal plane or the vertical plane.

3. The spinal surgery training device according to claim 1, characterized in that: The inner wall surface of the installation tube is formed with an avoidance groove connected with the threaded hole, the detection head of the non-contact distance measurement sensor is located in the avoidance groove, the fixing nut is sleeved on the shell surface of the non-contact distance measurement sensor located outside the installation tube, and the detection head and the fixing nut are respectively pressed against the inner wall surface and the outer wall surface of the installation tube, so as to lock the non-contact distance measurement sensor; The deflection observation module also includes a docking tube coaxially connected to the installation tube, and the docking tube is threadedly connected to the external thread of the lower end of the guide rod.

4. The spinal surgery training device according to claim 1, characterized in that: The sensor assembly also includes a plurality of optical tracers, and the optical tracers are mounted on the connecting handle or the guide rod of the guide, and the optical tracers are also mounted on the cutting tool.

5. The spinal surgery training device according to claim 1, characterized in that: The training device also includes a supporting module for placing cutting samples, the supporting module includes a base platform, the floating platform is located above the base platform, and the upper surface of the base platform is connected to the lower surface of the floating platform by a plurality of elastic elements arranged side by side; the sensor assembly also includes a multidimensional cutting force sensor, and the multidimensional cutting force sensor is arranged in the inner cavity of the base platform.

6. The spinal surgery training device according to claim 5, characterized in that: The elastic element includes a vertical support block, which has a gap groove opened in the horizontal direction, and the multiple gap grooves are arranged along the height direction of the vertical support block; wherein the opening directions of the gap grooves adjacent to each other in the upper and lower directions are opposite, and the gap grooves include a sheet gap and a columnar gap connected to each other in the horizontal direction, and the columnar gap is located at the end of the gap groove away from the opening, the center line of the columnar gap is perpendicular to the opening direction of the gap groove, and the gap of the sheet gap in the upper and lower directions is smaller than the inner diameter of the columnar gap.

7. The spinal surgery training device according to claim 5, characterized in that: A positioning groove and a threaded through hole matched with the cutting sample block are provided at the center of the floating platform. A rounded rectangular interface base matched with the positioning groove at the center of the floating platform is provided at the bottom of the cutting sample block. An internal threaded hole is provided at the center of the base, and the internal threaded hole is matched with the threaded through hole at the center of the floating platform.

8. The spinal surgery training device according to claim 5, characterized in that: The sensor assembly also includes a multi-dimensional acceleration sensor and an optical tracer. The floating platform is provided with a mounting groove for installing the multi-dimensional acceleration sensor and a mounting hole for installing the optical tracer. The mounting groove is arranged on the edge of the upper surface of the floating platform, and the mounting hole is arranged on the side wall surface of the floating platform and is connected upward to the optical tracer through a vertically arranged tracer connecting rod.

9. The spinal surgery training device according to claim 1, characterized in that: The training device also includes a visual observation module, which includes an optical camera and a lens; the control module is communicatively connected with the visual observation module.

10. The spinal surgery training device according to claim 1, characterized in that: The control module includes a memory, a computer, and a display; the training device also includes an alarm module, and the alarm module is communicatively connected with the control module.

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