A training device for spinal surgery

Abstract

The present invention provides a spinal surgery training device comprising a multi-degree-of-freedom robotic arm, a guide, a deflection observation module, a visual observation module, a carrier module, a control module, and an alarm module. The deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool. The carrier module is used to place samples and is equipped with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. When an operator holds the cutting tool and cuts the sample, the sensors and optical tracers monitor the sample in real time and transmit the measurement signals to the control module. When the sensor detection values ​​deviate from the allowable range, the control module controls the multi-degree-of-freedom robotic arm to perform corrections and compensations, and issues a voice reminder through the alarm module. By sensing the movement and compensation of the robotic arm, the operator can master the correction techniques, helping the doctor develop a good feel for nail placement and drilling, thereby achieving the training objectives.

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 advancement of biomedical engineering technology, clinical surgical techniques and methods are keeping pace with the times. More and more computer-assisted and robotic-assisted equipment are entering the operating room. Clinicians need not only be able to use mechanical instruments such as scalpels during surgery, but also learn how to collaborate with computer-assisted and robotic-assisted surgery. At the same time, surgical training and internships no longer rely solely on clinical surgery; the use of training equipment also plays a significant role in supporting surgical standardization and training. There are relatively few instruments and systems designed for training bone resection in neurosurgery, and even fewer for training vertebral cutting with the assistance of robotics or optical navigation systems.

[0003] The spine is a vital motor nerve center in the human body, and neurosurgery spinal surgeries are extremely risky. Improving surgeons' surgical experience and surgical procedures will fully ensure patient safety. Some existing surgical training devices lack quantitative data, are unable to reproduce the various actual operational details of the surgical process, and are unable to provide effective training feedback to the operator. Furthermore, due to the unique physiological structure of the spine, it undergoes vertical elastic displacement and pitch rotation during surgery. Existing training platforms are unable to simulate these elastic characteristics of the spine, resulting in significant differences between the training process and actual surgery. Summary of the Invention

[0004] In view of the shortcomings of the existing technology 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 status 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 and other related objectives, the present invention provides a spinal surgery training device, comprising a multi-degree-of-freedom robotic arm with a force control function, wherein a guide is mounted on the movable end of the multi-degree-of-freedom robotic arm, the guide comprising a connecting handle and a guide rod, wherein the upper end of the connecting handle is fixedly connected to the movable end of the robotic 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 rotary support is coaxially mounted on the upper end of the guide rod. The rotary support is used to coaxially mount a chuck of a cutting tool so that the chuck can rotate within the guide rod. The chuck is used to clamp a rod-shaped instrument, which includes a drill bit and a Kirschner wire.

[0007] The lower end of the guide rod is coaxially connected to a deflection observation module, which includes a hollow mounting tube. The mounting tube body has a plurality of threaded holes radially formed therein. The plurality of threaded holes are used to respectively install different types of non-contact distance measuring sensors. The detection heads of the non-contact distance measuring sensors face the hollow cavity of the mounting tube. The rod-shaped instrument coaxially passes through the guide rod and the mounting tube downward, so that the detection head can measure the radial deflection displacement of the rod-shaped instrument.

[0008] The training device also includes a control module, which is communicated 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, an avoidance groove communicating with the threaded hole is formed on the inner wall surface of the mounting tube, the detection head of the non-contact distance measurement sensor is located in the avoidance groove, the fixing nut is sleeved on the surface of the shell 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 installation tube, and the docking tube is screwed to the external thread of the lower end of the guide rod.

[0012] Optionally, an optical tracer is mounted on the connecting handle or 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 multi-dimensional cutting force sensor, the floating platform is located above the base platform, and the upper surface of the base platform and the lower surface of the floating platform are connected by multiple elastic elements arranged side by side; the sensor assembly includes the multi-dimensional 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 upper and lower directions is smaller than the inner diameter of the columnar gap.

[0015] Optionally, a positioning groove and a threaded through hole adapted to the cutting sample block are provided at the center of the floating platform, a rounded rectangular interface base adapted to 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 adapted to the threaded through hole at the center of the floating platform.

[0016] Optionally, the floating platform is provided with a mounting groove for installing a multi-dimensional acceleration sensor and a mounting hole for installing an 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 of the floating platform, and is connected upward to the optical tracer through a vertically arranged tracer connecting rod; the sensor assembly includes the multi-dimensional acceleration sensor and the optical tracer.

[0017] Optionally, the training device further includes a visual observation module, which includes 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 spinal surgery training device comprising a multi-degree-of-freedom robotic arm, a guide, a deflection observation module, a visual observation module, a carrier module, a control module, and an alarm module. The deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool. Optical tracers are fixed to the guide, cutting tool, carrier module, and other components to monitor the trajectory. The carrier module is used to place samples and is equipped with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. When an operator holds the cutting tool and performs a cutting operation on the sample, each sensor can monitor in real time and transmit the measurement signal to the control module. When the sensor's detection value deviates from the allowable range, the control module controls the multi-degree-of-freedom robotic arm to perform correction compensation and issues a voice reminder through the alarm module. By sensing the movement compensation of the robotic arm, the operator can master the correction technique, helping the doctor develop a good feel for nail placement and drilling, thereby achieving the training purpose. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0021] Figure 2 Shown is a structural schematic diagram of the guide in Example 1 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 shows a schematic structural diagram of the installation cylinder in the first embodiment of the present invention.

[0024] Figure 5 It shows a schematic cross-sectional structural diagram of the installation cylinder in the first embodiment of the present invention.

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

[0026] Figure 7 Shown is a structural schematic diagram of the carrier module in embodiment 1 of the present invention.

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

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

[0029] Component number description

[0030] Cutting tool 1; deflection observation module 2; cutting sample 3; visual observation module 4; carrying module 5; multi-degree-of-freedom robotic arm 6; connecting handle 60; guide rod 64; flange 61; rotary support 63; mounting cylinder 200; threaded hole 202; non-contact distance measuring sensor 206; detection head 208; hollow cavity 204; fixing nut 207; avoidance groove 205; docking cylinder 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 threaded 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. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered 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, cross-sectional views of device structures may be partially enlarged to scale for ease of explanation. Furthermore, these schematic views are merely illustrative and should not limit the scope of the present invention. Furthermore, in actual manufacturing, three-dimensional dimensions, including length, width, and depth, should be included.

[0033] For ease of description, spatially relative terms such as "under," "below," "below," "below," "above," and "on" may be used herein to describe the relationship of one element or feature to other elements or features shown in the drawings. It will be understood that these spatially relative terms are intended to encompass orientations of the device in use or operation in addition to the orientation depicted in the drawings. Additionally, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or one or more intervening layers may be present. As used herein, "between" is inclusive of both endpoints.

[0034] In the context of the present application, a structure described as a first feature being "above" a second feature may include embodiments where the first and second features are formed in direct contact, and may also include embodiments where an additional feature is 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 schematically illustrate the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0036] Example 1

[0037] like Figures 1 to 9As shown, this embodiment provides a spinal surgery training device, comprising a multi-degree-of-freedom robotic arm with force control, a guide for restraining a cutting tool, a deflection observation module, a visual observation module, a carrier module, a control module, and an alarm module. The deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool. Optical tracers are fixed to the guide, cutting tool, and carrier module, serving as optical navigation modules for monitoring the movement trajectories of the various components. The carrier module is used to hold a sample and is equipped with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. As an operator holds the cutting tool and cuts the sample, the sensors monitor the sample in real time and transmit measurement signals to the control module. When the sensor values ​​deviate from the allowable range, the control module issues a voice alert through the alarm module and further controls the multi-degree-of-freedom robotic arm to make corrections. By sensing the robotic arm's movement and compensation, the operator can master correction techniques, improve surgical stability, and achieve the training objectives.

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

[0039] First, there is a multi-degree-of-freedom robotic arm 6 with a force control function. The multi-degree-of-freedom robotic 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-degree-of-freedom robotic arm includes multiple connecting rods and multiple movable joints. Each movable joint is driven by a joint drive motor to achieve relative rotation, thereby achieving various posture adjustments. At the same time, a rotation angle sensor is installed at each movable joint to monitor the movement state of each joint. The control module can control the operation of the joint drive motor to correct and compensate for the cutting process. The multi-degree-of-freedom robotic arm can imitate human body movement and achieve various posture adjustments such as waist rotation, shoulder rotation, elbow rotation, wrist rotation, and pitch, thereby meeting cutting operations at different points and angles.

[0040] Furthermore, the movable end of the multi-degree-of-freedom robotic 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 its upper end. This swivel support 63 utilizes a bearing structure and is coaxially mounted to 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 drill bit. The rod-shaped instrument coaxially extends downward through the guide rod 64, with a clearance between the rod-shaped instrument and the inner wall of the guide rod to prevent interference with the guide rod. The swivel support serves to isolate the guide rod from the chuck of the cutting tool, preventing direct contact with the guide rod during high-speed rotation. Alternatively, the rod-shaped instrument can be another similar tool. For example, when bone cutting is required, the rod-shaped instrument can be replaced with an electric milling cutter; when bone screws are required, the rod-shaped instrument can be replaced with an electric screwdriver. The guide rod constrains the position of the rod-shaped instrument, ensuring accurate surgical positioning and tilt angle. In practice, the guide should be replaced according to the size of the rod-shaped instrument to ensure that the guide rod's dimensions are compatible with the rod-shaped instrument.

[0042] Furthermore, the lower end of the guide rod 64 is coaxially connected to a deflection observation module 2 for observing the radial deflection displacement of the rod-shaped instrument. Since the rod-shaped instrument directly acts on hard bone tissue such as the spine, it will still undergo uncontrollable deflection even under the constraint of the guide rod 64. At this time, an operator holding a cutting tool is required to make corrections in a timely manner. However, beginners are not proficient in the correction techniques. The purpose of the deflection observation module is to help operators master the correction techniques. The deflection observation module is first used to measure the deflection of the rod-shaped instrument, and then the multi-degree-of-freedom robotic arm performs corresponding movement compensation to ensure that the rod-shaped instrument does not deviate from the preset trajectory during movement. By sensing the movement compensation of the robotic arm, the operator can master the correction techniques, improve the stability of the doctor's nail placement and avoid problems such as drilling jump and slippage, and ultimately achieve better surgical results in actual surgery.

[0043] like Figures 3 to 6As shown, the deflection observation module 2 includes a hollow mounting tube 200 with multiple threaded holes 202 radially defined within the barrel. These holes are used to mount various types of non-contact distance measuring sensors 206, including laser Doppler probes and eddy current distance measuring probes. Detection heads 208 of various distance measuring sensors face the hollow cavity 204 of the mounting tube 200 and are connected via threaded holes 202 in the sidewall. These sensors can also be secured with retaining nuts 207. The detection heads 208 observe the radial deflection displacement of the rod-shaped instrument radially inward, providing accurate data feedback to the operator. A clearance is also maintained between the rod-shaped instrument and the inner wall of the mounting tube 200 to prevent interference. Furthermore, a clearance groove 205 is formed on the inner wall of the mounting tube 200, communicating with the threaded holes 202. This clearance groove accommodates the detection heads 208 of the non-contact distance measuring sensors and provides isolation between the sensors and the rod-shaped instrument, minimizing 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 and outer wall 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 screwed to the external thread 65 at the lower end of the guide rod 64 .

[0045] Furthermore, an optical tracer 62 is mounted on the guide's connecting handle 60 or guide rod 64, and an optical tracer is also mounted on the cutting tool. The optical tracer is used to record the position of the corresponding components and detect any deviation from the preset trajectory, particularly during the advancement of a tool such as a drill bit. This allows for timely detection and voice notification, and further compensation and correction via the multi-degree-of-freedom robotic arm.

[0046] An optical tracer is a device that uses optical principles to monitor and record fluid movement. Its operating principle primarily involves the following steps: light source emission, light beam transmission, reflection from the target object, reception by a receiver, and signal processing. An optical tracer first requires a light source, such as a laser or LED, to emit a highly monochromatic and directional light beam. This emitted light beam is adjusted and transmitted through an optical system (such as lenses and mirrors) to form a beam with a specific direction and shape. When the light beam strikes the target object, the surface of the object reflects part of the beam. 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 through the optical system before being received by a receiver (such as a photodiode or CCD camera). The receiver detects the intensity and direction of the reflected light beam. The receiver converts the received light signal into an electrical signal and, through signal processing, extracts parameters such as the target object's position, velocity, and posture.

[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 carrier 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 multiple 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. The gap grooves are arranged along the height direction of the vertical support block. The opening directions of the gap grooves adjacent to each other are opposite. The gap grooves include a sheet-like gap 531 and a columnar gap 532 that are interconnected in the horizontal direction. 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-like 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 on 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 four. When viewed from above, the four elastic elements are arranged in an X-shape and are symmetrical to each other. The elastic elements can well simulate the elastic characteristics of the spine. The portion between the two gap grooves can simulate the vertebrae, and the gap grooves can simulate the intervertebral disc between the upper and lower vertebrae. The columnar gap provides the elastic elements with the freedom of torsion. Under the action of the elastic elements, the entire floating platform can undergo vertical elastic displacement and pitch-roll rotational motion, thereby well simulating the movement behavior and 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 this 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 block 3 is a vertebral block, and the block surface 301 has the same surface morphology as human vertebrae. The center of the floating platform 52 is provided with a positioning groove 523 and a threaded through hole 525 that are compatible with the cutting block, thereby ensuring that the cutting block is as close as possible to the central axis of the base platform 54, so that the multi-dimensional cutting force sensor can better sense pressure changes. The bottom of the cutting block 3 of the present invention is provided with a rounded rectangular interface base 302 that is compatible with the positioning groove 523 at the center of the floating platform 52. The center of the base is provided with an internal threaded hole 303, which is compatible with the threaded through hole 525 at the center of the floating platform.

[0053] Further, if Figure 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 by means of mechanical constraints, thereby facilitating the reasoning of the vibration and position posture of the cutting sample. The mounting groove 522 is provided on the edge of the upper surface of the floating platform 52, and the mounting hole 524 is provided on the side wall surface of the floating platform 52, and is connected to the optical tracer 56 upwardly through a vertically arranged tracer connecting rod 55, so that it is as far away from the operating area of ​​the floating platform 52 as possible, thereby avoiding affecting the surgical operation of the cutting sample. 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. 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 in communication with the memory, display, and various sensors (including an optical tracer, a non-contact distance sensor, a multi-dimensional cutting force sensor, and a multi-dimensional acceleration sensor) to determine whether the feedback signals from each sensor are within an allowable range. For example, the multi-dimensional acceleration sensor detects vibrations of 0.5 mm or more between the cutting tool and the cutting sample, the non-contact distance sensor detects radial deflection of the cutting tool or other rod-shaped instrument itself, the optical tracer detects that the cutting tool position deviates by more than 1 mm from the planned trajectory, the optical tracer or visual observation module detects entry point slippage of the cutter head on the surface, and the multi-dimensional cutting force sensor detects that the cutting force along the K-wire or cutting tool in the radial direction is greater than 2 N. If the sensor feedback signal exceeds the allowable range, the alarm module issues a voice reminder and controls the robotic arm to make corresponding adjustments and corrections to ensure that the cutting tool and other instruments advance 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 inference information.

[0059] In summary, the present invention provides a spinal surgery training device, which includes a multi-degree-of-freedom robotic arm, a guide, a deflection observation module, a visual observation module, a carrier module, a control module, an alarm module, and the like. The deflection observation module is fixedly connected to the guide to measure the radial deflection of the cutting tool. Optical tracers are fixed to the guide, cutting tool, carrier module, and other components to monitor the trajectory. The optical tracers serve as optical navigation modules for monitoring the movement trajectory of each component. The carrier module is used to place samples and is equipped with a multi-dimensional cutting force sensor and a multi-dimensional acceleration sensor. When an operator holds the cutting tool and performs a cutting operation on the sample, each sensor can monitor in real time and transmit the measurement signal to the control module. When the sensor's detection value deviates from the allowable range, the control module controls the multi-degree-of-freedom robotic arm to perform correction compensation and issues a voice reminder through the alarm module. By sensing the movement compensation of the robotic arm, the operator can master the correction technique, helping the doctor develop a good feel for nail placement and drilling, thereby achieving 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 skilled in 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 one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A spinal surgery training device, characterized in that: The training device includes a multi-degree-of-freedom robotic arm with a force control function, wherein a guide is installed at the movable end of the multi-degree-of-freedom robotic arm, and the guide includes a connecting handle and a guide rod, wherein the upper end of the connecting handle is fixedly connected to the movable end of the robotic arm, and the lower end of the connecting handle is connected to the guide rod; The guide rod is hollow inside, and a rotary support is coaxially mounted on the upper end of the guide rod. The rotary support is used to coaxially mount a chuck of a cutting tool so that the chuck can rotate within the guide rod. The chuck is used to clamp a rod-shaped instrument, including a drill bit and a Kirschner wire. The training device further includes a sensor assembly and a control module, wherein the control module is in communication with the sensor assembly and the multi-degree-of-freedom manipulator and is configured to control the multi-degree-of-freedom manipulator according to a monitoring signal from the sensor assembly; the sensor assembly includes at least a plurality of non-contact distance measuring sensors; The lower end of the guide rod is coaxially connected to a deflection observation module, which includes a hollow mounting tube. The barrel of the mounting tube has multiple threaded holes radially opened, and the multiple threaded holes are used to respectively install the multiple non-contact ranging sensors. 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 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 degrees relative to the horizontal plane or the vertical plane.

3. The spinal surgery training device according to claim 1, characterized in that: An avoidance groove communicating with the threaded hole is formed on the inner wall surface of the mounting tube, the detection head of the non-contact distance measurement sensor is located in the avoidance groove, and a fixing nut is sleeved on the surface of the housing 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; The deflection observation module also includes a docking tube coaxially connected to the installation tube, and the docking tube is screwed 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 further comprises a plurality of optical tracers, the optical tracers being mounted on the connecting handle or guide rod of the guide, and the optical tracers being 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, the upper surface of the base platform and the lower surface of the floating platform are connected by multiple 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 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 above and below are opposite, and the gap groove includes a sheet gap and a columnar gap 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.

7. The spinal surgery training device according to claim 5, characterized in that: A positioning groove and a threaded through hole adapted to the cutting sample block are provided at the center of the floating platform; a rounded rectangular interface base adapted to 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 adapted to 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 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 to 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, which is communicatively connected to the control module.

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