Bone focus removing and bone grafting surgical robot

Abstract

The invention relates to the technical field of medical instruments, in particular to a bone focus removing and bone grafting surgical robot which comprises a mounting frame and a sliding adjusting assembly slidably arranged on the upper portion of the mounting frame. Wherein the interior of the mounting frame body is provided with a cavity, the upper part of the mounting frame body is provided with a moving groove, the moving groove is communicated with the cavity, one side of the mounting frame body is fixedly provided with a moving motor, and an output shaft of the moving motor is arranged in the cavity along the axial direction of the mounting frame body; the sliding adjusting assembly comprises a rotating base arranged in the moving groove in a sliding mode, a supporting arm rotationally arranged on the upper portion of the rotating base, and a first lifting device rotationally arranged on one side of the upper portion of the supporting arm. According to the method, frequent interruption caused by visual field cleaning, repositioning and the like in a traditional operation is not needed, the operation duration is greatly shortened, and a better, more efficient and safer solution is provided for a bone focus removing and bone grafting operation on the whole.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a bone lesion removal and bone grafting surgical robot. Background Art

[0002] In the field of bone disease treatment, bone lesions such as osteonecrosis, osteomyelitis and bone tumors are relatively common. Lesion removal and bone grafting surgery is one of the important treatment methods. However, traditional lesion removal and bone grafting surgery has many defects. In terms of surgical instruments, there is a shortage of special instruments for bone lesion removal. Most of the clinical operations rely on manual scraping with a curette or reamer, which is extremely inconvenient and takes a long time to operate. Especially when dealing with deeper lesions, due to the lack of precise guidance, doctors can only rely on their own experience and hand feel to perform scraping, which can easily lead to incomplete lesion removal and residual diseased tissue affecting the treatment effect; or due to operational errors, excessive removal or even breaking through the bone cavity, causing unnecessary harm to the patient. In the intraoperative positioning link, traditional surgery requires repeated fluoroscopic positioning with the help of a C-arm machine to determine the surgical site and the instrument operation position, but the radiation generated by the C-arm machine poses a potential threat to the health of patients and medical staff. Long-term or frequent exposure to radiation may cause a series of radiation-related diseases, such as cell mutation and increased cancer risk.

[0003] With the development of robotics technology and intelligent medical equipment, the development of an intelligent, integrated bone lesion removal and bone grafting robot can improve the accuracy, safety and efficiency of surgery and has important clinical application value. Summary of the invention

[0004] The purpose of the present invention is to provide a bone lesion removal and bone grafting surgical robot in view of the deficiencies in the prior art;

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] The present invention provides a bone lesion removal and bone grafting surgical robot, comprising: a mounting frame, a sliding adjustment component slidably arranged on the upper part of the mounting frame;

[0007] The installation frame has a cavity inside, a movable groove is opened on the upper part of the installation frame, the movable groove is connected to the cavity, a movable motor is fixedly arranged on one side of the installation frame, and the output shaft of the movable motor is arranged in the cavity along the axial direction of the installation frame;

[0008] The sliding adjustment assembly comprises: a rotating base slidably arranged in the moving groove, a supporting arm rotatably arranged on the upper part of the rotating base, a first lifting arm rotatably arranged on one side of the upper part of the supporting arm, a second lifting arm rotatably arranged on an end of the first lifting arm away from the supporting arm, and a grinding drill device fixedly arranged on an end of the second lifting arm away from the first lifting arm;

[0009] Wherein, a wiring board is fixedly arranged on the other side of the installation frame;

[0010] The wiring board is provided with a plurality of wiring holes, and the wiring holes are detachably connected with power lines. A switch button is fixedly provided on the wiring board, and the mobile motor is electrically connected to a power source through the power lines, and the switch button is electrically connected to the mobile motor;

[0011] Wherein, the moving motor adopts a screw stepping motor, and the bottom of the rotating base is fixedly connected to the screw output end of the screw stepping motor through the moving groove.

[0012] Furthermore, a first motor is fixedly provided in the rotating base, and an output end of the first motor is fixedly connected to the bottom of the support arm; a second motor is fixedly provided on the upper part of the support arm, and an output end of the second motor is fixedly connected to one side of the first lifting arm; a third motor is fixedly provided at an end of the first lifting arm away from the support arm, and an output end of the third motor is fixedly connected to one side of the second lifting arm; a fourth motor is fixedly provided at an end of the second lifting arm away from the first lifting arm, and an output end of the fourth motor is fixedly connected to the top of the drilling device.

[0013] Furthermore, the first motor, the second motor, the third motor, and the fourth motor are electrically connected to a power source through the power line.

[0014] Furthermore, a control panel is fixedly arranged on the front of the installation frame, a display screen is fixedly arranged inside the control panel, and control buttons are fixedly arranged inside the control panel;

[0015] The control panel is electrically connected to the power supply through the power line, and the doctor can perform various preoperative settings and inspection operations through the control buttons on the control panel on the front of the installation frame, and the setting information can be displayed on the display screen.

[0016] Furthermore, a plurality of mounting screws are threadedly connected to the back side of the mounting frame, and locking nuts are threadedly connected to the mounting screws.

[0017] Furthermore, a cushion is fixedly provided on the back of the installation frame, and the cushion on the back of the installation frame can play a role in buffering and protecting the hospital bed.

[0018] Further, the grinding drill device comprises: a bearing plate fixedly arranged at the output end of the fourth motor, an electric bone drill fixedly arranged on the bearing plate, and a monitoring camera fixedly arranged in the bearing plate;

[0019] Wherein, a pressurized flusher is fixedly arranged in the electric bone drill;

[0020] The drill bit of the electric bone drill is always oriented toward the affected part of the patient, and the monitoring end of the monitoring camera and the flushing end of the pressurized flusher are oriented in the same direction as the drill bit of the electric bone drill.

[0021] Furthermore, the electric bone drill, the monitoring camera, and the pressurized flusher are electrically connected to a power source via the power line.

[0022] The present invention adopts the above technical solution, and has the following technical effects compared with the prior art:

[0023] The present invention, through mechanical structure design, such as the coordination of the mobile motor, the motors in the rotating base and on each arm, and the precise drive of the mobile motor, can enable the grinding drill device to accurately locate the bone lesion site. The doctor can use the control panel to conduct a comprehensive inspection and setting before and after the operation. During the operation, the doctor can perform precise operations based on the images sent back by the monitoring camera, which effectively avoids damage to surrounding healthy tissues due to improper operation, and reduces the radiation risk caused by repeated fluoroscopy of the C-arm machine. In terms of efficiency, the various components work closely together. When the electric bone drill is working, the pressurized flusher simultaneously cleans bone chips, and the monitoring camera provides real-time feedback. There is no need for frequent interruptions due to clearing the field of view, repositioning, etc. like traditional surgery, which greatly shortens the operation time. Overall, it provides a higher quality, more efficient and safer solution for bone lesion removal and bone grafting surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the axial structure of the front side of the present invention;

[0025] Figure 2 It is a schematic diagram of the axial structure of the back side of the present invention;

[0026] Figure 3 It is a schematic diagram of the shaft side structure of the present invention;

[0027] Figure 4 It is a schematic diagram of the enlarged structure of region A of the present invention;

[0028] The reference numerals in the accompanying drawings are:

[0029] Mounting frame, 1; sliding adjustment component, 3; moving slot, 2; moving motor, 202; rotating base, 301; supporting arm, 302; first lifting arm, 303; second lifting arm, 304; grinding drill device, 305; wiring board, 4; wiring hole, 41; power line, 42; switch button, 43; second motor, 306; third motor, 307; fourth motor, 308; control panel, 11; display screen, 12; control button, 13; mounting screw, 501; locking nut, 502; cushion, 503; bearing plate, 401; electric bone drill, 402; monitoring camera, 403. DETAILED DESCRIPTION

[0030] The specific embodiments of the present invention will be described in detail below.

[0031] Unless otherwise defined, technical or scientific terms used in the claims and the specification shall have the common meanings understood by persons having ordinary skills in the technical field to which the present invention belongs.

[0032] The words "include" or similar words used in the patent application specification and claims of the present invention mean that the items appearing before "include" include the items listed after "include" or their equivalents, and do not exclude other items.

[0033] The numerical values ​​mentioned in the present invention include all numerical values ​​that increase from low to high by one unit, assuming that there are at least two units between any lower value and the higher value. For example, if a component or a physical quantity is said to be from 1 to 100, 10 to 90 is more preferred, and 20 to 80 is the most preferred, it is intended to express that values ​​such as 5 to 95, 14 to 76, 23 to 67, 32 to 58, 41 to 49 are clearly listed in this specification; for values ​​less than 1, 0.0001, 0.001, 0.01 or 0.1 are considered to be more suitable as a unit. The above examples are for illustrative purposes only. In fact, all numerical combinations between the lowest value and the highest value listed are deemed to be clearly listed in this specification in a similar manner.

[0034] Example 1

[0035] This embodiment provides a bone lesion removal and bone grafting surgical robot, comprising: a mounting frame (1), a sliding adjustment component (3) slidably arranged on the upper part of the mounting frame (1);

[0036] The installation frame (1) has a cavity inside, a movable groove (2) is provided on the upper part of the installation frame (1), the movable groove (2) is connected to the cavity, a movable motor (202) is fixedly arranged on one side of the installation frame (1), and the output shaft of the movable motor (202) is arranged in the cavity along the axial direction of the installation frame (1);

[0037] The sliding adjustment assembly (3) comprises: a rotating base (301) slidably arranged in the movable groove (2), a supporting arm (302) rotatably arranged on the upper part of the rotating base (301), a first lifting arm (303) rotatably arranged on one side of the upper part of the supporting arm (302), a second lifting arm (304) rotatably arranged on an end of the first lifting arm (303) away from the supporting arm (302), and a grinding device (305) fixedly arranged on an end of the second lifting arm (304) away from the first lifting arm (303);

[0038] Wherein, a wiring board (4) is fixedly arranged on the other side of the installation frame (1);

[0039] The wiring board (4) is provided with a plurality of wiring holes (41), and the wiring holes (41) are detachably connected with power lines (42). A switch button (43) is fixedly provided on the wiring board (4), and the movable motor (202) is electrically connected to a power source via the power lines (42), and the switch button (43) is electrically connected to the movable motor (202);

[0040] Wherein, the moving motor (202) is a screw stepping motor, and the bottom of the rotating base (301) is fixedly connected to the screw output end of the screw stepping motor through the moving groove (2).

[0041] According to a preferred technical solution, a first motor is fixedly arranged in the rotating base (301), and the output end of the first motor is fixedly connected to the bottom of the support arm (302); a second motor (306) is fixedly arranged on the upper part of the support arm (302), and the output end of the second motor (306) is fixedly connected to one side of the first lifting arm (303); a third motor (307) is fixedly arranged at one end of the first lifting arm (303) away from the support arm (302), and the output end of the third motor (307) is fixedly connected to one side of the second lifting arm (304); A fourth motor (308) is fixedly provided at one end of the lifting arm (304) away from the first lifting arm (303), and an output end of the fourth motor (308) is fixedly connected to the top of the grinding and drilling device (305); the first motor, the second motor (306), the third motor (307), and the fourth motor (308) are electrically connected to a power source via the power line (42); the first motor, the second motor (306), the third motor (307), and the fourth motor (308) are combined with the mobile motor (202) to accurately position the grinding and drilling device (305) at the bone lesion site of the patient;

[0042] As a preferred technical solution, the first motor, the second motor (306), the third motor (307), the fourth motor (308), and the moving motor (202) also have a reducer.

[0043] According to a preferred technical solution, a control panel (11) is fixedly arranged on the front of the installation frame (1), a display screen (12) is fixedly arranged inside the control panel (11), and control buttons (13) are fixedly arranged inside the control panel (11);

[0044] The control panel (11) is electrically connected to the power supply via the power line (42), and the doctor can perform various preoperative settings and inspection operations via the control buttons (13) on the control panel (11) on the front of the installation frame (1), and the setting information can be displayed on the display screen (12).

[0045] According to a preferred technical solution, a plurality of mounting screws (501) are threadedly connected to the back of the mounting frame (1), and a locking nut (502) is threadedly connected to the mounting screws (501); a soft cushion (503) is fixedly provided on the back of the mounting frame (1), and the soft cushion (503) on the back of the mounting frame (1) can play a role in cushioning and protecting the hospital bed.

[0046] According to a preferred technical solution, the grinding drill device (305) comprises: a supporting plate (401) fixedly arranged at the output end of the fourth motor (308), an electric bone drill (402) fixedly arranged on the supporting plate (401), and a monitoring camera (403) fixedly arranged in the supporting plate (401);

[0047] Wherein, a pressurized flusher is fixedly arranged in the electric bone drill (402);

[0048] The drill bit of the electric bone drill (402) is always oriented toward the patient's affected area. At the same time, the monitoring end of the monitoring camera (403) and the flushing end of the pressurized flusher are both consistent with the drill bit orientation of the electric bone drill (402), so that during the surgical operation, accurate monitoring, effective flushing and lesion removal can be carried out simultaneously. In addition, the electric bone drill (402), the monitoring camera (403) and the pressurized flusher are all connected to the power supply with a reliable electrical connection by means of the power cord (42), thereby ensuring that each component can operate stably during the operation, providing strong technical support and guarantee for the smooth implementation of bone lesion removal and bone grafting surgery.

[0049] As a preferred technical solution, the control panel (11) has a single-chip microcomputer and a signal transmission module inside.

[0050] As a preferred technical solution, the control panel (11) controls the moving motor (202) and the sliding adjustment component (3) in the device through a PLC control system.

[0051] Example 2

[0052] This embodiment provides a method for using a bone lesion removal and bone grafting surgical robot. When performing a bone lesion removal and bone grafting surgery, the bone lesion removal and bone grafting surgical robot is first pushed to a suitable position beside the operating bed. The mounting screw (501) on the back of the mounting frame (1) is connected to the corresponding part of the bed, and the locking nut (502) is tightened to ensure that the mounting frame (1) is stable. The soft pad (503) on the back of the mounting frame (1) can play a role in buffering and protecting the bed.

[0053] The power supply is turned on and connected to the wiring board (4) through the power supply line (42). The switch button (43) on the wiring board (4) is in the off state at this time. The switch button (43) controls the start and stop of the robot. Before the operation begins, the switch button (43) is turned on. The doctor can perform various preoperative settings and inspection operations through the control button (13) on the front control panel (11) of the installation frame (1). The setting information can be displayed on the display screen (12).

[0054] When the preparation is ready, the moving motor (202) is started. Since the moving motor (202) adopts a screw stepping motor, the screw output end drives the rotating base (301) to slide in the moving groove (2), thereby adjusting the horizontal position of the grinding device (305).

[0055] The first motor in the rotating base (301) can drive the support arm (302) to rotate, adjust the angle direction of the first lifting arm (303), the second motor (306) on the upper part of the support arm (302) drives the first lifting arm (303) to rotate, the third motor (307) at the end of the first lifting arm (303) drives the second lifting arm (304) to rotate, and the fourth motor (308) at the end of the second lifting arm (304) controls the position angle of the grinding drill device (305). Through the coordinated operation of this series of motors, the grinding drill device (305) can be accurately positioned at the patient's bone lesion site.

[0056] After locating the bone lesion site of the patient, the electric bone drill (402) in the grinding and drilling device (305) starts to work, and the monitoring camera (403) in the supporting plate (401) monitors the surgical site in real time. The monitoring image is transmitted to the display screen (12) or an external display device through the signal transmission module, which is convenient for the doctor to operate accurately. The pressurized flusher in the electric bone drill (402) flushes the surgical site in time to remove impurities such as bone chips, thereby ensuring a clear surgical field of view.

[0057] During the operation, the doctor can adjust the direction of each motor at any time through the control panel (11) according to the actual situation to adapt to different surgical needs. The entire surgical process is effectively improved by the precise operation and intelligent assistance of the bone lesion removal and bone grafting surgical robot, and the various problems caused by human operation errors, instrument limitations and other factors in traditional surgery are reduced, providing more reliable protection for the patient's surgical treatment.

[0058] In summary, the present invention can accurately locate the grinding drill device to the bone lesion site through mechanical structure design, such as the coordination of the mobile motor, the motor in the rotating base and the motor on each arm, and the precise drive of the mobile motor. The doctor can use the control panel to conduct a comprehensive inspection and setting before and after the operation. During the operation, the operation can be accurately performed according to the images sent back by the monitoring camera, which effectively avoids damage to the surrounding healthy tissues due to improper operation, and reduces the radiation risk caused by repeated fluoroscopy of the C-arm machine. In terms of efficiency, the various components are closely coordinated. When the electric bone drill is working, the pressurized flusher simultaneously cleans the bone chips, and the monitoring camera provides real-time feedback. There is no need for frequent interruptions due to clearing the field of view, repositioning, etc. like traditional surgery, which greatly shortens the operation time. Overall, it provides a better, more efficient and safer solution for bone lesion removal and bone grafting surgery.

[0059] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A bone lesion removal and bone grafting surgical robot, characterized in that: include: An installation frame (1), and a sliding adjustment component (3) slidably arranged on the upper part of the installation frame (1); The installation frame (1) has a cavity inside, a movable groove (2) is provided on the upper part of the installation frame (1), the movable groove (2) is connected to the cavity, a movable motor (202) is fixedly arranged on one side of the installation frame (1), and the output shaft of the movable motor (202) is arranged in the cavity along the axial direction of the installation frame (1); The sliding adjustment assembly (3) comprises: a rotating base (301) slidably arranged in the movable groove (2), a supporting arm (302) rotatably arranged on the upper part of the rotating base (301), a first lifting arm (303) rotatably arranged on one side of the upper part of the supporting arm (302), a second lifting arm (304) rotatably arranged on an end of the first lifting arm (303) away from the supporting arm (302), and a grinding device (305) fixedly arranged on an end of the second lifting arm (304) away from the first lifting arm (303); Wherein, a wiring board (4) is fixedly arranged on the other side of the installation frame (1); The wiring board (4) is provided with a plurality of wiring holes (41), and the wiring holes (41) are detachably connected with power lines (42). A switch button (43) is fixedly provided on the wiring board (4), and the movable motor (202) is electrically connected to a power source via the power lines (42), and the switch button (43) is electrically connected to the movable motor (202); Wherein, the moving motor (202) is a screw stepping motor, and the bottom of the rotating base (301) is fixedly connected to the screw output end of the screw stepping motor through the moving groove (2).

2. A bone lesion removal and bone grafting surgical robot according to claim 1, characterized in that: A first motor is fixedly arranged in the rotating base (301), and the output end of the first motor is fixedly connected to the bottom of the support arm (302); a second motor (306) is fixedly arranged on the upper part of the support arm (302), and the output end of the second motor (306) is fixedly connected to one side of the first lifting arm (303); a third motor (307) is fixedly arranged at one end of the first lifting arm (303) away from the support arm (302), and the output end of the third motor (307) is fixedly connected to one side of the second lifting arm (304); a fourth motor (308) is fixedly arranged at one end of the second lifting arm (304) away from the first lifting arm (303), and the output end of the fourth motor (308) is fixedly connected to the top of the grinding device (305).

3. The bone lesion removal and bone grafting surgical robot according to claim 2, characterized in that: The first motor, the second motor (306), the third motor (307), and the fourth motor (308) are electrically connected to a power source via the power line (42).

4. The bone lesion removal and bone grafting surgical robot according to claim 1, characterized in that: A control panel (11) is fixedly arranged on the front of the installation frame (1), a display screen (12) is fixedly arranged inside the control panel (11), and a control button (13) is fixedly arranged inside the control panel (11); Wherein, the control panel (11) is electrically connected to a power source via the power line (42).

5. The bone lesion removal and bone grafting surgical robot according to claim 1, characterized in that: The back side of the installation frame (1) is threadedly connected to a plurality of installation screws (501), and the installation screws (501) are threadedly connected to locking nuts (502).

6. The bone lesion removal and bone grafting surgical robot according to claim 1, characterized in that: A soft pad (503) is fixedly arranged on the back of the installation frame (1).

7. The bone lesion removal and bone grafting surgical robot according to claim 2, characterized in that: The drilling device (305) comprises: a bearing plate (401) fixedly arranged at the output end of the fourth motor (308), an electric bone drill (402) fixedly arranged on the bearing plate (401), and a monitoring camera (403) fixedly arranged in the bearing plate (401); Wherein, a pressurized flusher is fixedly arranged in the electric bone drill (402); The drill bit of the electric bone drill (402) is always oriented toward the patient's affected area, and the monitoring end of the monitoring camera (403) and the flushing end of the pressurized flusher are oriented in the same direction as the drill bit of the electric bone drill (402).

8. The bone lesion removal and bone grafting surgical robot according to claim 7, characterized in that: The electric bone drill (402), the monitoring camera (403), and the pressurized flusher are electrically connected to a power source via the power line (42).

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