Craniomaxillofacial bone malformation reduction robot based on 3D printing fixing plate positioning

Abstract

The cranio-maxillofacial bone malformation reduction robot based on 3D printing fixing plate positioning comprises a supporting bottom plate placed on an operating bed, a supporting headrest is fixedly installed on the upper surface of the supporting bottom plate, and first mounting frames are arranged above the left end and the right end of the supporting bottom plate; a remotely-controlled operation mechanical arm is rotationally mounted on the lower surface of the front end of the first mounting frame, and an electrical box connected with the operation mechanical arm is fixedly mounted on the upper surface of the first mounting frame. According to the cranio-maxillofacial bone deformity reduction robot based on 3D printing fixing plate positioning, a movable sliding block drives a transmission gear outside the movable sliding block to synchronously move in the front-back moving process, and in the moving process of the transmission gear, the transmission gear drives a driving worm in the movable sliding block to rotate through meshing between the transmission gear and a fixed rack; when the driving worm rotates, the arc-shaped plate is driven to rotate left and right in a reciprocating mode through meshing between the driving worm and the worm gear teeth, the shooting range of the modeling camera is expanded, and more comprehensive and accurate modeling operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical deformity correction, and in particular to a cranio-maxillofacial deformity correction robot based on 3D printed fixation plate positioning. Background Art

[0002] Medical deformity correction refers to the process of repairing and improving physical deformities or functional disorders through surgery, rehabilitation or other medical methods. The craniomaxillofacial bones refer to the skeletal structures that make up the head and face. Their main functions include protecting the brain, supporting the facial structure, and facilitating chewing and vocalization.

[0003] In the prior art, a Chinese patent with publication number CN109662789A discloses a robotic device for craniomaxillofacial deformity correction based on 3D printing technology, including: a main body support and a robotic arm with an operating end and a fixed arm with a printed positioning plate arranged thereon, and a robotic arm control module, wherein: the robotic arm control module is connected to the robotic arm, sends control signal instructions to the robotic arm, establishes a coordinate mapping relationship between the actual target object and the target object in the 3D model through target registration, and controls the robotic arm to automatically run along a predetermined operation trajectory through path planning.

[0004] As another example in the prior art, a Chinese patent with publication number CN113317876A discloses an augmented reality-based craniomaxillofacial fracture repair navigation system, comprising a head-mounted display, an image marker device and a fixer, wherein the image marker device comprises a first image marker and at least one second image marker, the first image marker and the second image marker are both equipped with a fixer, and the first image marker and the second image marker are fixed to their respective corresponding entities through the fixer; the head-mounted display comprises a scanning unit, a registration display unit, a storage unit and a data processing unit; the scanning unit is used to identify the first image marker and the second image marker to obtain their positions; the registration display unit overlaps and displays the three-dimensional model of the patient with the patient, and the data processing unit is used to calculate the distance from the free fracture fragment to the fracture reduction point to guide the doctor to move the free fracture fragment to the fracture reduction point.

[0005] Based on the above materials, it can be seen that in the prior art, the patient's head can be positioned by using a 3D printed fixing plate. However, in actual use, a three-dimensional model of the skull needs to be established after positioning, and scanning at a fixed position may result in incomplete scanning. Summary of the invention

[0006] The purpose of the present invention is to provide a craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning to solve the problem of incomplete scanning mentioned in the above background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a craniomaxillofacial deformity correction robot based on 3D printed fixed plate positioning, comprising a support base plate placed on an operating bed, a support headrest fixedly installed on the upper surface of the support base plate, a first mounting frame is arranged above the left and right ends of the support base plate, and a remote-controlled operating mechanical arm is rotatably installed on the lower surface of the front end of the first mounting frame, and an electrical box connected to the operating mechanical arm is fixedly installed on the upper surface of the first mounting frame, and a correction tool for correction operation is installed at the bottom end of the operating mechanical arm; a longitudinally arranged mounting plate is fixedly installed on the upper surface of the rear end of the support base plate, and the A connecting cross frame is fixedly installed on the front side of the upper end of the mounting plate, and fill lights are fixedly installed on the outer surfaces of the left and right sides of the connecting cross frame, an arc-shaped plate is arranged below the connecting cross frame, and a modeling camera for facial modeling is fixedly installed on the lower surface of the arc-shaped plate, and a reciprocating mechanism for expanding the modeling range is arranged between the arc-shaped plate and the connecting cross frame; a second mounting frame is arranged above the left and right sides of the supporting headrest, and an inserted clamping structure is formed between the second mounting frame and the connecting column, and a printing positioning plate for cooperating with the modeling camera is arranged on the upper end of the second mounting frame, and an adjustment mechanism is arranged between the second mounting frame and the supporting headrest.

[0008] Preferably, the reciprocating mechanism comprises a movable slider installed on the inner side of the connecting cross frame, and a sliding structure is formed between the movable slider and the connecting cross frame, and a through-type sliding structure is formed between the arc plate and the movable slider.

[0009] Preferably, a transmission screw is rotatably installed inside the connecting cross frame, and a threaded connection is passed through the transmission screw and the movable slider, and the transmission screw is driven to rotate by a driving motor fixedly installed inside the connecting cross frame.

[0010] Preferably, worm gear teeth are fixedly installed at equal intervals on the upper surface of the arc-shaped plate, and the worm gear teeth are meshingly connected with the active worm above them, and the active worm gear is rotatably installed inside the movable slider.

[0011] Preferably, transmission gears located outside the movable slider are coaxially fixedly installed at the left and right ends of the active worm, and the transmission gears are meshingly connected with the fixed rack, and the fixed rack is fixedly installed on the lower surface of the connecting cross frame.

[0012] Preferably, an electric slider corresponding to the first mounting frame is disposed below the first mounting frame, and a telescopic cylinder for adjusting the height of the electric slider is installed between the electric slider and the first mounting frame.

[0013] Preferably, the electric slider and the electric slide rail can slide back and forth, and the surface of the electric slide rail is provided with scale marks, and the electric slide rail is fixedly mounted on the upper surface of the supporting base plate.

[0014] Preferably, a positioning mark is fixedly mounted on the upper surface of the printing positioning plate, and the printing positioning plate and an adsorption magnetic block fixedly mounted on the upper end of the second mounting frame are magnetically adsorbed and fixed to each other.

[0015] Preferably, a squeeze airbag for limiting the movement of the patient's head is fixedly mounted on the side of the second mounting frame, and the squeeze airbag is connected to an electric air pump through a delivery pipe fixedly mounted thereto, and the electric air pump is fixedly mounted on the outside of the side of the supporting headrest.

[0016] Preferably, the adjustment mechanism includes a limiting slide groove opened on the upper surface of the supporting headrest, and a sliding structure is formed between the connecting column and the limiting slide groove, and an adjustment threaded rod is rotatably installed inside the limiting slide groove, and the adjustment threaded rod is threadedly connected to the lower end of the connecting column.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: the craniomaxillofacial deformity correction robot based on 3D printed fixed plate positioning adopts a new structural design, and its specific contents are as follows: 1. The patient's head rests on the supporting headrest, and then the drive motor connected to the inside of the horizontal frame drives the transmission screw to rotate, so that the transmission screw drives the moving slider installed with a thread through the outside to move forward and backward, and the moving slider drives the arc plate to move synchronously. At this time, the modeling camera under the arc plate is used to model the patient's head, and the fill light on the side of the horizontal frame is connected to start the auxiliary modeling operation; Furthermore, the moving slider drives the external transmission gear to move synchronously during its forward and backward movement. The transmission gear drives the active worm inside the moving slider to rotate by utilizing the meshing between the transmission gear and the fixed rack during its movement. When the active worm rotates, the meshing between the transmission gear and the worm gear teeth drives the arc plate to rotate back and forth, thereby expanding the shooting range of the modeling camera and achieving more comprehensive and accurate modeling operations.

[0018] 2. Turn on the electric slider according to the actual situation of different patients, so that the electric slider slides back and forth on the electric slide rail, and moves the first mounting frame to the specified position in conjunction with the scale marks on the surface of the electric slide rail. At the same time, turn on the telescopic cylinder to adjust the height of the first mounting frame, and finally move the restoration tool to the appropriate height.

[0019] 3. When performing modeling operations, use the printed positioning plate and the positioning marks on its upper surface to assist in positioning during modeling to avoid deviations. The printed positioning plate is printed using 3D printing technology based on the patient's facial contour. Since it is customized according to the patient, it can better fit the facial shape during positioning to achieve better positioning effects; Furthermore, the connecting column is driven to slide inside the limiting slide groove by rotating the adjusting threaded rod, thereby adjusting the position of the second mounting bracket and the printing positioning plate. After the positioning is completed, the electric air pump is turned on and air is delivered to the extrusion airbag through the delivery pipe, and the expansion of the extrusion airbag is used to limit the movement of the patient's head. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the first mounting frame of the present invention; Figure 3 This is a schematic diagram of the lower surface structure of the connecting cross frame of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the connecting cross frame of the present invention; Figure 5 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 6 This is a schematic diagram of the cross-sectional structure of the movable slider of the present invention; Figure 7 This is a schematic diagram of the cross-sectional structure of the supporting headrest of the present invention; Figure 8 For the present invention Figure 7 The enlarged structural diagram at B in the middle; Fig. 9 It is a schematic diagram of the structure of the second mounting frame of the present invention.

[0021] In the figure: 1. Support base plate; 2. Support headrest; 3. First mounting frame; 4. Operating robot arm; 5. Restoration tool; 6. Electrical box; 7. Mounting plate; 8. Connecting cross frame; 801. Fill light; 9. Arc plate; 10. Modeling camera; 11. Second mounting frame; 12. Connecting column; 13. Printing positioning plate; 14. Positioning mark; 15. Moving slider; 16. Transmission screw; 17. Driving motor; 18. Worm gear; 19. Active worm; 20. Transmission gear; 21. Fixed rack; 22. Electric slider; 23. Telescopic cylinder; 24. Electric slide rail; 25. Scale mark; 26. Limit slide groove; 27. Adjustment threaded rod; 28. Extrusion airbag; 29. ​​Delivery pipeline; 30. Electric air pump; 31. Adsorption magnetic block. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example 1: Please refer to Figure 1-Figure 2 The present embodiment provides the following technical solutions, which specifically disclose: a support base plate 1 placed on the operating bed, a support headrest 2 is fixedly installed on the upper surface of the support base plate 1, a first mounting frame 3 is arranged above the left and right ends of the support base plate 1, and a remote-controlled operating mechanical arm 4 is rotatably installed on the lower surface of the front end of the first mounting frame 3, and an electrical box 6 connected to the operating mechanical arm 4 is fixedly installed on the upper surface of the first mounting frame 3, a restoration tool 5 for restoration operation is installed at the bottom end of the operating mechanical arm 4, an electric slider 22 corresponding to the first mounting frame 3 is arranged below the first mounting frame 3, and a telescopic cylinder 23 for adjusting the height thereof is installed between the electric slider 22 and the first mounting frame 3, a forward and backward sliding is formed between the electric slider 22 and the electric slide rail 24, and a scale mark 25 is arranged on the surface of the electric slide rail 24, and the electric slide rail 24 is fixedly installed on the upper surface of the support base plate 1.

[0024] When using the device, first, the patient who needs to be reduced lies on the operating bed (the entire device is placed on the operating bed in advance), with his head resting on the supporting headrest 2, and the electric slider 22 is turned on according to the patient's lying position, so that the electric slider 22 slides back and forth outside the electric slide rail 24, and the first mounting frame 3 is moved to the specified position in conjunction with the scale mark 25 on the surface of the electric slide rail 24, and then the telescopic cylinder 23 is turned on, and the height of the first mounting frame 3 is adjusted by using the telescopic cylinder 23. After the position adjustment is completed, the electrical box 6 can be used to drive the operating robot arm 4, so that the operating robot arm 4 drives the reduction tool 5 to perform a reduction operation on the patient's craniomaxillofacial bones.

[0025] Example 2: Please refer to Figure 3-Figure 6In order to achieve the purpose of improving the modeling accuracy, the present embodiment provides the following technical solutions, which specifically disclose: a longitudinally arranged mounting plate 7 is fixedly installed on the upper surface of the rear end of the supporting base plate 1, and a connecting cross frame 8 is fixedly installed on the front side of the upper end of the mounting plate 7, and fill lights 801 are fixedly installed on the outer surfaces of the left and right sides of the connecting cross frame 8, an arc plate 9 is arranged below the connecting cross frame 8, and a modeling camera 10 for facial modeling is fixedly installed on the lower surface of the arc plate 9, and a reciprocating mechanism for expanding the modeling range is arranged between the arc plate 9 and the connecting cross frame 8, and the reciprocating mechanism includes a moving slider 15 installed on the inner side of the connecting cross frame 8, and the moving slider 15 and the connecting cross frame 8 form a sliding structure, and the arc plate 9 and the moving slider 15 are connected to the connecting cross frame 8. A through-type sliding structure is formed between the sliders 15, a transmission screw 16 is rotatably installed inside the connecting cross frame 8, and the transmission screw 16 and the mobile slider 15 are threadedly connected, and the transmission screw 16 is driven to rotate by a driving motor 17 fixedly installed inside the connecting cross frame 8, worm gear teeth 18 are fixedly installed at equal intervals on the upper surface of the arc plate 9, and the worm gear teeth 18 are meshingly connected with the active worm 19 above it, and the active worm 19 is rotatably installed inside the mobile slider 15, and the left and right ends of the active worm 19 are coaxially fixed with transmission gears 20 located on the outside of the mobile slider 15, and the transmission gear 20 is meshingly connected with a fixed rack 21, and the fixed rack 21 is fixedly installed on the lower surface of the connecting cross frame 8.

[0026] Before performing the restoration operation, first turn on the drive motor 17, and use the drive motor 17 to drive the transmission screw 16 to rotate. During the rotation of the transmission screw 16, the movable slider 15 installed with a threaded hole on its outside is driven to move back and forth inside the connecting cross frame 8, and the movable slider 15 is used to drive the arc plate 9 to move synchronously. At the same time, the modeling camera 10 below the arc plate 9 scans the patient's face to achieve the modeling operation (at the same time, the external fill light 801 on the left and right sides of the connecting cross frame 8 is turned on to assist the modeling operation). During the movement of the movable slider 15 back and forth, the transmission gear 20 outside it is driven to move synchronously, and the meshing between the transmission gear 20 and the fixed rack 21 is used to make the transmission gear 20 drive the active worm 19 inside the movable slider 15 to rotate when moving. At this time, the meshing between the active worm 19 and the worm gear teeth 18 is used to drive the arc plate 9 to slide back and forth relative to the movable slider 15, thereby expanding the scanning range of the modeling camera 10 below it, thereby establishing a more accurate facial model.

[0027] Example 3: Please refer to Figure 7-Figure 9In order to achieve the purpose of squeezing and fixing the patient's head, the present embodiment provides the following technical solutions, which specifically disclose: a second mounting frame 11 is arranged above the left and right sides of the supporting headrest 2, and an insert-type clamping structure is formed between the second mounting frame 11 and the connecting column 12, and a printing positioning plate 13 for cooperating with the modeling camera 10 is arranged at the upper end of the second mounting frame 11, an adjustment mechanism is arranged between the second mounting frame 11 and the supporting headrest 2, a positioning mark 14 is fixedly installed on the upper surface of the printing positioning plate 13, and the printing positioning plate 13 and the adsorption magnetic block 31 fixedly installed at the upper end of the second mounting frame 11 They are magnetically adsorbed and fixed to each other, an extrusion airbag 28 for limiting the movement of the patient's head is fixedly installed on the side of the second mounting frame 11, and the extrusion airbag 28 is connected to the electric air pump 30 through a delivery pipe 29 fixedly installed therewith, and the electric air pump 30 is fixedly installed on the outside of the side of the supporting headrest 2, the adjustment mechanism includes a limiting slide groove 26 opened on the upper surface of the supporting headrest 2, and a sliding structure is formed between the connecting column 12 and the limiting slide groove 26, and an adjusting threaded rod 27 is rotatably installed inside the limiting slide groove 26, and the adjusting threaded rod 27 is threadedly connected to the lower end of the connecting column 12.

[0028] Before the modeling operation, the printing positioning plate 13 is installed to the upper end of the second mounting frame 11 (the printing positioning plate 13 is fixed by the magnetic adsorption effect between the printing positioning plate 13 and the adsorption magnetic block 31, and the printing positioning plate 13 is customized according to the patient's face by 3D printing technology, so that the printing positioning plate 13 can better fit the patient's face), and then the positioning mark 14 on the upper surface of the printing positioning plate 13 is used for positioning during the modeling operation to avoid deviation in modeling. After the installation of the printing positioning plate 13 is completed, the adjusting threaded rod 27 is rotated, and the adjusting threaded rod 27 is used to drive the connecting column 12 to slide inside the limiting slide groove 26 (the second mounting frame 11 is installed by inserting and engaging with the connecting column 12), so as to adjust the position of the second mounting frame 11 and the printing positioning plate 13 through the connecting column 12, and finally the electric air pump 30 is turned on, and the electric air pump 30 is used to deliver air to the extrusion airbag 28 through the delivery pipe 29. At this time, the extrusion airbag 28 expands and squeezes the patient's head, thereby achieving the purpose of fixing the patient's head.

[0029] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A craniomaxillofacial deformity correction robot based on 3D printed fixed plate positioning, comprising a support base plate (1) placed on an operating table, a support headrest (2) fixedly mounted on the upper surface of the support base plate (1), characterized in that: Also includes: A first mounting frame (3) is provided above the left and right ends of the support base plate (1), and a remote-controlled operating mechanical arm (4) is rotatably mounted on the lower surface of the front end of the first mounting frame (3), and an electrical box (6) connected to the operating mechanical arm (4) is fixedly mounted on the upper surface of the first mounting frame (3), and a restoration tool (5) for performing restoration operations is installed at the bottom end of the operating mechanical arm (4); A longitudinally arranged mounting plate (7) is fixedly mounted on the upper surface of the rear end of the supporting base plate (1), and a connecting cross frame (8) is fixedly mounted on the front side of the upper end of the mounting plate (7), and fill lights (801) are fixedly mounted on the outer surfaces of the left and right sides of the connecting cross frame (8), an arc plate (9) is arranged below the connecting cross frame (8), and a modeling camera (10) for facial modeling is fixedly mounted on the lower surface of the arc plate (9), and a reciprocating mechanism for expanding the modeling range is arranged between the arc plate (9) and the connecting cross frame (8); A second mounting frame (11) is arranged above the left and right sides of the supporting headrest (2), and an insert-type snap-fit ​​structure is formed between the second mounting frame (11) and the connecting column (12), and a printing positioning plate (13) for cooperating with the modeling camera (10) is arranged at the upper end of the second mounting frame (11), and an adjustment mechanism is arranged between the second mounting frame (11) and the supporting headrest (2).

2. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 1, characterized in that: The reciprocating mechanism comprises a movable slider (15) installed on the inner side of the connecting cross frame (8), and a sliding structure is formed between the movable slider (15) and the connecting cross frame (8), and a through-type sliding structure is formed between the arc plate (9) and the movable slider (15).

3. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 2, characterized in that: A transmission screw (16) is rotatably mounted inside the connecting cross frame (8), and a threaded connection is formed between the transmission screw (16) and the movable slider (15), and the transmission screw (16) is driven to rotate by a drive motor (17) fixedly mounted inside the connecting cross frame (8).

4. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 2, characterized in that: The upper surface of the arc-shaped plate (9) is fixedly mounted with worm gear teeth (18) at equal intervals, and the worm gear teeth (18) are meshingly connected with an active worm (19) above the worm gear teeth, and the active worm (19) is rotatably mounted inside the movable slider (15).

5. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 4, characterized in that: The driving worm (19) has a transmission gear (20) coaxially fixedly mounted on the left and right ends thereof and located outside the movable slider (15). The transmission gear (20) is meshingly connected to a fixed rack (21), and the fixed rack (21) is fixedly mounted on the lower surface of the connecting cross frame (8).

6. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 1, characterized in that: An electric slider (22) corresponding to the first mounting frame (3) is provided below the first mounting frame (3), and a telescopic cylinder (23) for adjusting the height thereof is installed between the electric slider (22) and the first mounting frame (3).

7. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 6, characterized in that: The electric slide block (22) and the electric slide rail (24) are capable of sliding forward and backward, and a scale mark (25) is provided on the surface of the electric slide rail (24), and the electric slide rail (24) is fixedly mounted on the upper surface of the supporting base plate (1).

8. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 1, characterized in that: A positioning mark (14) is fixedly mounted on the upper surface of the printing positioning plate (13), and the printing positioning plate (13) and an adsorption magnetic block (31) fixedly mounted on the upper end of the second mounting frame (11) are magnetically adsorbed and fixed to each other.

9. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 8, characterized in that: A squeeze air bag (28) for limiting the movement of the patient's head is fixedly mounted on the side of the second mounting frame (11), and the squeeze air bag (28) is connected to an electric air pump (30) via a delivery pipe (29) fixedly mounted thereto, and the electric air pump (30) is fixedly mounted on the outside of the side of the supporting headrest (2).

10. The craniomaxillofacial deformity correction robot based on 3D printed fixation plate positioning according to claim 1, characterized in that: The adjustment mechanism comprises a limiting slide groove (26) provided on the upper surface of the supporting headrest (2), and a sliding structure is formed between the connecting column (12) and the limiting slide groove (26), and an adjusting threaded rod (27) is rotatably installed inside the limiting slide groove (26), and the adjusting threaded rod (27) is threadedly connected to the lower end of the connecting column (12).

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