Orthopedic robot and control method

Abstract

The invention relates to an orthopedic robot and a control method, the orthopedic robot comprises an automatic needle placement device, the automatic needle placement device comprises a power mechanism, a transmission mechanism, a puncture needle and a tracer, the automatic needle placement device is controlled through a portable surgical robot, and the portable surgical robot comprises a navigation device and a main control device. The automatic needle placing device and the navigation device are both connected to the main control device, and the navigation device and the main control device are matched with each other to control position adjustment of the automatic needle placing device before an operation. By means of the technical scheme, the operation threshold of the needle placement operation can be reduced, and full-automatic needle placement work is achieved.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to an orthopedic robot and a control method. Background Art

[0002] Traditional orthopedic surgeries require doctors to perform manual operations at the corresponding positions of the patient's bones, which requires high precision of manual operations during the surgery. Doctors need rich surgical experience to judge the changes during the surgery, which to a certain extent increases the difficulty of the surgery, has a high risk of surgical errors, and a heavy surgical burden on doctors.

[0003] To solve the above problems in the current market, a large number of orthopedic surgery assistance products have emerged, such as some end devices like fixing sleeves for needle placement, which help doctors determine the direction of needle placement. However, the end devices in the field of needle placement still require human intervention, retaining the operation steps of doctors hammering the needle or holding an electric drill to place the needle. Therefore, in the existing orthopedic needle placement surgeries assisted by end devices, doctors still need to have sufficient experience, and require doctors to be able to accurately control the force and the angle of needle placement. A slight mistake may cause the needle to deviate and lead to medical accidents. Summary of the Invention

[0004] In order to lower the threshold of doctors' operation of orthopedic surgeries, reduce the surgical difficulty and surgical risk, this application provides an orthopedic robot and a control method.

[0005] The orthopedic robot and control method provided by this application adopt the following technical solutions:

[0006] An orthopedic robot and a control method, including an automatic needle placement device, the automatic needle placement device includes a power mechanism, a transmission mechanism, a puncture needle and a tracer. The automatic needle placement device is controlled by a portable surgical robot, the portable surgical robot includes a navigation device and a main control device. The automatic needle placement device and the navigation device are both connected to the main control device. The navigation device and the main control device cooperate with each other to control the position adjustment of the automatic needle placement device before the surgery, specifically including the following steps:

[0007] S1: Determine the target lesion of the surgical object according to the CT data of the surgical object;

[0008] S2: Install the automatic needle placement device on the portable surgical robot;

[0009] S3: Scan the tracer through the navigation device to determine the position information of the automatic needle placement device, and transmit the information to the main control device;

[0010] S4: Receive the current position information of the automatic needle placement device through the main control device, and plan the adjustment path of the automatic needle placement device in combination with the position of the target lesion;

[0011] S5: Adjust the automatic needle placement device to the surgical position through the main control device;

[0012] S6: Control the automatic needle placement device to start working through the main control device.

[0013] By adopting the above technical solution, the operator can adjust the automatic needle placement device to the surgical position through the main control device, and then continue to start the automatic needle placement device through the main control device for the operation, without the need for doctor intervention, realizing a fully automatic needle placement process, reducing the threshold for doctors to operate orthopedic surgeries, and reducing the surgical difficulty and surgical risk.

[0014] Optionally, in S2, the automatic needle placement device is installed on the portable surgical robot through the reference mounting plate.

[0015] By adopting the above technical solution, installing the automatic needle placement device through the reference mounting plate can be applicable to various adjustment devices.

[0016] Optionally, S5.1: The operator can adjust the spatial position of the automatic needle placement device in three directions of the X-axis, Y-axis, and Z-axis through the main control device.

[0017] By adopting the above technical solution, the preoperative preparation work can be carried out quickly, reducing the time required for adjusting the position.

[0018] Optionally, the X-axis in S5.1 includes a first motor, a first lead screw, and a first connecting seat. The first motor can drive the first lead screw to rotate. The first lead screw is parallel to the X-axis. The first connecting seat is threadedly connected to the first lead screw. The automatic needle placement device is connected to the first connecting seat, and the first connecting seat is restricted from rotating around the axial direction of the first lead screw.

[0019] By adopting the above technical solution, the operator controls the first motor to start through the main control device. The first motor drives the first lead screw to rotate. The first connecting seat is restricted from rotating around the axial direction of the first lead screw. Therefore, the first connecting seat can drive the automatic needle placement device to move along the X-axis direction.

[0020] Optionally, the Y-axis in S5.1 includes a second motor, a second lead screw, and a second connecting seat. The second motor can drive the second lead screw to rotate. The second lead screw is parallel to the Y-axis. The second connecting seat is threadedly connected to the second lead screw. The automatic needle placement device is connected to the second connecting seat, and the second connecting seat is restricted from rotating around the axial direction of the second lead screw.

[0021] By adopting the above technical solution, the operator controls the second motor to start through the main control device. The second motor drives the second lead screw to rotate. The second connecting seat is restricted from rotating around the axis of the second lead screw. Therefore, the second connecting seat can drive the automatic needle placement device to move along the Y-axis direction.

[0022] Optionally, the power mechanism includes a feeding component and a rotating component. The rotating component can drive the puncture needle to rotate through a transmission mechanism. The feeding component is connected to the rotating component through a mounting block, and the feeding component can control the needle insertion and withdrawal of the puncture needle.

[0023] By adopting the above technical solution, while the rotating component is working, the feeding component can drive the rotating component to feed, thereby realizing fully automatic needle placement.

[0024] Optionally, the Z-axis in S5.1 is the feeding component. The feeding component includes a feeding motor, a feeding lead screw, and a slider. The feeding motor is connected to the reference mounting plate. The feeding motor can drive the feeding lead screw to rotate. The feeding lead screw can be parallel to the Z-axis. The slider is threadedly connected to the feeding lead screw. The slider is connected to the mounting block, and the mounting block is connected to the rotating component. The slider is restricted from rotating around the axis of the feeding lead screw.

[0025] By adopting the above technical solution, when the operator starts the feeding motor, the feeding motor can drive the feeding lead screw to rotate, and the slider can move along the feeding lead screw; the slider can drive the rotating component to make a displacement. Also, because the puncture needle is connected to the rotating component, the feeding component can control the needle insertion or withdrawal of the puncture needle.

[0026] Optionally, S5.2: The operator can also adjust the needle placement angle of the automatic needle placement device from the first degree of freedom and the second degree of freedom through the main control device.

[0027] By adopting the above technical solution, the needle placement angle can be adjusted according to the surgical requirements.

[0028] Optionally, the first degree of freedom in S5.2 includes a module fixing seat and a rotating seat. The rotating seat is rotatably connected to the module fixing seat, and the rotating seat is connected to the automatic needle placement mechanism.

[0029] By adopting the above technical solution, the operator can adjust the needle placement angle on the first degree of freedom by rotating the rotating seat.

[0030] Optionally, the second degree of freedom in S5.2 includes a connecting seat arranged on the module fixing seat. The connecting seat is connected to the automatic needle placement device, and the connecting seat is rotatably connected to the module fixing seat.

[0031] By adopting the above technical solution, the operator can adjust the needle placement angle on the second degree of freedom by rotating the connecting seat.

[0032] Optionally, the rotating assembly includes a rotating motor, a coupling, a reducer, and a drill chuck. The output shaft of the rotating motor is connected to the coupling, the coupling is connected to the reducer, the reducer is connected to the drill chuck, and the drill chuck is connected to the puncture needle.

[0033] By adopting the above technical solution, when the operator starts the rotating motor, the output shaft of the rotating motor drives the puncture needle to rotate through the coupling, the reducer, and the drill chuck, and the drill chuck clamps the puncture needle, which can improve the stability of the clamped state of the puncture needle, thereby improving the safety during the operation.

[0034] In summary, the present application includes at least one of the following beneficial technical effects:

[0035] 1. The operator can adjust the automatic needle placement device to the surgical position through the main control device, and then continue to start the automatic needle placement device through the main control device to perform the operation without the intervention of a doctor, realizing a fully automatic needle placement process, reducing the threshold for doctors to operate orthopedic surgeries, and reducing the surgical difficulty and surgical risk;

[0036] 2. The operator can quickly adjust the spatial position of the automatic needle placement device in three directions of the X-axis, Y-axis, and Z-axis through the main control device, reducing the time required for preoperative preparation;

[0037] 3. The feed motor drives the feed screw to rotate, and the slider threadedly connected to the feed screw can displace along the feed screw; and because the rotating assembly is connected to the slider through the mounting block, the feed assembly can drive the rotating assembly to displace along the feed screw; and because the puncture needle is connected to the rotating assembly, and the rotating motor can drive the puncture needle to rotate; thus, the automatic needle placement process is realized by the simultaneous operation of the feed assembly and the rotating assembly; BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram showing the overall structure of the present application.

[0039] Figure 2 is a schematic structural diagram showing another angle of the present application.

[0040] Figure 3 is a schematic structural diagram showing the second degree of freedom of the present application.

[0041] Description of reference numerals: 1. Automatic needle placement device; 11. Power mechanism; 12. Transmission mechanism; 13. Puncture needle; 14. Tracer; 15. Feed assembly; 151. Feed motor; 152. Feed screw; 153. Slide block; 16. Rotating assembly; 161. Rotating motor; 162. Drill chuck; 17. Mounting block; 2. Navigation device; 3. Main control device; 4. Reference mounting plate; 5. X-axis; 51. First motor; 52. First screw; 53. First connecting seat; 6. Y-axis; 61. Second motor; 62. Second screw; 63. Second connecting seat; 7. First degree of freedom; 71. Module fixing seat; 711. First rotating motor; 712. First bearing seat; 72. Rotating seat; 8. Second degree of freedom; 81. Connecting plate; 811. Second rotating motor; 812. Second bearing seat. Detailed implementation manners

[0042] The following further elaborates on this application Figures 1-3 in conjunction with the attached drawings.

[0043] An orthopedic robot and a control method are disclosed in an embodiment of this application.

[0044] Referring to Figure 1 and Figure 2 , an orthopedic robot includes an automatic needle placement device 1. The automatic needle placement device 1 includes a power mechanism 11, a transmission mechanism, a puncture needle 13, and a tracer 14. The automatic needle placement device 1 is controlled by a portable surgical robot, and the portable surgical robot includes a navigation device 2 and a main control device 3.

[0045] The power mechanism 11 includes a feed assembly 15 and a rotating assembly 16. The feed assembly 15 is connected to the rotating assembly 16 through a mounting block 17.

[0046] The rotating assembly 16 includes a rotating motor 161, a coupling, a reducer, and a drill chuck 162. The tracer 14 is coaxially arranged on the rotating motor 161. The output shaft of the rotating motor 161 is connected to the coupling, the coupling is connected to the reducer, the reducer is connected to the drill chuck 162, and the drill chuck 162 is connected to the puncture needle 13. When the operator starts the rotating motor 161, the output shaft of the rotating motor 161 drives the puncture needle 13 to rotate through the coupling, the reducer, and the drill chuck 162; the puncture needle 13 is clamped by the drill chuck 162, which can improve the stability of the clamped state of the puncture needle 13, thereby improving the safety during the operation.

[0047] The feeding assembly 15 includes a feeding motor 151, a feeding lead screw 152 and a slider 153. The feeding motor 151 is fixedly connected to the reference mounting plate 4 by bolts. The feeding lead screw 152 is connected to the feeding motor 151. The slider 153 is threadedly connected to the feeding lead screw 152. The slider 153 is fixedly connected to the mounting block 17 by bolts. The mounting block 17 is fixedly connected to the rotating assembly 16 by bolts. The slider 153 is restricted from rotating axially around the feeding lead screw 152.

[0048] The implementation principle of an orthopedic robot in an embodiment of the present application is as follows: The feeding motor 151 drives the feeding lead screw 152 to rotate. The slider 153 threadedly connected to the feeding lead screw 152 can displace along the feeding lead screw 152. Also, since the rotating assembly 16 is connected to the slider 153 through the mounting block 17, the feeding assembly 15 can drive the rotating assembly 16 to displace along the feeding lead screw 152. Also, since the puncture needle 13 is connected to the rotating assembly 16 and the rotating motor 161 can drive the puncture needle 13 to rotate. Furthermore, the automatic needle placement process is realized by the simultaneous operation of the feeding assembly 15 and the rotating assembly 16.

[0049] Referring to Figures 1-3 , an embodiment of the present application also discloses a control method for an orthopedic robot. Based on the above automatic needle placement device 1, it specifically includes the following steps:

[0050] S1: Determine the target lesion of the surgical object according to the CT data of the surgical object;

[0051] S2: Install the automatic needle placement device 1 on the portable surgical robot;

[0052] S3: Scan the tracer 14 through the navigation device 2 to determine the position information of the automatic needle placement device 1, and transmit the information to the main control device 3;

[0053] S4: Receive the current position information of the automatic needle placement device 1 through the main control device 3, and plan the adjustment path of the automatic needle placement device 1 in combination with the position of the target lesion;

[0054] S5: Adjust the automatic needle placement device 1 to the surgical position through the main control device 3.

[0055] S5.1: The operator can adjust the spatial position of the automatic needle placement device 1 in three directions of the X-axis 5, Y-axis 6, and Z-axis through the main control device 3.

[0056] S5.2: The operator can also adjust the needle placement angle of the automatic needle placement device 1 from the first degree of freedom 7 and the second degree of freedom 8 through the main control device 3.

[0057] In S2, the operator installs the automatic needle placement device 1 on the portable surgical robot through the reference mounting plate 4.

[0058] S5.1: The operator can adjust the spatial position of the automatic needle placement device 1 in three directions of the X-axis 5, Y-axis 6, and Z-axis through the main control device 3.

[0059] S6: Control the automatic needle placement device 1 to start working through the main control device 3.

[0060] Refer to Figure 2 and Figure 3 In S5.1, the X-axis 5 includes a first motor 51, a first lead screw 52, and a first connecting seat 53. The first motor 51 can drive the first lead screw 52 to rotate. The first lead screw 52 is parallel to the X-axis 5. The first connecting seat 53 is threadedly connected to the first lead screw 52, and the automatic needle placement device 1 is connected to the first connecting seat 53. The operator controls the first motor 51 to start through the main control device 3. The first motor 51 drives the first lead screw 52 to rotate. The first connecting seat 53 is restricted from rotating axially around the first lead screw 52. Therefore, the first connecting seat 53 can drive the automatic needle placement device 1 to move along the X-axis 5 direction.

[0061] In S5.1, the Y-axis 6 includes a second motor 61, a second lead screw 62, and a second connecting seat 63. The second motor 61 can drive the second lead screw 62 to rotate. The second lead screw 62 is parallel to the Y-axis 6. The second connecting seat 63 is threadedly connected to the second lead screw 62, and the automatic needle placement device 1 is connected to the second connecting seat 63. The operator controls the second motor 61 to start through the main control device 3. The second motor 61 drives the second lead screw 62 to rotate. The second connecting seat 63 is restricted from rotating axially around the second lead screw 62. Therefore, the second connecting seat 63 can drive the automatic needle placement device 1 to move along the Y-axis 6 direction.

[0062] Refer to Figure 1 and Figure 2 In S5.2, the first degree of freedom 7 includes a module fixed seat 71 and a rotating seat 72. A rotating motor 161-1 and a first bearing seat 712 are provided on the module fixed seat 71. The rotating motor 161-1 is connected to the first bearing seat 712 through a coupling rod and a coupling. The first bearing seat 712 is fixedly connected to the rotating seat 72 through bolts, and the rotating seat 72 is connected to the automatic needle placement mechanism. The operator can control the rotating motor 161-1 to start through the main control device 3. The rotating motor 161-1 can drive the rotating seat 72 through the first bearing seat 712, and further drive the automatic needle placement device 1 to adjust the angle around the first degree of freedom 7.

[0063] Refer to Figure 1 and Figure 3, the second degree of freedom 8 in S5.2 includes a connecting plate 81 provided on the module fixing base 71. A rotation motor 161 two and a second bearing seat 812 are provided on the connecting plate 81. The rotation motor 161 two is connected to the second bearing seat 812 through a gear set. The second bearing seat 812 is connected to the connecting plate 81. The connecting plate 81 is connected to the automatic needle placing device 1. The connecting plate 81 is rotatably connected to the module fixing base 71. The connecting plate 81 is connected to the automatic needle placing mechanism. An operator can control the rotation motor 161 two to start through the main control device 3. The rotation motor 161 two drives the connecting plate 81 to rotate through the transmission of the gear set, and then drives the automatic needle placing device 1 to adjust the angle around the second degree of freedom 8.

[0064] The Z-axis in S5.1, i.e., the feeding component 15, the rotation motor 161 two can adjust the feeding lead screw 152 to be parallel to the Z-axis. Since the slider 153 is restricted from rotating around the axial direction of the feeding lead screw 152, when the operator starts the feeding motor 151, the feeding motor 151 can drive the feeding lead screw 152 to rotate. Also, since the slider 153 is threadedly connected to the feeding lead screw 152, the slider 153 can move along the feeding lead screw 152. Also, since the slider 153 is connected to the rotating component 16 through the mounting block 17, it can drive the rotating component 16 to make a displacement. Also, since the puncture needle 13 is connected to the rotating component 16, the feeding component 15 can control the needle insertion or withdrawal of the puncture needle 13.

[0065] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An orthopedic robot and a control method, characterized in that: it includes an automatic needle placement device (1), the automatic needle placement device includes a power mechanism (11), a transmission mechanism, a puncture needle (13) and a tracer (14), and the automatic needle placement device (1) is controlled by a portable surgical robot. The portable surgical robot includes a navigation device (2) and a main control device (3). The automatic needle placement device (1) and the navigation device (2) are both connected to the main control device (3). The navigation device (2) and the main control device (3) cooperate with each other to control the position adjustment of the automatic needle placement device (1) before the operation, specifically including the following steps: S1: Determine the target lesion of the surgical object according to the CT data of the surgical object; S2: Install the automatic needle placement device (1) on the portable surgical robot; S3: Scan the tracer (14) through the navigation device (2) to determine the position information of the automatic needle placement device (1), and transmit the information to the main control device (3); S4: Receive the current position information of the automatic needle placement device (1) through the main control device (3), and plan the adjustment path of the automatic needle placement device (1) in combination with the position of the target lesion; S5: Adjust the automatic needle placement device (1) to the surgical position through the main control device (3); S6: Control the automatic needle placement device (1) to start working through the main control device (3).

2. The orthopedic robot and control method according to claim 1, characterized in that: In S2, the automatic needle placement device (1) is installed on the portable surgical robot through a reference mounting plate (4).

3. An orthopedic robot and a control method according to claim 1, characterized in that: S5.1: The operator can adjust the spatial position of the automatic needle placement device (1) in three directions of the X-axis (5), Y-axis (6), and Z-axis through the main control device (3).

4. The orthopaedic robot and control method according to claim 3, characterized in that: The X-axis (5) in S5.1 includes a first motor (51), a first lead screw (52) and a first connecting seat (53). The first motor (51) can drive the first lead screw (52) to rotate. The first lead screw (52) is parallel to the X-axis (5). The first connecting seat (53) is threadedly connected to the first lead screw (52). The automatic needle placement device (1) is connected to the first connecting seat (53), and the first connecting seat (53) is restricted from rotating around the axis of the first lead screw (52).

5. An orthopedic robot and control method according to claim 3, characterized in that: The Y-axis (6) in S5.1 includes a second motor (61), a second lead screw (62) and a second connecting seat (63). The second motor (61) can drive the second lead screw (62) to rotate. The second lead screw (62) is parallel to the Y-axis (6). The second connecting seat (63) is threadedly connected to the second lead screw (62). The automatic needle placement device (1) is connected to the second connecting seat (63), and the second connecting seat (63) is restricted from rotating around the axis of the second lead screw (62).

6. An orthopedic robot and control method according to claim 1, characterized in that: The power mechanism (11) includes a feeding component (15) and a rotating component (16). The rotating component (16) can drive the puncture needle (13) to rotate through the transmission mechanism. The feeding component (15) is connected to the rotating component (16) through a mounting block (17). The feeding component (15) can control the puncture needle (13) to advance and retract the needle.

7. An orthopedic robot and control method according to claim 3, characterized in that: The Z-axis in S5.1 is the feeding component (15). The feeding component (15) includes a feeding motor (151), a feeding lead screw (152), and a slider (153). The feeding motor (151) is connected to the reference mounting plate (4). The feeding motor (151) can drive the feeding lead screw (152) to rotate. The feeding lead screw (152) can be parallel to the Z-axis. The slider (153) is threadedly connected to the feeding lead screw (152). The slider (153) is connected to the mounting block (17). The mounting block (17) is connected to the rotating component (16). The slider (153) is restricted from rotating axially around the feeding lead screw (152).

8. An orthopedic robot and control method according to claim 1, characterized in that: S5.2: The operator can also adjust the needle placement angle of the automatic needle placement device (1) from the first degree of freedom (7) and the second degree of freedom (8) through the main control device (3).

9. An orthopedic robot and control method according to claim 8, characterized in that: The first degree of freedom (7) in S5.2 includes a module fixed seat (71) and a rotating seat (72). The rotating seat (72) is rotatably connected to the module fixed seat (71). The rotating seat (72) is connected to the automatic needle placement mechanism.

10. An orthopedic robot and control method according to claim 8, characterized in that: The second degree of freedom (8) in S5.2 includes a connecting plate (81) provided on the module fixed seat (71). The connecting plate (81) is connected to the automatic needle placement device (1). The connecting plate (81) is rotatably connected to the module fixed seat (71).

11. An orthopedic robot and control method according to claim 6, characterized in that: The rotating component (16) includes a rotating motor (161), a coupling, a reducer, and a drill chuck (162). The output shaft of the rotating motor (161) is connected to the coupling. The coupling is connected to the reducer. The reducer is connected to the drill chuck (162). The drill chuck (162) is connected to the puncture needle (13).

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