End executive device for orthopedic surgery

Abstract

The end executive device comprises a power mechanism, a transmission mechanism and an executing mechanism, the executing mechanism is connected with the transmission mechanism, the power mechanism comprises a feeding assembly and a rotating assembly, and the rotating assembly can drive the executing mechanism to rotate through the transmission mechanism. And the feeding assembly is connected with the rotating assembly through the mounting block and can control the executing mechanism to feed or exit. According to the technical scheme, the threshold for a doctor to operate an orthopedic operation can be lowered, and the operation difficulty and the operation risk are reduced.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to an end effector for orthopedic surgery. 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 mistakes, and 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 manual intervention, retaining the operation steps of doctors hammering the needle or holding an electric drill to place the needle. Therefore, in the orthopedic needle placement surgery assisted by existing 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 orthopedic surgery, reduce the surgical difficulty, and facilitate doctor operation, this application provides an end effector for orthopedic surgery.

[0005] The end effector for orthopedic surgery provided by this application adopts the following technical solutions:

[0006] An end effector for orthopedic surgery includes a power mechanism, a transmission mechanism, and an execution mechanism. The execution mechanism is connected to the transmission mechanism. The power mechanism includes a feed assembly and a rotation assembly. The rotation assembly can drive the execution mechanism to rotate through the transmission mechanism. The feed assembly is connected to the rotation assembly through a mounting block, and the feed assembly can control the execution mechanism to feed or retract.

[0007] By adopting the above technical solutions, while the rotation assembly drives the execution mechanism to rotate, the feed assembly is connected to the rotation assembly through the mounting block, and the feed assembly simultaneously drives the rotation assembly to make a displacement, thereby realizing the function of automatic needle placement without additional manual intervention. Doctors only need to be responsible for monitoring the feed progress of the execution mechanism in real time, reducing the difficulty of orthopedic surgery.

[0008] Optionally, the execution mechanism includes a puncture needle.

[0009] By adopting the above technical solutions, the difficulty of doctors operating orthopedic needle placement surgery can be reduced.

[0010] Optionally, it further includes a reference mounting plate, and the feed assembly is arranged on the reference mounting plate.

[0011] By adopting the above technical solution, an operator can install the automatic needle placing device on a robotic arm or other control devices through the reference mounting plate, which can increase the application range of the automatic needle placing device.

[0012] Optionally, the feeding assembly includes a feeding motor, a lead screw and a slider. The feeding motor is connected to the reference mounting plate. The lead screw is connected to the feeding motor. The slider is threadedly connected to the lead screw. The slider is connected to a mounting block. The mounting block is connected to a rotating assembly. A slide rail is arranged on the reference mounting plate. The slider is slidably connected to the slide rail.

[0013] By adopting the above technical solution, the feeding motor drives the lead screw to rotate. And the rotation of the slider around the lead screw is restricted by the slide rail. Then while the lead screw rotates, the slider can displace along the lead screw. Also, because the slider is connected to the rotating assembly through the mounting block, the feeding assembly can drive the rotating assembly to displace along the lead screw. And since the actuator is connected to the rotating assembly, the feeding assembly can control the needle insertion and retraction of the actuator.

[0014] Optionally, the slider includes a first part and a second part. The first part and the second part are connected by a safety block. The mounting block is connected to the second part. A force sensor is arranged between the first part and the second part.

[0015] By adopting the above technical solution, when the feeding assembly drives the rotating assembly to feed through the mounting block, during the process of the actuator inserting the needle, resistance will be brought by human tissues. The resistance received by the actuator can be transmitted to the force sensor through the mounting block. The resistance received by the actuator in different human tissues is different. The force sensor converts the resistance into an electrical signal and presents it to the operator, which is beneficial for the operator to monitor the change of the needle insertion position in real time during the automatic needle placing process according to the electrical signal sent by the force sensor.

[0016] Optionally, a limiting part is arranged on the reference mounting plate. The limiting part includes a signal output part and an abutting part. The abutting part can abut against the slider. A signal receiving end is arranged on the feeding motor. The signal receiving end is connected to the signal output part.

[0017] By adopting the above technical solution, when the slider abuts against the abutting part, in order to avoid the feeding motor continuing to operate and bringing danger to the surgical process, the signal output part can send a power-off command. After receiving the power-off command through the signal receiving end, the feeding motor powers off, which further improves the safety and reliability of the automatic needle placing device.

[0018] Optionally, a buffer spring is arranged on the reference mounting plate. The buffer spring can abut against the slider.

[0019] By adopting the above technical solution, the buffer spring can prevent the slider from having a hard collision with the reference mounting plate, and can improve the safety and reliability of the needle placing device.

[0020] 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 actuator.

[0021] By adopting the above technical solution, when the operator starts the rotating motor, the output shaft of the rotating motor drives the actuator to rotate through the coupling, the reducer and the drill chuck. By clamping the actuator with the drill chuck, the stability of the clamped state of the actuator can be improved, and thus the safety during the operation can be improved.

[0022] Optionally, a bushing is coaxially arranged on the coupling, and the bushing can cover the coupling inside.

[0023] By adopting the above technical solution, the bushing can protect the coupling from external forces and can protect the coupling from being eroded by liquids such as blood generated during the operation.

[0024] Optionally, the rotating assembly further includes a protective sleeve, a guiding sleeve and an opening sleeve. The protective sleeve is coaxially sleeved on the actuator, the guiding sleeve is coaxially sleeved on the protective sleeve, and the protective sleeve is rotatably connected to the guiding sleeve. The opening sleeve is sleeved on the guiding sleeve.

[0025] By adopting the above technical solution, the rotating motor can drive the protective sleeve to rotate, and then drive the actuator to rotate. And the protective sleeve can reduce the torque borne by the actuator, thereby protecting the actuator from deformation and further improving the safety and reliability of the operation.

[0026] Optionally, a convex block is arranged on the opening sleeve, and a limiting groove is opened on the guiding sleeve, and the convex block can be embedded in the limiting groove.

[0027] By adopting the above technical solution, the guiding sleeve can prevent the longer protective sleeve from shaking during rotation, thereby improving the stability of the actuator during the operation; the guiding sleeve is fixed at the required position through the opening sleeve, and due to the clamping relationship between the convex block and the limiting groove, the guiding sleeve is prevented from rotating together with the protective sleeve.

[0028] Optionally, a guiding groove is opened on the end face of the convex block close to the rotating motor.

[0029] By adopting the above technical solution, it is more convenient for the operator to quickly connect the guiding sleeve and the opening sleeve by means of clamping.

[0030] In summary, the present application includes at least one of the following beneficial technical effects:

[0031] 1. While the rotating component drives the actuating mechanism to rotate, the feeding component is connected to the rotating component through the mounting block. The feeding component simultaneously drives the rotating component to make a displacement, thereby realizing the function of automatic needle placement. No additional manual intervention is required. The doctor only needs to be responsible for monitoring the needle placement progress in real time, reducing the difficulty of orthopedic surgery;

[0032] 2. When the slider abuts against the abutting portion, in order to avoid the feeding motor continuing to operate and bringing danger to the surgical process, the signal output portion can issue a power-off instruction. After receiving the power-off instruction through the signal receiving end, the feeding motor is powered off, further improving the safety and reliability of the automatic needle placement device;

[0033] 3. The rotating motor can drive the protective sleeve to rotate, and then drive the actuating mechanism to rotate. The protective sleeve can reduce the torque borne by the actuating mechanism, thereby protecting the actuating mechanism from deformation and improving the safety and reliability of the surgery; BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic structural diagram showing the overall structure of the present application.

[0035] Figure 2 is a schematic structural diagram showing the present application from other angles.

[0036] Figure 3 is a schematic structural diagram showing the guiding sleeve and the opening sleeve of the present application.

[0037] Description of the reference numerals: 1, power mechanism; 3, actuating mechanism; 4, feeding component; 41, feeding motor; 411, signal receiving end; 42, lead screw; 43, slider; 431, first part; 432, second part; 433, safety block; 434, force sensor; 5, rotating component; 51, rotating motor; 53, reducer; 54, drill chuck; 55, bushing; 56, protective sleeve; 57, guiding sleeve; 571, limiting groove; 58, opening sleeve; 581, convex block; 582, admittance groove; 6, mounting block; 7, reference mounting plate; 71, slide rail; 72, limiting member; 721, signal output portion; 722, abutting portion; 73, buffer spring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following will further describe the present application in detail with reference to the attached Figures 1-3 for further detailed description of the present application.

[0039] The embodiment of the present application discloses an end effector for orthopedic surgery.

[0040] Referring to Figure 1, An end effector device for orthopedic surgery includes a power mechanism 1, a transmission mechanism, and an actuator 3. The actuator 3 is connected to the transmission mechanism. The power mechanism 1 includes a feed assembly 4 and a rotation assembly 5. The actuator 3 includes a puncture needle. The rotation assembly 5 can drive the actuator 3 to rotate through the transmission mechanism, and the feed assembly 4 can control the actuator 3 to insert and retract the needle.

[0041] It further includes a reference mounting plate 7. The feed assembly 4 is fixedly arranged on the reference mounting plate 7 by bolts. An operator can install the automatic needle placement device on a robotic arm or other control devices through the reference mounting plate 7.

[0042] The feed assembly 4 includes a feed motor 41, a lead screw 42, and a slider 43. The feed motor 41 is fixedly connected to the reference mounting plate 7 by bolts. The feed motor 41 can drive the lead screw 42 to rotate. The slider 43 is threadedly connected to the lead screw 42. The slider 43 is connected to a mounting block 6, and the mounting block 6 is connected to the rotation assembly 5. A slide rail 71 is provided on the reference mounting plate 7, and the slider 43 is slidably connected to the slide rail 71. An operator can start the feed motor 41. The feed motor 41 drives the lead screw 42 to rotate. Since the slider 43 is threadedly connected to the lead screw 42 and the rotation of the slider 43 around the lead screw 42 is restricted by the slide rail 71, the slider 43 can displace along the lead screw 42 while the lead screw 42 rotates. Since the slider 43 is connected to the mounting block 6 and the mounting block 6 is connected to the rotation assembly 5, the feed assembly 4 can drive the rotation assembly 5 to displace along the lead screw 42. Since the actuator 3 is connected to the rotation assembly 5, the feed assembly 4 can control the actuator 3 to insert and retract the needle.

[0043] The slider 43 includes a first part 431 and a second part 432. The first part 431 and the second part 432 are connected by a safety fastener. The mounting block 6 is connected to the second part 432, and a force sensor 434 is provided between the first part 431 and the second part 432. When the feed assembly 4 drives the rotation assembly 5 to feed through the mounting block 6, during the process of the actuator 3 inserting the needle, it will encounter resistance from human tissues. The resistance received by the actuator 3 can be transmitted to the force sensor 434 through the mounting block 6. The resistance received by the actuator 3 in different human tissues is different. The force sensor 434 converts the resistance into an electrical signal and presents it to the operator. The operator can monitor the change of the needle insertion position in real time during the automatic needle placement process according to the electrical signal sent by the force sensor 434.

[0044] A limiting member 72 is provided on the reference mounting plate 7. The limiting member 72 includes a signal output portion 721 and an abutting portion 722. The abutting portion 722 can abut against the slider 43. When the slider 43 is displaced to the end of the lead screw 42, the slider 43 can abut against the abutting portion 722 of the limiting member 72. The limiting member 72 can hold up the slider 43 to prevent the slider 43 from directly falling off the lead screw 42. A signal receiving end 411 is provided on the feed motor 41, and the signal receiving end 411 is connected to the signal output portion 721. When the slider 43 abuts against the abutting portion 722, in order to avoid the feed motor 41 continuing to operate and bringing danger to the surgical process, the signal output portion 721 can issue a power-off command. After receiving the power-off command through the signal receiving end 411, the feed motor 41 is powered off, which further improves the safety and reliability of the automatic needle placement device.

[0045] A buffer spring 73 is provided on the reference mounting plate 7. The buffer spring 73 can abut against the slider 43. The buffer spring 73 can prevent the slider 43 from having a hard collision with the reference mounting plate 7 and can improve the safety and reliability of the needle placement device.

[0046] The rotating assembly 5 includes a rotating motor 51, a coupling, a speed reducer 53 and a drill chuck 54. The output shaft of the rotating motor 51 is connected to the coupling, the coupling is connected to the speed reducer 53, the speed reducer 53 is connected to the drill chuck 54, and the drill chuck 54 is connected to the actuator 3. The operator starts the rotating motor 51, and the output shaft of the rotating motor 51 drives the actuator 3 to rotate through the coupling, the speed reducer 53 and the drill chuck 54. By clamping the actuator 3 with the drill chuck 54, the stability of the clamped state of the actuator 3 can be improved, and thus the safety during the surgical process can be improved.

[0047] A bushing 55 is coaxially provided on the coupling, and the bushing 55 can cover the coupling inside. The bushing 55 can protect the coupling from external forces and can protect the coupling from being eroded by liquids such as blood generated during the surgery.

[0048] The rotating assembly 5 further includes a protective sleeve 56, a guiding sleeve 57 and an opening sleeve 58. The protective sleeve 56 is coaxially sleeved on the actuator 3, and the actuator 3 is slidably connected to the protective sleeve 56 and rotates synchronously with the protective sleeve 56. The rotating motor 51 can drive the protective sleeve 56 to rotate, and then drive the actuator 3 to rotate. Since the diameter of the actuator 3 is generally small and the actuator 3 has a certain length, when the rotating motor 51 directly clamps and drives the actuator 3 through the drill chuck 54, the actuator 3 needs to bear a large torque and is easily damaged. However, through the protective sleeve, the torque borne by the actuator 3 can be reduced, thereby protecting the actuator 3 from deforming and further improving the safety and reliability of the surgery.

[0049] The guiding sleeve 57 is coaxially sleeved with the protective sleeve 55, and the protective sleeve 56 is rotatably connected to the guiding sleeve 57. The open sleeve 58 is sleeved on the guiding sleeve 57. A convex block 581 is provided on the open sleeve 58, and a limiting groove 571 is formed on the guiding sleeve 57. The convex block 581 can be embedded in the limiting groove 571. The guiding sleeve 57 can prevent the relatively long protective sleeve 56 from shaking during rotation, thereby improving the stability of the actuator 3 during the surgical procedure; the guiding sleeve 57 is fixed at the required position through the open sleeve 58, and due to the clamping relationship between the convex block 581 and the limiting groove 571, the guiding sleeve 57 is prevented from rotating together with the protective sleeve 56.

[0050] A admittance groove 582 is formed on the end face of the convex block 581 close to the rotation motor 51, which is more convenient for the operator to quickly connect the guiding sleeve 57 and the open sleeve 58 by means of clamping.

[0051] The implementation principle of an end effector for orthopedic surgery in an embodiment of the present application is as follows: the feed motor 41 drives the lead screw 42 to rotate, and the slider 43 threadedly connected to the lead screw 42 can displace along the lead screw 42; and since the rotating assembly 5 is connected to the slider 43 through the mounting block 6, the feed assembly 4 can drive the rotating assembly 5 to displace along the lead screw 42; and since the actuator 3 is connected to the rotating assembly 5, and the rotation motor 51 can drive the actuator 3 to rotate; thus, the automatic needle placement process is realized by the simultaneous operation of the feed assembly 4 and the rotating assembly 5.

[0052] The above are all the preferred embodiments of the present application, and the protection scope of the present application is not limited 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 end effector device for orthopedic surgery, characterized in that: It includes a power mechanism (1), a transmission mechanism, and an actuator (3). The actuator (3) is connected to the transmission mechanism. The power mechanism (1) includes a feeding assembly (4) and a rotating assembly (5). The rotating assembly (5) can drive the actuator (3) to rotate through the transmission mechanism. The feeding assembly (4) is connected to the rotating assembly (5) through a mounting block (6). The feeding assembly (4) can control the feeding or retracting of the actuator (3).

2. The end effector device for orthopedic surgery according to claim 1, wherein: The actuator (3) includes a puncture needle.

3. The end effector device for orthopedic surgery according to claim 1, characterized in that: It further includes a reference mounting plate (7), and the feeding assembly (4) is arranged on the reference mounting plate (7).

4. The end effector device for orthopedic surgery according to claim 3, characterized in that: The feeding assembly (4) includes a feeding motor (41), a lead screw (42), and a slider (43). The feeding motor (41) is connected to the reference mounting plate (7). The lead screw (42) is connected to the feeding motor (41). The slider (43) is threadedly connected to the lead screw (42). The slider (43) is connected to the mounting block (6). The mounting block (6) is connected to the rotating assembly (5). A slide rail (71) is arranged on the reference mounting plate (7), and the slider (43) is slidably connected to the slide rail (71).

5. The end effector device for orthopedic surgery according to claim 4, characterized in that: The slider (43) includes a first part (431) and a second part (432). The first part (431) and the second part (432) are connected by a safety block (433). The mounting block (6) is connected to the second part (432). A force sensor (434) is arranged between the first part (431) and the second part (432).

6. The end effector device for orthopedic surgery according to claim 4, wherein: A restricting member (72) is arranged on the reference mounting plate (7). The restricting member (72) includes a signal output portion (721) and an abutting portion (722). The abutting portion (722) can abut against the slider (43). A signal receiving end (411) is arranged on the feeding motor (41), and the signal receiving end (411) is connected to the signal output portion (721).

7. The end effector device for orthopedic surgery according to claim 4, characterized in that: A buffer spring (73) is arranged on the reference mounting plate (7), and the buffer spring (73) can abut against the slider (43).

8. The end effector device for orthopedic surgery according to claim 1, wherein: The rotating assembly (5) includes a rotating motor (51), a coupling, a speed reducer (53), and a drill chuck (54). The output shaft of the rotating motor (51) is connected to the coupling. The coupling is connected to the speed reducer (53). The speed reducer (53) is connected to the drill chuck (54). The drill chuck (54) is connected to the actuator (3).

9. The end effector device for orthopedic surgery according to claim 8, wherein: A bushing (55) is coaxially arranged on the coupling, and the bushing (55) can cover the coupling inside.

10. The end effector device for orthopedic surgery according to claim 1, characterized in that: The rotating assembly (5) further includes a protective sleeve (56), a guiding sleeve (57), and an opening sleeve (58). The protective sleeve (56) is coaxially sleeved on the actuator (3). The guiding sleeve (57) is coaxially sleeved on the protective sleeve (56), and the protective sleeve (56) is rotatably connected to the guiding sleeve (57). The opening sleeve (58) is sleeved on the guiding sleeve (57).

11. The end effector device for orthopedic surgery according to claim 10, wherein: A bump (581) is provided on the opening sleeve (58), a limiting groove (571) is formed on the guiding sleeve (57), and the bump (581) can be embedded into the limiting groove (571).

12. The end effector device for orthopedic surgery according to claim 11, wherein: A admittance groove (582) is formed on the end face of the bump (581) close to the rotating motor (51).

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