Safe bone tissue cutting system

Abstract

The invention discloses a safe bone tissue cutting system, and relates to the technical field of orthopedic surgical instruments. The system comprises a bone tissue cutting device, a bone tissue recognition device, a bone tissue position recognition device, a bone tissue depth recognition device, a braking device and a control device, the control device is used for dividing a vertebral plate cutting section into a plurality of cutting periods, and each cutting period is divided into a sinking stage, a rising stage and a transverse moving stage; in the sinking stage, the bone tissue cutting device is controlled to perform gradual reciprocating cutting in the vertical direction; in the ascending stage, the bone tissue cutting device is controlled to retreat to the starting point position of the cutting period and then retreat and enter the transverse moving stage; and in the transverse moving stage, the bone tissue cutting device is controlled to transversely move by the distance of one cutter width and then enters the sinking stage of the next cutting period again. The bone tissue resection safety and accuracy can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of orthopedic surgical instruments, and particularly to a bone tissue safe cutting system. Background Art

[0002] Laminectomy is the main content and key link of spinal surgery. A doctor holds a bone cutting tool, such as an ultrasonic bone scalpel, and carefully removes the lamina blindly relying on the sense of touch and the understanding of the patient's vertebral body anatomical structure, so as to relieve the compression of the lamina on the spinal cord nerve. Therefore, the position and size of the removed lamina directly affect the surgical operation space, difficulty and curative effect. However, once the laminectomy instrument touches the nerve under the lamina, it will directly cause sequelae such as nerve injury to the patient. Clinical research data shows that the proportion of nerve injuries caused by improper decompression operation is higher than 6.25%, and the proportion of sequelae of motor disorders caused by such nerve injuries is as high as 10.13%.

[0003] In order to achieve the safe resection of bone tissues such as the lamina, the existing technologies mainly focus on the accurate identification of the target bone tissue, such as adopting a new sensor technology or a new bone tissue recognition algorithm, etc. Although the recognition of biological tissues alone has guiding significance for bone tissue cutting, relying solely on the biological tissue recognition method, its cutting accuracy cannot reach 100%. Especially under the premise that the cutting position cannot be determined and external interference cannot be judged, the bone tissue cannot be cut safely and accurately.

[0004] Therefore, if we want to safely cut the target bone tissue, only recognizing biological tissues is still a bit insufficient. For patients, it cannot achieve 100% safe resection, and there are many potential hazards. Therefore, to overcome the deficiencies of the existing technologies, it is necessary to design a safer bone tissue cutting system. When facing a complex environment, this system should have a resection strategy under multiple mechanisms, plus safe surgical instruments and movement methods to ensure the safety and accuracy of bone tissue resection. Summary of the Invention

[0005] In view of the above defects or deficiencies in the prior art, the present invention provides a bone tissue safe cutting system. This system combines a bone tissue recognition strategy guided by multiple mechanisms and an ultrasonic bone scalpel cutting device that performs well in bone tissue resection, to realize a bone tissue safe resection system, and solves the technical problem of safely resected the target bone tissue without damaging the surrounding tissues.

[0006] In one aspect of the present invention, a bone tissue safe cutting system is provided, including: a bone tissue cutting device for cutting a target bone tissue along a planned path; a bone tissue recognition device for obtaining state perception information when the bone tissue cutting device contacts the bone tissue; a bone tissue position recognition device for determining the relative position between the target bone tissue and the bone tissue cutting device; a bone tissue depth recognition device for measuring the cutting depth of the target bone tissue; a braking device for operating the bone tissue cutting device to stop cutting; a control device for dividing the lamina cutting section into multiple cutting cycles according to the lamina length and the width of the bone tissue cutting device, and each cutting cycle is divided into three stages: sinking, rising, and lateral translation; in the sinking stage, controlling the bone tissue cutting device to reciprocate step by step in the vertical direction, and in each reciprocating cutting process, first advancing a first distance and then retreating a second distance, where the first distance is greater than the second distance until the end of the sinking stage; in the rising stage, controlling the bone tissue cutting device to retreat to the starting position of this cutting cycle and then exit and enter the lateral translation stage; in the lateral translation stage, controlling the bone tissue cutting device to laterally translate a distance equal to the width of one knife and then enter the sinking stage of the next cutting cycle again; determining whether the state perception data obtained by the bone tissue recognition device, the relative position data of the target bone tissue and the bone tissue cutting device obtained by the bone tissue position recognition device, the cutting depth data obtained by the bone tissue depth recognition device, and the braking signal of the braking device all meet the limiting conditions for safe bone tissue resection. If so, continue the cutting operation in the sinking stage of the current cutting cycle, otherwise control the bone tissue cutting device to exit the sinking stage of the current cutting cycle and enter the next stage.

[0007] Further, the bone tissue cutting device is fixed to the end of the robotic arm through a connector.

[0008] Further, the bone tissue cutting device includes an ultrasonic bone knife.

[0009] Further, the bone tissue position recognition device includes a three-dimensional positioning sensor.

[0010] Further, the three-dimensional positioning sensor includes an infrared camera, a CT navigation device, or a magnetic resonance navigation device.

[0011] Further, the bone tissue depth recognition device includes a displacement sensor.

[0012] Further, the displacement sensor includes an encoder or a laser displacement sensor.

[0013] Further, the state perception data when the bone tissue cutting device contacts the bone tissue includes one or more of mechanical data, speed data, acceleration data, displacement data, and acoustic impedance data.

[0014] Further, the bone tissue recognition device includes one or more of a force sensor, an acceleration sensor, a displacement sensor, and an acoustic impedance sensor.

[0015] Further, it further includes: a coolant application device for applying coolant to the bone tissue cutting device during the sinking stage under the control of the control device.

[0016] The bone tissue safe cutting system provided by the present invention has the following beneficial effects:

[0017] (1) The restricted conditions for safe resection of bone tissue achieved by integrating depth recognition, position recognition, biological tissue recognition, and manual braking. If any one of the recognition results does not meet the safe resection restricted conditions, the sinking stage of cutting is exited, which greatly improves the safety of bone tissue cutting;

[0018] (2) The target bone tissue is often a complex curve, and the patient has respiratory movement during the operation. Horizontal hierarchical cutting is not conducive to the movement of the robotic arm and the tool head, making it difficult to ensure that the tool head direction and the robotic arm feeding direction are consistent, and it is easy to produce deviation. The cutting device of the present invention adopts an original single-degree-of-freedom vertical step-by-step reciprocating cutting method, which ensures that the tool head direction and the robot feeding direction are consistent, and basically does not produce deviation in the cutting direction, further improving the safety of bone tissue cutting;

[0019] (3) In the traditional one-step direct sinking cutting method, due to the time required for the algorithm to run, there will be a slight delay, resulting in the phenomenon of slow stop of the cutting tool, and there is a risk of accidentally injuring the nerve. The present invention adopts an original single-degree-of-freedom vertical step-by-step reciprocating cutting method, which gives the program algorithm sufficient response time, further improving the safety of bone tissue cutting;

[0020] (4) Since the direct feeding of the cutting tool is likely to cause difficulty in discharging bone chips, and the coolant is also difficult to reach the tool surface sufficiently, resulting in high temperature. The high temperature reduces the hardness of the cutting tool, making it easier to produce vibration and deformation during cutting, and further making the cutting surface rough and uneven, and the cutting accuracy is greatly affected, thus easily leading to safety accidents. The cutting device of the present invention adopts an original single-degree-of-freedom vertical step-by-step reciprocating cutting method, and its vertical step-by-step reciprocating cutting helps to discharge bone chips and allows the coolant to enter, significantly cooling the tool, thereby improving the cutting accuracy and cutting safety. Description of the Drawings

[0021] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present application will become more obvious:

[0022] Figure 1 is a schematic structural diagram of a bone tissue safe cutting system provided by an embodiment of the present application;

[0023] Figure 2 It is the working flowchart of the bone tissue safe cutting system provided by an embodiment of the present application;

[0024] Figure 3 It is the schematic diagram of single-degree-of-freedom vertical step-by-step reciprocating cutting provided by an embodiment of the present application. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "the" and "said" used in the embodiments of the present invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0027] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present invention to describe the acquisition modules, these acquisition modules should not be limited to these terms. These terms are only used to distinguish the acquisition modules from each other.

[0028] Depending on the context, the word "if" as used herein can be interpreted as "when" or "while" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0029] It should be noted that the orientation terms such as "upper", "lower", "left" and "right" described in the embodiments of the present invention are described from the angles shown in the drawings, and should not be construed as limiting the embodiments of the present invention. In addition, in the context, it should also be understood that when it is mentioned that an element is formed "on" or "under" another element, it can not only be directly formed "on" or "under" another element, but also be indirectly formed "on" or "under" another element through an intermediate element.

[0030] Taking a laminectomy as an example, the technical solution of the present invention will be introduced in detail below. However, the technical solution of the present invention can be applied not only to laminectomy, but also to various other types of bone tissue cutting surgeries.

[0031] See Figure 1 , an embodiment of the present application provides a bone tissue safe cutting system 100, including a bone tissue cutting device 101, a bone tissue recognition device 102, a bone tissue position recognition device 103, a bone tissue depth recognition device 104, a braking device 105, and a control device 106.

[0032] Among them, the bone tissue cutting device 101 is used to cut the target bone tissue according to the planned path. The bone tissue cutting device 101 is fixed to the end of the robotic arm through a connector. Preferably, the bone tissue cutting device 101 is an ultrasonic bone knife.

[0033] Among them, the bone tissue recognition device 102 is used to obtain the state perception information when the bone tissue cutting device 101 contacts the bone tissue. The state perception information includes, but is not limited to, one or more of mechanical data, speed data, acceleration data, displacement data, and acoustic impedance data. Through the state perception information, the type of bone tissue can be identified, so as to judge whether the currently cut bone tissue is the target bone tissue. Further, the bone tissue recognition device 102 includes one or more of a force sensor, an acceleration sensor, a displacement sensor, and an acoustic impedance sensor to obtain the state perception information.

[0034] Among them, the bone tissue position recognition device 103 is used to determine the relative position between the target bone tissue and the bone tissue cutting device 101. The bone tissue position recognition device 103 is preferably a three-dimensional positioning sensor, including but not limited to an infrared camera, a CT navigation device, or a magnetic resonance navigation device, etc.

[0035] Among them, the bone tissue depth recognition device 104 is used to measure the cutting depth of the target bone tissue. The bone tissue depth recognition device 104 is preferably a displacement sensor, including but not limited to an encoder or a laser displacement sensor, etc.

[0036] Among them, the braking device 105 is used to control the bone tissue cutting device 101 to stop the cutting action in response to the braking signal of the braking operation. Preferably, this manual braking device is adopted. By operating a button by a person, the bone tissue cutting device 101 is controlled to stop cutting, ensuring that when it is observed by the human eye that the tissue contacted by the bone tissue cutting device 101 is not the bone tissue to be cut, manual intervention can be carried out.

[0037] See Figures 2 - 3, the control device 106 is configured to divide the lamina cutting section into multiple cutting cycles according to the lamina length and the width of the bone tissue cutting device 101. Each cutting cycle is divided into three stages: sinking, rising, and lateral translation. In the sinking stage, the control device controls the bone tissue cutting device 101 to reciprocally cut step by step in the vertical direction. During each reciprocating cutting process, it first advances a first distance and then retreats a second distance, where the first distance is greater than the second distance, until the end of the sinking stage. In the rising stage, the control device controls the bone tissue cutting device 101 to retract to the starting position of this cutting cycle and then withdraw and enter the lateral translation stage. In the lateral translation stage, the control device controls the bone tissue cutting device 101 to translate a distance equal to the width of one cutter and then enter the sinking stage of the next cutting cycle again. It is judged whether the state perception data obtained by the bone tissue recognition device 102, the relative position data of the target bone tissue obtained by the bone tissue position recognition device 103 and the bone tissue cutting device 101, the cutting depth data obtained by the bone tissue depth recognition device 104, and the braking signal of the braking device 105 all meet the limiting conditions for safe bone tissue resection. If so, the cutting operation in the sinking stage of the current cutting cycle continues; otherwise, the control device controls the bone tissue cutting device 101 to withdraw from the sinking stage of the current cutting cycle and enter the next stage. It should be noted that the target bone tissue is often a complex curve, and the patient has respiratory movement during the operation. Lateral hierarchical cutting is not conducive to the movement of the robotic arm and the tool head, making it difficult to ensure that the tool head direction and the robotic arm feeding direction are consistent, and it is easy to produce deviation. The present invention adopts a cutting device with an original single-degree-of-freedom vertical step-by-step reciprocating cutting method, which ensures that the tool head direction and the robot feeding direction are consistent, and basically does not produce deviation in the cutting direction, further improving the safety of bone tissue cutting. In addition, in the traditional one-step direct sinking cutting method, due to the need for time for the algorithm to run, there will be a slight delay, resulting in the phenomenon of slow stop of the cutting tool, and there is a risk of accidental nerve injury. The present invention adopts an original single-degree-of-freedom vertical step-by-step reciprocating cutting method, which gives the program algorithm sufficient response time and further improves the safety of bone tissue cutting.

[0038] Further, the bone tissue safe cutting system 100 further includes a coolant application device 107, which is configured to apply coolant to the bone tissue cutting device 101 during the sinking stage under the control of the control device 106. It should be noted that since the direct feeding of the cutting tool is likely to cause difficulty in discharging bone chips and the coolant is difficult to fully reach the tool surface, resulting in high temperature. The high temperature causes the hardness of the cutting tool to decrease, making it easier to generate vibration and deformation during cutting, and further making the cutting surface rough and uneven, and the cutting accuracy is greatly affected, thus easily leading to safety accidents. The present invention adopts a cutting device with an original single-degree-of-freedom vertical step-by-step reciprocating cutting method, and its step-by-step reciprocating cutting in the vertical state helps to discharge bone chips and allows the coolant to enter, significantly cooling the tool, thereby improving the cutting accuracy and cutting safety.

[0039] The above description is only a preferred embodiment of the present invention. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present invention.

Claims

1. A bone tissue safe cutting system, characterized in that: include: A bone tissue cutting device, used to cut the target bone tissue according to the planned path; A bone tissue recognition device, used to obtain state perception information when the bone tissue cutting device contacts the bone tissue; A bone tissue position recognition device, used to determine the relative position of the target bone tissue and the bone tissue cutting device; A bone tissue depth identification device for measuring the cutting depth of the target bone tissue; A braking device, used to operate the bone tissue cutting device to stop cutting; The control device is used to divide the lamina cutting section into a plurality of cutting cycles according to the length of the lamina and the width of the bone tissue cutting device, and each cutting cycle is divided into three stages: sinking, rising and lateral movement; in the sinking stage, the bone tissue cutting device is controlled to gradually reciprocate in the vertical direction, and in each reciprocating cutting process, the first distance is advanced and then the second distance is retreated, and the first distance is greater than the second distance, until the sinking stage ends; in the rising stage, the bone tissue cutting device is controlled to retreat to the starting position of the cutting cycle and then exit and enter the lateral movement stage; in the lateral movement stage, the bone tissue cutting device is controlled to transversely move a distance of a knife width and then enter the sinking stage of the next cutting cycle again; it is judged whether the state perception data obtained by the bone tissue recognition device, the relative position data of the target bone tissue and the bone tissue cutting device obtained by the bone tissue position recognition device, the cutting depth data obtained by the bone tissue depth recognition device, and the braking signal of the braking device all meet the restriction conditions for safe bone tissue resection, if yes, the cutting operation of the sinking stage of the current cutting cycle is continued, otherwise, the bone tissue cutting device is controlled to exit the sinking stage of the current cutting cycle and enter the next stage.

2. A bone tissue safe cutting system according to claim 1, characterized in that: The bone tissue cutting device is fixed to the end of the mechanical arm through a connector.

3. A bone tissue safe cutting system according to claim 2, characterized in that: The bone tissue cutting device comprises an ultrasonic bone knife.

4. A bone tissue safe cutting system according to claim 1, characterized in that: The bone tissue position identification device includes a three-dimensional positioning sensor.

5. A bone tissue safe cutting system according to claim 4, characterized in that: The three-dimensional positioning sensor includes an infrared camera, a CT navigation device or a magnetic resonance navigation device.

6. A bone tissue safe cutting system according to claim 1, characterized in that: The bone tissue depth identification device includes a displacement sensor.

7. A bone tissue safe cutting system according to claim 6, characterized in that: The displacement sensor includes an encoder or a laser displacement sensor.

8. A bone tissue safe cutting system according to claim 1, characterized in that: The state sensing data of the bone tissue cutting device when contacting the bone tissue includes: one or more of mechanical data, velocity data, acceleration data, displacement data and acoustic impedance data.

9. A bone tissue safe cutting system according to claim 8, characterized in that: The bone tissue identification device includes one or more of a force sensor, an acceleration sensor, a displacement sensor and an acoustic impedance sensor.

10. The bone tissue safe cutting system according to claim 1, characterized in that: Also includes: A cooling liquid applying device is used to apply cooling liquid to the bone tissue cutting device during the sinking stage under the control of the control device.

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