Full-automatic meniscus cutter

Abstract

The full-automatic meniscus cutter comprises a plasma cutter head, a connecting rod, a rotating shaft, a joint insertion rod, a supporting frame and a control system, the plasma cutter head is connected to the front end of the connecting rod and used for cutting lesion tissue of a meniscus, and the rear end of the connecting rod is connected with the rotating shaft; the rotating shaft is rotationally connected to the rear end of the joint insertion rod and is perpendicular to the joint insertion rod, the front end of the joint insertion rod is used for being inserted into a joint cavity and abutting against a joint capsule, a rotating driver used for driving the rotating shaft to rotate is arranged on the supporting frame, and the connecting rod is of a telescopic rod structure and is provided with a telescopic driver used for driving the connecting rod to stretch out and draw back. The control system is electrically connected with the rotating driver and the telescopic driver and used for commanding and controlling the rotating shaft to rotate and commanding and controlling the plasma tool bit to reciprocate front and back. The meniscus cutter has the advantages that automatic cutting and precise cutting are achieved, operation time is shortened, damage to surrounding healthy tissue is reduced, and monitoring and precise control are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a fully automatic meniscus cutter. Background Art

[0002] Knee meniscus injury is a common and frequently occurring disease in clinic. The purpose of meniscus surgery is to relieve symptoms and restore function to the maximum extent. The simplest and most effective way to relieve symptoms is to remove the meniscus lesion tissue, which is the most widely used. The retained meniscus tissue can still maintain the physiological functions of stability, transmission and absorption of loads, and obtain better therapeutic effects.

[0003] When performing a meniscectomy, doctors need to precisely cut the diseased tissue while preserving as much healthy tissue as possible. However, traditional meniscus cutting tools and methods have some significant defects during use. First, when cutting curved parts, doctors need to frequently change meniscus tools at different angles, which not only increases the complexity of the operation but also prolongs the operation time. Due to the complex anatomical structure in the joint cavity, traditional tools may cause unnecessary damage to surrounding healthy tissues during the cutting process, such as damage to articular cartilage and cruciate ligaments, which may not only affect the surgical effect, but also accelerate joint degeneration, causing joint instability and limited function.

[0004] Another issue worthy of attention is that traditional tools cannot fully integrate the patient's preoperative imaging data, such as MR, during the cutting process, lack the ability of precise guidance and control, and it is difficult to control the cutting position and depth, resulting in insufficient or excessive meniscus resection. Summary of the invention

[0005] The present application aims to provide a fully automatic meniscus cutter, which can realize automatic cutting of the meniscus, has the ability to improve cutting accuracy, shorten operation time, and reduce damage to surrounding healthy tissues, and can realize monitoring, precise control, and self-cutting.

[0006] The present application provides a fully automatic meniscus cutter, comprising a plasma cutter head, a connecting rod, a rotating shaft, a joint insertion rod, a support frame and a control system, wherein the plasma cutter head is connected to the front end of the connecting rod and is used to cut the diseased tissue of the meniscus, the rear end of the connecting rod is connected to the rotating shaft, the rotating shaft is rotatably connected to the rear end of the joint insertion rod and is arranged perpendicular to the joint insertion rod, the front end of the joint insertion rod is used to be inserted into the joint cavity and abut against the joint capsule, the support frame is provided with a rotating driver for driving the rotating shaft to rotate, the connecting rod is a telescopic rod structure, the support frame is provided with a telescopic driver for driving the connecting rod to be telescopic, the control system is electrically connected to the rotating driver and the telescopic driver respectively, and the control system is used to command and regulate the rotation of the rotating shaft and the reciprocating movement of the plasma cutter head along the front and back directions.

[0007] Compared with the prior art, the fully automatic meniscus cutter of the present application has the following advantages: the plasma cutter head is connected to the front end of the connecting rod for cutting the pathological tissue of the meniscus. The rear end of the connecting rod is connected to the rotating shaft, which is rotatably connected to the rear end of the joint insertion rod and is arranged perpendicular to the joint insertion rod. This vertical arrangement design allows the rotation of the rotating shaft to be directly converted into the angle change of the plasma cutter head. By introducing a telescopic rod structure and a telescopic driver, the cutting depth of the meniscus is accurately controlled. The front end of the joint insertion rod is designed to be inserted into the joint cavity and abut against the joint capsule. This design ensures stability during the operation, and controls the cutting range (depth) of the meniscus by controlling the distance between the plasma head and the end of the joint insertion rod, and retains the peripheral width of the meniscus as much as possible. A rotating driver is provided on the support frame for driving the rotating shaft to rotate. When the cutting angle needs to be adjusted, the rotating shaft can be driven to rotate by the rotating driver. The rotation of the rotating shaft drives the connecting rod to move, thereby changing the angle of the plasma cutter head, and trimming the retained part into a meniscus arc structure close to the normal shape. This design allows the cutting angle to be flexibly adjusted without changing tools to adapt to the complex curved surface structure of the meniscus. It solves the problem of frequent tool changes required for traditional meniscus automatic cutters and improves surgical efficiency and accuracy.

[0008] In one embodiment, the telescopic drive is a linear motor, which is installed in a connecting rod, and the linear output end of the linear motor is connected to the connecting rod in a transmission manner. With the above technical solution, the linear motor can directly generate linear motion, which greatly improves the positioning accuracy and response speed. In addition, the structure of the linear motor is simpler, the number of parts is reduced, and the reliability and service life of the equipment are improved.

[0009] In one embodiment, a visual probe is provided on the outer wall of the front end of the connecting rod, and the visual probe is used to assist the placement of the meniscus automatic cutter in the joint cavity at the beginning of the operation, observe the condition of the diseased tissue in real time during the operation, and monitor the meniscus cutting process throughout the operation. By providing a visual probe at the front end of the connecting rod, the accuracy and safety of the operation are improved, and the damage to the surrounding healthy tissues is reduced.

[0010] In one embodiment, the plasma cutter head is connected to an external plasma generator. Plasma cutting technology can accurately cut tissue at low temperatures, reducing thermal damage to surrounding healthy tissue. The cutting technology combined with a stable energy supply significantly improves the accuracy, safety and efficiency of the meniscus automatic cutter. The thin and sharp shape of the inner edge of the meniscus is retained by adjusting the inclination of the plasma head.

[0011] In one embodiment, the rotary driver is a rotary motor, the base of the rotary motor is mounted on the support frame, and the rotary output end of the rotary motor is in transmission connection with the rotating shaft. Through the electrified angle adjustment method, the adjustment accuracy and efficiency are improved. The rotary motor is connected to an external control panel to enable remote control or automated surgery.

[0012] In one embodiment, there is also a nuclear magnetic resonance, which is used to detect the position of the meniscus lesion tissue before surgery for preoperative diagnosis and preoperative planning, mainly for detecting the specific position of the meniscus lesion tissue; nuclear magnetic resonance imaging technology can provide high-resolution soft tissue images to help clearly observe the meniscus injury before surgery. Using the images obtained by nuclear magnetic resonance imaging technology, the area of the meniscus that needs to be surgically resected can be accurately determined, including the distance and angular relationship with anatomical landmarks such as the intercondylar eminence of the tibia and the anterior and posterior roots of the meniscus. By measuring the specific distance between the lesion site and the joint capsule (i.e., the peripheral width reserved from the edge of the meniscus), it is equivalent to the distance between the plasma knife head at a certain virtual angle and the head end of the joint insertion rod. Subsequently, these morphological information are converted into digital image signals and transmitted to the control system. During the operation, based on the read data, the meniscus automatic cutter can use the plasma knife head to achieve the full-automatic and precise resection of the diseased meniscus. By combining precision machinery and intelligent systems, this device significantly improves the efficiency and accuracy of meniscus resection and is a medical device with great practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic top view of the structure of the present application; Figure 2 is a schematic front view of the structure of the present application; Figure 3 is a schematic diagram of the structure of the support frame; DESCRIPTION OF THE REFERENCE NUMERALS: 1, plasma knife head; 2, connecting rod; 3, rotating shaft; 4, joint insertion rod; 5, support frame; 10, joint capsule; 20, joint cavity. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the embodiments of the present application and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.

[0015] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified or limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0016] In the embodiments of the present application, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0017] Knee meniscus injury is a common and frequently-occurring disease in clinical practice. The purpose of meniscus surgery is to relieve symptoms and restore function to the greatest extent. At present, the simplest method to relieve symptoms is to excise the diseased meniscus tissue. This method is simple and effective and is widely used. The remaining meniscus tissue can still maintain its physiological functions of stability, load transmission and absorption, thus achieving better therapeutic effects. However, in actual applications, traditional meniscus cutting tools have obvious technical problems when cutting curved parts. Specifically, doctors often need to replace meniscus tools at different angles, which not only increases the complexity of the surgical operation but also cannot ensure a clear field of view. This results in an extended operation time and an increased probability of secondary injury. These problems seriously affect the accuracy and efficiency of the operation and have an adverse impact on the patient's recovery and surgical outcome.

[0018] In a typical knee meniscus surgery scenario, these technical problems are particularly prominent. For example, when a doctor needs to excise a curved part of the meniscus, the fixed angle of traditional tools limits their operating flexibility on complex curved surfaces. Doctors may need to replace tools at different angles multiple times during the operation, and each replacement requires re-adjusting the surgical position and field of view. Specifically, in a standard meniscus excision operation, doctors may need to replace tools 3 - 5 times, and each replacement takes approximately 30 - 60 seconds. This not only extends the operation time but also increases the surgical risk. In addition, since traditional tools cannot provide a clear field of view, doctors may need to repeatedly adjust the surgical position, which further increases the complexity and risk of the operation. In some cases, due to poor visibility, doctors may accidentally excise healthy tissue or fail to completely excise the diseased tissue, which directly affects the surgical effect and the patient's recovery.

[0019] If these technical problems are not solved, it will have a serious negative impact on the quality and effect of meniscus surgery. First of all, frequent tool replacement and vision adjustment will significantly prolong the operation time and increase the risk of patients under anesthesia. For example, a study shows that the average operation time of meniscus surgery using traditional tools is 20-30% longer than the ideal situation. Secondly, unclear vision will increase the probability of surgical errors, which may lead to healthy tissues being mistakenly cut or diseased tissues not being completely removed. This not only affects the immediate effect of the operation, but also may cause patients to need a second operation, increasing medical costs and patient pain. In addition, frequent tool replacement and adjustment also increase the risk of surgical site infection. In the long run, these problems may lead to an extended recovery time for patients, unsatisfactory recovery of knee joint function, and even complications such as chronic pain. Therefore, it is particularly important and urgent to develop a new type of fully automatic meniscus cutter that can flexibly adjust the cutting angle and provide a clear vision.

[0020] Due to the particularity of arthroscopes, beginners in arthroscopic surgery not only need to learn the theoretical knowledge related to diseases, master the use of arthroscopic equipment, be familiar with the basic steps and operation skills of arthroscopic surgery, understand the microscopic manifestations and treatment methods of various joint diseases, but also need to have fine operation ability and good spatial sense. In the present invention, doctors without any arthroscopic surgery operation foundation can also proficiently operate this fully automatic meniscus cutter to perform meniscus resection surgery.

[0021] The following further describes the present application in detail with reference to the accompanying drawings and specific embodiments.

[0022] See Figures 1 to 3 , an embodiment of the present application discloses a fully automatic meniscus cutter, including a plasma knife head 1, a connecting rod 2, a rotating shaft 3, an arthroscopic insertion rod 4, a support frame 5 and a control system. The plasma knife head 1 is connected to the front end of the connecting rod 2 and is used for cutting diseased tissues of the meniscus. The rear end of the connecting rod 2 is connected to the rotating shaft 3. The rotating shaft 3 is rotatably connected to the rear end of the arthroscopic insertion rod 4 and is arranged perpendicular to the arthroscopic insertion rod 4. The front end of the arthroscopic insertion rod 4 is used to be inserted into the joint cavity 20 and abuts against the joint capsule 10 to position the cutting depth. The support frame 5 is provided with a rotation driver for driving the rotation of the rotating shaft 3. The connecting rod 2 is a telescopic rod structure. The connecting rod 2 is provided with a telescopic driver for driving the telescopic movement of the connecting rod 2. The control system is electrically connected to the rotation driver and the telescopic driver respectively. The control system is used to command and control the rotation of the rotating shaft 3 and the reciprocating movement of the plasma knife head 1 in the front and rear directions. The support frame 5 is used to be fixed with the surgical limb as a non-movable whole.

[0023] Before performing a conventional arthroscopic surgery, a fully automatic meniscus cutter should be installed first. After performing the conventional approach operation, under the arthroscopic monitoring on the connecting rod 2, the arthroscopic insertion rod 4 is inserted under the damaged meniscus and ensured to contact the joint capsule 10. Identify the internal anatomical structures of the knee joint, including the intercondylar eminence of the tibia, the anterior and posterior roots of the meniscus, and the surgical approach, etc., and make a pairing.

[0024] Among them, the plasma knife head 1 refers to a cutting tool used to cut the diseased tissue of the meniscus, and specifically, the cutting function can be realized by using the plasma generated by high-frequency current. The connecting rod 2 refers to a rod-shaped structure connecting the plasma knife head 1 and the rotating shaft 3, and specifically, it can be made of metal or high-strength plastic materials. The rotating shaft 3 refers to a shaft-shaped structure connected to the rear end of the connecting rod 2 and capable of rotating, and specifically, it can be made of stainless steel or titanium alloy materials. The arthroscopic insertion rod 4 refers to a rod-shaped structure used to insert under the meniscus in the joint cavity 20, and specifically, it can be made of biocompatible materials such as medical-grade stainless steel or titanium alloy. The support frame 5 is in an inverted U shape, and the support frame 5 is erected on the patient's knee joint to form a stable non-mobile integral structure during the entire surgical process.

[0025] As can be known from the above, the plasma knife head 1 is connected to the front end of the connecting rod 2 and is used to cut the diseased tissue of the meniscus. The rear end of the connecting rod 2 is connected to the rotating shaft 3, and the rotating shaft 3 is rotatably connected to the rear end of the arthroscopic insertion rod 4 and is arranged perpendicular to the arthroscopic insertion rod 4. The front end of the arthroscopic insertion rod 4 is used to insert into the joint cavity 20 and abut against the joint capsule 10. The support frame 5 is connected to the arthroscopic insertion rod 4, and a rotation driver for driving the rotation of the rotating shaft 3 is arranged on the support frame 5. Through the combined design of the plasma knife head 1, the connecting rod 2, the rotating shaft 3, the arthroscopic insertion rod 4, the support frame 5 and the control system, the flexible adjustment and stable operation of the fully automatic meniscus cutter are realized. When the cutting angle needs to be adjusted, the rotating shaft 3 can be driven to rotate by the rotation driver. The rotation of the rotating shaft 3 drives the connecting rod 2 to move, thereby changing the angle of the plasma knife head 1. This design allows the cutting angle to be flexibly adjusted without changing the tool, adapting to the complex curved surface structure of the meniscus. The rotation driver refers to a device used to drive the rotation of the rotating shaft 3, and specifically, it can be realized by using a micro motor. The plasma knife head 1 adjusts and moves in the front-rear direction along the length direction of the connecting rod 2. The rotating shaft 3 rotates around its own axis, and the connecting rod 2 is vertically connected to the outer peripheral wall of the rotating shaft 3.

[0026] Specifically, the connecting rod 2 of the telescopic rod structure can be adjusted in length under the action of the telescopic drive. When the cutting depth needs to be increased, the telescopic drive can drive the connecting rod 2 to extend so that the plasma cutter head 1 can penetrate into the desired position; when the cutting depth needs to be reduced, the telescopic drive can drive the connecting rod 2 to shorten so that the plasma cutter head 1 can retract to a safe position. This design enables the meniscus cutter to achieve the cutting depth required for preoperative planning. In addition, the connecting rod 2 of the telescopic rod structure can also be used in conjunction with a rotary drive. By simultaneously controlling the extension and rotation of the connecting rod 2, the plasma cutter head 1 can be precisely positioned in three-dimensional space. This combined operation enables the meniscus cutter to handle complex meniscus lesions more flexibly, especially when dealing with curved areas or deep tissues, which has significant advantages.

[0027] In this embodiment, the telescopic drive is a linear motor, which is installed in the connecting rod 2, and the linear output end of the linear motor is connected to the connecting rod 2 in a transmission manner. By using the linear motor as the telescopic drive, precise telescopic control of the connecting rod 2 can be achieved. Specifically, the linear motor, as a precise electric control drive device, can provide precise position control and smooth movement. The linear motor is installed in the connecting rod 2 to ensure the stable connection between the linear motor and the entire device. The linear output end of the linear motor is connected to the connecting rod 2 in a transmission manner, and the linear motion of the motor can be directly transmitted to the connecting rod 2 without a complex transmission mechanism, thereby reducing transmission errors and mechanical losses. Furthermore, the use of the linear motor can also provide smooth movement, avoiding the jitter or instability that may be caused by traditional mechanical transmission. This is particularly important for meniscus cutting surgery that requires delicate operation, and can improve the safety and success rate of the surgery. As a preferred embodiment, the linear motor can be a permanent magnet synchronous linear motor. This motor has the characteristics of high precision, high response speed and low noise, and is very suitable for medical devices. The stroke of the motor can be designed according to actual needs, for example, it can be set to 0-100mm to meet the cutting requirements of different depths. The thrust of the motor can be designed to be 50-100N to ensure that the connecting rod 2 can be smoothly driven to extend and retract.

[0028] In this embodiment, a vision probe is provided on the outer wall of the front end of the connecting rod 2, and this vision probe is used to observe the condition of the diseased tissue in real time. By assembling the vision probe at the front end of the connecting rod 2, it facilitates the installation of the meniscus cutter, and realizes the dynamic monitoring of the intra-articular condition and the real-time monitoring of the working process of the meniscus cutter, which helps to reduce the operation time and the risk of secondary injury. Specifically, the vision probe can adopt a micro camera or endoscope technology. For example, a micro camera with a diameter of 2-3 mm can be used, which has high resolution and good low-light performance. The vision probe is connected to the signal transmission line inside the connecting rod 2 through a flexible cable to ensure that the image transmission is not affected during the telescopic process of the connecting rod 2. In order to prevent body fluids from affecting the image quality, the lens of the vision probe can adopt an anti-fog design and be equipped with a micro cleaning system. As a preferred implementation, the vision probe can be integrated with the plasma knife head 1 to form a compact observation and cutting unit, and the vision probe and the plasma knife head 1 are arranged at intervals to prevent the vision probe from being blocked. This design not only reduces the overall size of the instrument, but also ensures the precise correspondence between the visual field and the cutting area. As a preferred implementation, the vision probe can adopt a high-definition CMOS sensor with a resolution of 1080p and a frame rate of 60 frames per second. A micro wide-angle lens can be installed at the front end of the vision probe, and the field of view angle reaches 120 degrees to provide a wider visual field. In addition, the vision probe can be equipped with an LED lighting system to ensure sufficient light inside the joint cavity 20. The brightness of the LED lighting system can be adjusted through the control button on the support frame 5 to adapt to different surgical environments.

[0029] In this embodiment, the vision probe is signal-connected to an external display screen. By signal-connecting the vision probe to an external display screen, dynamic monitoring of the internal conditions of the joint and real-time monitoring of the working process of the meniscus cutter are achieved, improving the accuracy and safety of the surgery. Specifically, the vision probe is installed at the front end of the connecting rod 2, near the plasma knife head 1. This arrangement enables the vision probe to directly observe the tissue conditions around the plasma knife head 1. The display screen can be an independent monitor or integrated into the existing equipment in the operating room. The resolution of the display screen should be high enough to ensure that doctors can clearly observe the fine tissue structures. For example, a display screen with a 4K resolution can be used to provide high-definition images. During actual use, doctors can observe the real-time images on the display screen. When there is a difference between the instructions issued by the control panel and the actual intraoperative situation, they can promptly correct the position and cutting depth of the plasma knife head 1. This real-time feedback mechanism greatly improves the accuracy of the surgery and reduces the risk of damage to the surrounding healthy tissues. At the same time, since the condition of the diseased tissues can be observed in real time, doctors can adjust the surgical strategy in a timely manner according to the actual situation, such as adjusting the cutting angle or depth, to ensure the best surgical effect. The display screen can adopt a 27-inch 4K LCD monitor with a resolution of 3840x2160 and a 100% sRGB color gamut coverage. The display screen can be installed on the cantilever system in the operating room for doctors to observe at any time during the surgery. The display screen can also be equipped with a touch function, allowing doctors to correct the control instructions in the control panel on the support frame 5 and adjust image parameters such as brightness, contrast, and magnification by touching the screen.

[0030] In this embodiment, the plasma knife head 1 is connected to an external plasma generator. Specifically, the plasma knife head 1 is connected to the external plasma generator through an appropriate connection method; this connection can be a wired connection or a wireless connection; for the wired connection, a dedicated cable or wire can be used to ensure the stability and safety of energy transmission; for the wireless connection, electromagnetic induction or other wireless energy transmission technologies can be used to provide greater operation flexibility. As an energy source, the plasma generator can adjust the output power according to the cutting requirements; for example, when cutting thicker or harder diseased tissues, the output power can be appropriately increased; while when dealing with thinner or softer tissues, the power can be reduced to avoid unnecessary damage to the surrounding healthy tissues; this adjustable energy output characteristic enables the semi-automatic meniscus cutter of the present application to adapt to different surgical situations and improve the safety and precision of the surgery. Further, the plasma generator can be equipped with a monitoring system to monitor the working state of the plasma knife head 1 in real time; when abnormal energy output or too high knife head temperature is detected, the system can automatically adjust the output or issue an alarm to protect the safety of patients and medical equipment; this intelligent control mechanism greatly improves the safety and reliability of the surgery. As a preferred implementation manner, the connection line between the plasma knife head 1 and the plasma generator can be integrated into the structure of the semi-automatic meniscus cutter; for example, the connection line can be arranged inside or on the surface of the connecting rod 2 and extend to the external plasma generator through the support frame 5; this design can make the whole device more compact and reduce the interference of the cable to the surgical operation.

[0031] In this embodiment, the rotation driver is a rotary motor. The base of the rotary motor is mounted on the support frame 5, and the rotary output end of the rotary motor is drivingly connected to the rotating shaft 3. Specifically, the rotary motor, as the rotation driver, can provide stable and controllable rotational power. The base of the rotary motor is mounted on the support frame 5, and this layout ensures the compactness of the device. At the same time, the support frame 5 also fixes the knee joint and the affected limb to form a fixed whole to ensure stability. The rotary output end of the rotary motor is drivingly connected to the rotating shaft 3, which can accurately transmit the rotational power of the motor to the rotating shaft 3. When the angle of the plasma cutter head 1 needs to be adjusted, the rotating shaft 3 can be driven to rotate by controlling the rotary motor. The rotation of the rotating shaft 3 drives the connecting rod 2 and the plasma cutter head 1 to rotate together, thereby realizing the precise adjustment of the cutting angle. This electric angle adjustment method is more accurate and convenient than manual adjustment, which can greatly improve the efficiency and accuracy of the operation. Further, the rotary motor can be selected as a stepper motor or a servo motor, and these types of motors can achieve precise angle control. For example, when using a stepper motor, the rotation angle can be precisely controlled by controlling the number of pulses of the stepper motor. Each pulse can correspond to a small angle change, so as to realize the fine adjustment of the position of the plasma cutter head 1. As a preferred embodiment, the rotary motor can be used in cooperation with an angle sensor. The angle sensor is mounted on the rotating shaft 3 and is used to detect the rotation angle of the rotating shaft 3 in real time. This design can form a closed-loop control system to further improve the accuracy and reliability of angle adjustment.

[0032] In this embodiment, a nuclear magnetic resonance (NMR) is further included. The NMR is used to detect the position of the meniscus lesion tissue before the operation, and the NMR is signal-connected to the control system. After the preoperative NMR data is imported into the control system, a three-dimensional lesion model is generated through an image processing algorithm, and the cutting path is automatically planned and the plasma cutter head is controlled to move along the path to achieve resection with millimeter-level accuracy. Specifically, the NMR can provide high-resolution images of the meniscus and surrounding soft tissues, clearly showing the location, size and shape of the lesion, which is used to assist preoperative planning. According to this image information, it is transmitted to the control system, and the cutting range of the meniscus lesion tissue is automatically delimited through an image processing algorithm, that is, the rotation driver is controlled to drive the rotating shaft 3 to rotate, driving the connecting rod 2 towards the lesion tissue, the telescopic driver is controlled to drive the connecting rod 2 to stretch and contract, driving the plasma cutter head 1 to penetrate into the lesion tissue and cut, and the distance between the plasma cutter head 1 and the joint insertion rod 4 is automatically adjusted according to the image data of the NMR to ensure the accuracy of the cutting depth and range. Equipped with NMR detection, it is suitable for complex meniscus tears or degenerative lesions, especially minimally invasive surgeries that require the preservation of healthy tissues.

[0033] The advantages that can be brought by the use of NMR include: I. High-resolution imaging: NMR imaging can clearly show the fine structure of the meniscus, helping to accurately identify the lesion area before the operation.

[0034] II. Precise positioning: Through nuclear magnetic resonance images, the cutter can automatically plan the surgical path and determine the optimal entry point and cutting depth of the plasma knife head 1.

[0035] III. Reducing damage: Precise positioning helps avoid accidental injury to healthy tissues and reduce surgical complications.

[0036] IV. Improving the success rate of surgery: Through precise pre-operative lesion positioning, the success rate and effectiveness of the surgery can be significantly improved.

[0037] Generally speaking, nuclear magnetic resonance plays a key auxiliary role in this technical solution, providing precise navigation and positioning for the surgery, thereby improving the precision of cutting the meniscus lesion tissue and the overall effect of the surgery.

[0038] In practical applications, the fully automatic meniscus cutter of the present application can be operated as follows: First, under the monitoring of the vision probe on the connecting rod 2, the joint insertion rod 4 is inserted into the knee joint cavity 20 of the patient and is located below the meniscus, with the front end of the joint insertion rod 4 abutted against the joint capsule 10. Then, according to the position of the meniscus lesion tissue to be cut, the angle of the plasma knife head 1 is adjusted by controlling the rotation motor, and the cutting range of the meniscus is regulated by controlling the distance between the plasma knife head 1 and the joint insertion rod 4. During the adjustment process, the operator can precisely control the operation of the rotation motor and the telescopic drive of the telescopic driver through an external control panel. When the plasma knife head 1 is adjusted to the appropriate angle, the cutting operation can be started.

[0039] In the description of the embodiments of the present application, it should be noted that in the description of the present application, the terms indicating the direction or positional relationship such as "inside", "outside", etc. are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present application.

[0040] In the description of the present application, the description referring to terms such as "one embodiment", "some embodiments", "in this embodiment", "specific example", or "some examples" means that the specific features, mechanisms, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0041] As described above, this is only the specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A fully automatic meniscus cutter, characterized in that, The invention comprises a plasma cutter head (1), a connecting rod (2), a rotating shaft (3), a joint insertion rod (4), a support frame (5) and a control system. The plasma cutter head (1) is connected to the front end of the connecting rod (2) and is used for cutting the pathological tissue of the meniscus. The rear end of the connecting rod (2) is connected to the rotating shaft (3). The rotating shaft (3) is rotatably connected to the rear end of the joint insertion rod (4) and is arranged perpendicular to the joint insertion rod (4). The front end of the joint insertion rod (4) is used to be inserted into the joint cavity (20) and abut against the joint capsule (10). The support frame (5) is provided with a rotating driver for driving the rotating shaft (3) to rotate. The connecting rod (2) is a telescopic rod structure. The connecting rod (2) is provided with a telescopic driver for driving the connecting rod (2) to telescope. The control system is electrically connected to the rotating driver and the telescopic driver respectively. The control system is used to command and control the rotation of the rotating shaft (3) and the reciprocating movement of the plasma cutter head (1) along the front and back directions.

2. The fully automatic meniscus cutter according to claim 1, characterized in that, The telescopic driver is a linear motor, which is installed in the connecting rod (2), and the linear output end of the linear motor is drivingly connected to the connecting rod (2).

3. The semi-automatic meniscus cutter according to claim 1, characterized in that, The front end outer wall of the connecting rod (2) is provided with a visual probe.

4. The meniscus full-automatic cutter according to claim 3, wherein, The visual probe is connected to an external display screen signal.

5. The semi-automatic meniscus cutter according to claim 1, characterized in that, The plasma cutter head (1) is connected to an external plasma generator.

6. The semi-automatic meniscus cutter according to claim 1, wherein, The rotary driver is a rotary motor, the base of the rotary motor is mounted on a support frame (5), and the rotary output end of the rotary motor is drivingly connected to the rotating shaft (3).

7. The meniscus full-automatic cutter according to claim 1, characterized in that, It also includes nuclear magnetic resonance, which is used to detect the position of meniscus lesion tissue before surgery and its inspection results are used for preoperative planning, and its morphological information is converted into digital image signals and connected with control system signals.

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