An automatic cartilage harvesting device combining multi-dimensional force sensing and posture adjustment

Abstract

An embodiment of the present invention provides an automatic cartilage cutting device that combines multi-dimensional force sensing and posture adjustment, and relates to the field of medical devices. It includes: a housing, a driving mechanism, a connecting block, a sliding member, a scalpel assembly, and a tweezers assembly; a lower chamber is provided in the housing, and the lower chamber is open at the bottom; the driving mechanism is installed in the lower chamber; there are two connecting blocks, which are respectively installed in the lower chambers; the sliding member is installed on the connecting block; the scalpel assembly and the tweezers assembly are respectively installed on the two connecting blocks; the driving mechanism includes: a rotating cylinder and a driving slot; the driving slot is connected end to end and is provided on the inner wall of the rotating cylinder; the sliding member is slidably embedded in the driving slot. It can automatically switch between cutting and clamping requirements without manual direct control of the instrument, saving operating space, and at the same time ensuring that the tool remains stable during cutting, thereby improving the stability of the equipment.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to an automatic cartilage cutting device combining multi-dimensional force sensing and posture adjustment. Background Art

[0002] Medical cutting and intercepting tools rely on key technologies such as materials science, precision manufacturing technology, and biomedical engineering. They are widely used in many medical fields such as general surgery, orthopedics, neurosurgery, and ophthalmology, promoting the transformation and progress of various surgical treatment methods.

[0003] However, medical cutting and intercepting tools currently face numerous limitations when used in complex surgical scenarios. For example, when performing cartilage removal in areas densely populated with tiny blood vessels and nerves, manual manipulation is difficult due to limited operating space, making it difficult to maintain precision and potentially causing unnecessary damage to surrounding tissue. This has severely hindered the further development of medical cutting and intercepting tools in complex surgical scenarios.

[0004] Based on this, the present invention is proposed. Summary of the Invention

[0005] According to an embodiment of the present invention, an automatic cartilage harvesting device combining multi-dimensional force sensing and posture adjustment is provided to solve the problems of the existing background.

[0006] In a first aspect of the present invention, an automatic cartilage harvesting device is provided.

[0007] The automatic cartilage cutting device comprises: a housing, a driving mechanism, a connecting block, a sliding member, a scalpel assembly and a forceps assembly;

[0008] A lower chamber is provided in the shell, and the bottom of the lower chamber is open;

[0009] The driving mechanism is installed in the lower chamber; there are two connecting blocks, each of which is installed in the lower chamber; the sliding member is installed on the connecting block; the scalpel assembly and the tweezers assembly are respectively installed on the two connecting blocks;

[0010] The driving mechanism comprises: a rotating cylinder and a driving groove; the driving groove is opened on the inner wall of the rotating cylinder and is connected end to end; the sliding member is slidably embedded in the driving groove;

[0011] The rotating cylinder is controlled to rotate, and the driving slot drives the sliding member so that the two connecting blocks respectively drive the scalpel assembly and the tweezers assembly to move up and down alternately.

[0012] Preferably, an upper chamber is further provided in the shell.

[0013] Preferably, the driving mechanism further comprises: a gear ring, a bearing, a gear and a first motor;

[0014] The gear ring is installed at the top of the rotating cylinder; the bearing is installed at the bottom of the rotating cylinder, and the rotating cylinder is rotatably installed in the lower chamber through the bearing; the gear is rotatably installed in the lower chamber, and the gear is meshed with the gear ring; the first motor is installed in the upper chamber, and the output end of the first motor extends into the lower chamber and is connected to the gear.

[0015] Preferably, the driving groove includes: a first transverse groove, a second transverse groove and a connecting groove; there is a height difference between the first transverse groove and the second transverse groove; there are two connecting grooves, which are arranged between the first transverse groove and the second transverse groove.

[0016] Preferably, a column is fixedly installed at the center of the lower chamber; a slide groove is installed on the connecting block; a slideway is installed on the column, and the slideway is slidably connected to the slide groove.

[0017] Preferably, the scalpel assembly comprises: a handle, a blade, a slot, a connecting arm and a knife slot;

[0018] The connecting arm is installed at the bottom end of the knife handle; the knife groove is opened at the edge of the connecting arm; the clamping slot is opened on the blade; the blade is installed on the connecting arm through the clamping connection between the clamping slot and the knife groove.

[0019] Preferably, the tweezers assembly includes: a tweezers body, a single head, a double head, anti-slip teeth, a connecting frame, a lead screw, a slide rod, a moving block, a sliding seat, a second motor and a frame;

[0020] The single head and double head are respectively arranged at the two ends of the tweezers main body; the single head and double head are respectively provided with anti-slip teeth on the opposite sides; the frame is arranged in a U-shape; the connecting frame is installed in the frame; one end of the screw is rotatably installed on the connecting frame, and the screw passes through the tweezers main body; the sliding rod is installed on the connecting frame; the moving block is threadedly connected to the screw; the sliding seat is slidably connected to the sliding rod, and the sliding seat is fixedly connected to the moving block; the second motor is installed in the frame, and the output end of the second motor is connected to the other end of the screw.

[0021] Preferably, a multi-dimensional force sensor is installed on the top of the housing.

[0022] In a second aspect of the present invention, an automatic cartilage cutting device combining multi-dimensional force sensing and posture adjustment is provided, comprising: an automatic cartilage cutting device, and also comprising: a surgical robot arm, wherein the automatic cartilage cutting device is mounted on the surgical robot arm.

[0023] Preferably, it also includes a micro-gyroscope integration, which is installed between the surgical robot arm and the automatic cartilage cutting device.

[0024] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0025] 1. The present invention provides an automatic cartilage cutting device, which can drive the scalpel assembly and the tweezers assembly to extend independently through a driving mechanism, and can maintain stability after extension, adapting to different practical needs at the same time, thereby ensuring that the scalpel assembly and the tweezers assembly can operate independently and cooperate with other tool components; at the same time, utilizing the function of the driving slot, it can ensure that any one of the scalpel and tweezers assemblies can be extended and retracted before the other one is extended and retracted, avoiding affecting use. In addition, the device does not require the doctor to directly touch the work manually, saves working space, is suitable for small operating scenes, and has high stability.

[0026] 2. The second motor in the present invention can drive the screw to rotate, thereby automatically opening and closing the tweezers body, thereby achieving the operation of clamping cartilage tissue. At the same time, the tweezers body is provided with a single head and a double head, and the clamping stability can be improved through three-point clamping.

[0027] 3. The automatic cartilage cutting device provided by the present invention, which combines multi-dimensional force sensing and posture adjustment, can automatically perform the main line cutting operation through the controller, ensuring that the scalpel assembly body will not shake, ensuring cutting stability, and at the same time can be flexibly adjusted and applicable to many scenarios; and through the action of the multi-dimensional force sensor, the force form during the operation is monitored to form a closed-loop control, and the operation is controlled and adjusted according to the force conditions to prevent accidents during the operation.

[0028] In summary, the device of the present invention can automatically switch between cutting and clamping requirements without manual direct control of the device, saving operating space, and at the same time can ensure that the tool remains stable during cutting, thereby improving the stability of the device.

[0029] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The technical features, advantages and effects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0031] Figure 1A schematic structural diagram of an automatic cartilage cutting device according to an embodiment of the present invention is shown;

[0032] Figure 2 A schematic diagram of the exploded structure of an automatic cartilage cutting device according to an embodiment of the present invention is shown;

[0033] Figure 3 Schematic diagram showing the deployment of a driving slot of an automatic cartilage cutting device according to an embodiment of the present invention;

[0034] Figure 4 A side cross-sectional view of a housing of an automatic cartilage harvesting device according to an embodiment of the present invention is shown;

[0035] Figure 5 A schematic structural diagram of a connecting block of an automatic cartilage cutting device according to an embodiment of the present invention is shown;

[0036] Figure 6 A schematic structural diagram of a surgical knife assembly of an automatic cartilage harvesting device according to an embodiment of the present invention is shown;

[0037] Figure 7 A schematic diagram of an exploded structure of a scalpel assembly of an automatic cartilage harvesting device according to an embodiment of the present invention is shown;

[0038] Figure 8 A schematic structural diagram of a forceps assembly of an automatic cartilage cutting device according to an embodiment of the present invention is shown;

[0039] Figure 9 A schematic diagram of an exploded structure of a forceps assembly of an automatic cartilage cutting device according to an embodiment of the present invention is shown;

[0040] Figure 10 A schematic structural diagram of an automatic cartilage harvesting device combining multi-dimensional force sensing and posture adjustment according to an embodiment of the present invention is shown;

[0041] Figure 11 A framework diagram of a control system of an automatic cartilage harvesting device combining multi-dimensional force sensing and posture adjustment according to another embodiment of the present invention is shown.

[0042] The reference numerals are as follows:

[0043] 1. Housing; 101. Lower chamber; 102. Upper chamber; 2. Driving mechanism; 21. Rotating cylinder; 22. Gear ring; 23. Bearing; 24. Driving slot; 2401. First transverse slot; 2402. Second transverse slot; 2403. Connecting slot; 25. Gear; 26. First motor; 3. Column; 4. Connecting block; 5. Slide; 6. Slideway; 7. Sliding member; 8. Scalpel assembly; 81. Handle; 82 , blade; 83, card slot; 84, connecting arm; 85, knife groove; 9, tweezers assembly; 91, tweezers body; 92, single head; 93, double head; 94, anti-slip tooth pattern; 95, connecting frame; 96, lead screw; 97, slide rod; 98, moving block; 99, sliding seat; 910, second motor; 911, frame; 10, multi-dimensional force sensor; 100, surgical robot arm; 200, micro gyroscope integration. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship. Example 1:

[0046] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, the automatic cartilage cutting device includes: a shell 1, a driving mechanism 2, a column 3, a connecting block 4, a slide 5, a slide 6, a sliding member 7, a scalpel assembly 8 and a forceps assembly 9.

[0047] A lower chamber 101 and an upper chamber 102 are provided in the outer shell 1, and the lower chamber 101 is open at the bottom. The upper chamber 102 is not connected to the lower chamber 101, and the partition between the two is only provided with a through hole with a sealing ring through which the output end of the power supply passes. The driving mechanism 2 is installed in the lower chamber 101. There are two connecting blocks 4, which are respectively installed in the lower chamber 101. A column 3 is fixedly installed at the center of the lower chamber 101. The length of the column 3 is less than the depth of the lower chamber 101 to prevent the column 3 from extending out of the lower chamber 101 to prevent affecting the operation of other parts. A slide 5 is installed on the connecting block 4, and a slide 6 is installed on the column 3, and the slide 6 is slidably connected to the slide 5. The slide 5 can slide along the axial direction of the slide 6, wherein the axis of the slide 6 and the slide 5 are arranged parallel to the axis of the outer shell 1 to ensure that the connecting block 4 can slide in the up and down directions. Furthermore, the slideway 6 has a trapezoidal cross-section that matches the inner shape of the chute 5, preventing the chute 5 from derailing and ensuring stable sliding. The slider 7 is mounted on the connecting block 4. The scalpel assembly 8 and the forceps assembly 9 are mounted on the two connecting blocks 4, respectively. Both the scalpel assembly 8 and the forceps assembly 9 are made of titanium alloy, which has excellent corrosion resistance and sterilizability.

[0048] refer to Figure 2 and Figure 3 The driving mechanism 2 includes: a rotating cylinder 21, a gear ring 22, a bearing 23, a driving groove 24, a gear 25 and a first motor 26. The bearing 23 is mounted at the bottom end of the rotating cylinder 21, and the rotating cylinder 21 is rotatably mounted in the lower chamber 101 through the bearing 23. The driving groove 24 is opened on the inner wall of the rotating cylinder 21 so as to be connected end to end, and the sliding member 7 is slidably embedded in the driving groove 24. The rotating cylinder 21 rotates in a controlled manner, and the driving groove 24 can drive the sliding member 7 to enable the two connecting blocks 4 to drive the scalpel assembly 8 and the tweezers assembly 9 to move up and down alternately. The gear ring 22 is mounted on the top of the rotating cylinder 21, and the gear 25 is rotatably mounted in the lower chamber 101, and the gear 25 is meshed with the gear ring 22. When the gear 25 rotates, the gear ring 22 can drive the rotating cylinder 21 to rotate through the meshing action. The first motor 26 is installed in the upper chamber 102. The output of the first motor 26 extends into the lower chamber 101 and is connected to the gear 25. Opening the first motor 26 can drive the gear 25 to rotate. The first motor 26 is selected from JGY-370 micro-DC reduction motors for use. For existing equipment, its output can be locked. In addition, driving groove 24 comprises: a first transverse groove 2401, a second transverse groove 2402 and a connecting groove 2403. There is a height difference in the first transverse groove 2401 and the second transverse groove 2402. The height difference is adapted to the path length that the scalpel assembly 8 and the tweezers assembly 9 extend fully. Connecting groove 2403 has two, tiltedly arranged between the first transverse groove 2401 and the second transverse groove 2402, and connecting groove 2403 and the first transverse groove 2401 and the second transverse groove 2402 junction are arranged into an arc, ensuring that the sliding member 7 can slide smoothly.

[0049] Said structure is in use, opens the first motor 26 and drives the gear 25 to rotate, and then drives the gear ring 22 to drive the rotating cylinder 21 to rotate, utilizes the driving of driving groove 24 pairs of slides 7 to make two connecting blocks 4 drive scalpel assembly 8 and tweezers assembly 9 to move up and down alternately respectively.When slide 7 is positioned at the first transverse groove 2401, scalpel assembly 8 and tweezers assembly 9 are all positioned in the lower chamber 101, along with the rotation of rotating cylinder 21, the second transverse groove 2402 moves circumferentially therewith, after the slide 7 on one of them slides in the second transverse groove 2402 via connecting groove 2403, scalpel assembly 8 or tweezers assembly 9 relative thereto stretch out the lower chamber 101 completely, and now, the first motor 26 output end locks, can fix the parts that stretch out.Use and finish opening the first motor 26 and make rotating cylinder 21 continue to rotate and can make the part that stretches out retract, after the second transverse groove 2402 is corresponding with another connecting block 4, can make it start to descend. This structure can make the scalpel assembly 8 and the tweezers assembly 9 extend alternately and independently through the cooperation of the driving slot 24 and the sliding member 7, thereby ensuring normal use.

[0050] In addition, the arc length of second transverse groove 2402 is more than 4 times of slider 7 width in this embodiment, ensures that slider 7 is positioned at second transverse groove 2402 and can stably place, can not arbitrarily break away from.During use, slider 7 is positioned at the middle of second transverse groove 2402 and locks first motor 26, when slider 7 is because of accidental slight displacement, still can ensure that slider 7 is in second transverse groove 2402, therefore the scalpel assembly 8 or the tweezers assembly 9 that stretch out still can ensure stable stretching out, can not retract, improve the stability of equipment.In addition, the central angle that two connecting grooves 2403 and second transverse groove 2402 correspondences are less than the central angle between scalpel assembly 8 and tweezers assembly 9, ensure to drive one in scalpel assembly 8 or tweezers assembly 9 and complete before telescopic action, can not affect another, and then can ensure that one in scalpel assembly 8 and tweezers assembly 9 retracts fully before, another can not stretch out, and makes the safety and stability of equipment use.

[0051] refer to Figure 6 and Figure 7 The scalpel assembly 8 in this embodiment has the same structure as common scalpels on the market. Specifically, the scalpel assembly 8 includes a handle 81, a blade 82, a slot 83, a connecting arm 84, and a blade slot 85. The connecting arm 84 is mounted at the bottom end of the handle 81. The blade slot 85 is defined on the edge of the connecting arm 84. The slot 83 is defined on the blade 82. The blade 82 is attached to the connecting arm 84 by engaging the slot 83 with the blade slot 85.

[0052] refer to Figure 8 and Figure 9The tweezers assembly 9 includes: a tweezers body 91, a single head 92, a double head 93, an anti-slip tooth pattern 94, a connecting frame 95, a lead screw 96, a slide rod 97, a moving block 98, a sliding seat 99, a second motor 910 and a frame 911. The tweezers body 91 is a Y-shaped structure made of stainless steel or titanium steel. The single head 92 and the double head 93 are respectively arranged at the two ends of the tweezers body 91, and together with the tweezers body 91, they form a three-point clamping structure. Anti-slip tooth patterns 94 are respectively provided on the opposite sides of the single head 92 and the double head 93 to improve the anti-slip performance. The frame 911 is arranged in a U-shaped shape, and the connecting frame 95 is installed in the frame 911. One end of the lead screw 96 is rotatably installed on the connecting frame 95, and the lead screw 96 passes through the tweezers body 91. The diameter of the hole reserved on the tweezers body 91 is slightly larger than the diameter of the lead screw 96, reserving the compensation space required for the clamping deformation of the tweezers body 91. Combined with the elasticity of the tweezers body 91 itself, it can cope with the deformation that occurs when clamping the object. The slide bar 97 is installed on the connecting frame 95, and the moving block 98 is threadedly connected to the lead screw 96. When the lead screw 96 rotates, the moving block 98 can move along the axial direction of the lead screw 96. When the moving block 98 moves and squeezes the tweezers body 91, the opening and closing clamping action of the tweezers body 91 can be completed. The sliding seat 99 is slidably connected to the slide bar 97, and the sliding seat 99 is fixedly connected to the moving block 98. The moving block 98 and the sliding seat 99 constitute an integral mechanism. The limit of the slide bar 97 is used to prevent the moving block 98 from rotating. The second motor 910 is mounted within the frame 911, and the output end of the second motor 910 is connected to the other end of the lead screw 96. Turning on the second motor 910 can drive the lead screw 96 to rotate. The second motor 910 is a JGY-370 micro DC reduction motor, which is an existing device and has a lockable output end.

[0053] In addition, in the above embodiment, two symmetrical covers can be added to the end of the housing 1 located on the open side of the lower chamber 101. The two covers are connected to the housing 1 via torsion springs. The two covers are semicircular and correspond to the scalpel assembly 8 and the tweezers assembly 9, respectively. The covers are normally closed and are used to shield the scalpel assembly 8 and the tweezers assembly 9 from dust. When either the scalpel assembly 8 or the tweezers assembly 9 is extended to push open the cover, the other cover covers the unextended portion to prevent blood contamination during surgery. When the extended portion retracts, the torsion force of the torsion spring is used to reclose the cover.

[0054] A second aspect of the present invention provides an automated cartilage harvesting device that combines multi-dimensional force sensing and posture adjustment. The device comprises a surgical robot arm 100 and a micro-gyroscope assembly 200. The automated cartilage harvesting device is mounted on the surgical robot arm 100, with the micro-gyroscope assembly 200 mounted between the surgical robot arm 100 and the automated cartilage harvesting device. A multi-dimensional force sensor 10 is mounted on the top of the housing 1 of the automated cartilage harvesting device.

[0055] The surgical robot arm 100 is an existing device and an integral component of the surgical robot. This embodiment is based on the Xi / Si / SP series surgical robot arm 100, but other models are also available. The surgical robot arm 100 can meet the angle adjustment and force application requirements of the scalpel and forceps during surgery. The micro-gyroscope integrated circuit 200 uses the Pinpoint® (CRM200) model. The micro-gyroscope integrated circuit 200 is an angular velocity sensor based on micro-electromechanical system (MEMS) technology, which measures rotation rate by detecting the Coriolis force of the vibrating structure. The multi-dimensional force sensor 10 uses the 6L2A series model to obtain real-time force and angle change information during the operation. Example 2:

[0056] This embodiment provides a control system for an automatic cartilage harvesting device that combines multi-dimensional force sensing and posture adjustment, aiming to achieve intelligent and precise harvesting of human rib cartilage, and is widely applicable to medical operation scenarios such as thoracic surgery and biomaterial extraction. The system includes: an automatic cartilage harvesting device that combines multi-dimensional force sensing and posture adjustment, a PLC controller, and ROS. Figure 11 This is a control framework diagram of the system for the automatic cartilage cutting device that combines multi-dimensional force sensing and posture adjustment.

[0057] In this embodiment, the PLC controller is used to independently control the multi-dimensional force sensor 10, the first motor 26, and the second motor 910. ROS is an open-source meta-operating system for robots that can be configured via an external computer and used to build robotic applications. It provides hardware abstraction, device drivers, message passing, software package management, a simulation environment, and a development tool chain. In this embodiment, it can control the flexible operation of the surgical robot arm 100. The PLC controller and ROS can exchange information with each other, thereby facilitating operation based on actual conditions during use.

[0058] This device is driven by the surgical robot arm 100 to complete the positioning of the macro posture. After the device is in place, the PLC controller instructs the adjustment of the scalpel assembly 8 to extend so that it is aligned with the cutting area. When the device enters the cutting stage, the surgical robot arm 100 moves according to the set trajectory. The scalpel assembly 8 does not move, and only moves with the overall translation of the surgical robot arm 100 to complete the interception. During the entire process, the multi-dimensional force sensor 10 provides real-time feedback on the cutting force situation, and the PLC controller compares it with the set threshold. If an abnormality occurs, such as excessive force or abnormal direction, the ROS immediately stops the cutting action of the surgical robot arm 100 to ensure tissue safety and operational stability.

[0059] The scalpel assembly 8 is then retracted, and the tweezers assembly 9 is extended and performs a clamping action. During the clamping process, the system uses the motor current as a basis. When it detects that the set threshold has been reached, it determines that the clamping is complete. The specific principle is: when the motor rotates normally, the armature or rotor cuts the magnetic flux lines to generate a back electromotive force, or back electromotive force. The back electromotive force is opposite to the power supply electromotive force and will suppress the magnitude of the current; when the motor rotation is obstructed or completely blocked, the back electromotive force decreases or even disappears, and the power supply voltage is almost entirely applied to the armature resistance, and the current angular displacement is recorded as the basis for subsequent reset. The tweezers assembly 9 then clamps the cut tissue, and the surgical robot arm 100 drives the tweezers assembly 9 to complete the transfer according to the established trajectory, and the tweezers assembly 9 puts down the cut tissue.

[0060] The system's control logic design emphasizes intelligent judgment and safety feedback. Angular displacement and current data during the clamping process serve as primary judgment criteria, ensuring that cartilage tissue neither slips due to insufficient clamping force nor is damaged by excessive compression. The multi-dimensional force sensor 10 provides feedback throughout the entire cutting process, sensing physiological signals such as tissue density and cutting resistance to support intraoperative strategy optimization.

[0061] The entire system has a clear logical structure, with the controller at its core, connected to the ROS platform to form a closed-loop control system of "control-execution-perception-feedback." The controller works in conjunction with the robotic arm to automate operations; a multi-dimensional sensing system ensures sensing accuracy; and a motor system ensures motion response and operational force precision, thus completing the complete process of intelligent soft tissue processing.

[0062] The first usage scenario and method of the above solution are as follows:

[0063] Minimally invasive cardiac interventional surgery: The patient completes preoperative imaging and determines the surgical path. The system then coordinates image navigation and force sensing to execute the procedure. After the surgical robot is activated, the robotic arm 100, guided by the navigation system, slowly advances the end effector (automatic cartilage harvesting device) to the target tissue area. As the end effector approaches the cardiac soft tissue, the integrated multi-dimensional force sensor 10 begins real-time monitoring of contact force and torque changes in all directions.

[0064] When the scalpel contacts the myocardial tissue, the system detects the slight resistance to entry and automatically determines whether the cutting depth exceeds the safety threshold. If so, the advancement rate is immediately reduced or the operation is suspended. In addition, the forceps are used to assist in pulling blood vessels or tissues, and their clamping force is also fed back in real time by the multi-dimensional force sensor 10 to ensure that the force is appropriate and does not damage the tissue. Throughout the entire process, the multi-dimensional force data is decoupled and compensated through algorithms, dynamically optimizing the operation path, effectively ensuring the accuracy and safety of the operation.

[0065] The second usage scenario and method of the above solution are as follows:

[0066] Precise interception of costal cartilage in clinical thoracic plastic surgery: During chest deformity correction surgery, doctors need to obtain costal cartilage of complete shape and appropriate length from the patient's body as a graft. The intelligent interception device of the present invention is carried to the target area by a surgical robotic arm, which fine-tunes the tool and monitors the clamping force and cutting force status in real time. After completing the positioning and clamping of the cartilage, the surgical robot arm 100 performs the cutting action. The system determines whether the cutting is smooth based on multi-dimensional force feedback and can automatically stop cutting when an abnormal force value is detected, significantly improving the safety and consistency of the interception.

[0067] The third usage scenario and method of the above solution are as follows:

[0068] Biomechanical Collection and Simulation of Costal Cartilage in Animal Experiments: In animal laboratories, this device can be used to standardize the collection of animal costal cartilage samples for biomechanical modeling and material biomimetic research. Researchers automatically complete clamping, record clamping current and angular displacement through system-generated position instructions, and achieve standardized mechanical control. The device collects high-frequency multi-dimensional force signals during the cutting process, providing data support for analyzing the mechanical response of tissues under different cutting paths. This experimental platform not only improves the efficiency and repeatability of sample acquisition, but also provides a realistic mechanical data foundation for subsequent preoperative planning and simulation training systems.

[0069] The fourth usage scenario and method of the above solution are as follows:

[0070] Minimally invasive neurosurgery for intracranial tumor resection: After the surgeon uses a navigation system to determine the approach path, they control the surgical robot to gradually advance along the pre-set trajectory. The scalpel assembly 8, mounted on the end of the surgical robot's robotic arm 100, separates surrounding tissue, while the forceps assembly 9 pulls the nerve bundle and removes localized tissue. Because nerve tissue is extremely fragile and densely distributed, even the slightest mistake during traditional surgery can cause irreversible damage.

[0071] In this system, the multi-dimensional force sensor 10 at the end continuously monitors the contact force and tiny torque changes between the scalpel and the nerve tissue. When the system detects that the nerve is disturbed by abnormal force or the tissue tension suddenly changes, it will immediately issue an alarm through the PLC controller and ROS and adjust the posture or pause the advancement to prevent accidental injury. At the same time, during the clamping process of the tweezers, the clamping force is adjusted in real time by the sensor, so that it can not only stabilize the traction but also not cause pressure on the nerve tissue. The entire process realizes high-safety intelligent control of delicate tissue operations, significantly reducing surgical risks.

[0072] It is worth noting that the usage scenarios of this device are not limited to the four mentioned above. Other scenarios for using this device can be selected according to actual needs.

[0073] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An automatic cartilage cutting device, characterized in that: include: A housing (1), a drive mechanism (2), a connecting block (4), a sliding member (7), a scalpel assembly (8) and a forceps assembly (9); A lower chamber (101) is provided in the housing (1), and the lower chamber (101) is open at the bottom; The driving mechanism (2) is installed in the lower chamber (101); there are two connecting blocks (4), which are respectively installed in the lower chamber (101); the sliding member (7) is installed on the connecting block (4); the scalpel assembly (8) and the tweezers assembly (9) are respectively installed on the two connecting blocks (4); The driving mechanism (2) comprises: a rotating cylinder (21) and a driving groove (24); the driving groove (24) is formed on the inner wall of the rotating cylinder (21) and is connected end to end; the sliding member (7) is slidably embedded in the driving groove (24); The rotating cylinder (21) is controlled to rotate, and can drive the sliding member (7) through the driving slot (24), so that the two connecting blocks (4) respectively drive the scalpel assembly (8) and the tweezers assembly (9) to move up and down alternately.

2. The automatic cartilage cutting device according to claim 1, characterized in that: An upper chamber (102) is also provided in the housing (1).

3. The automatic cartilage cutting device according to claim 2, characterized in that: The driving mechanism (2) further includes: a gear ring (22), a bearing (23), a gear (25) and a first motor (26); The gear ring (22) is mounted on the top of the rotating cylinder (21); the bearing (23) is mounted on the bottom of the rotating cylinder (21), and the rotating cylinder (21) is rotatably mounted in the lower chamber (101) via the bearing (23); the gear (25) is rotatably mounted in the lower chamber (101), and the gear (25) is meshedly connected with the gear ring (22); the first motor (26) is mounted in the upper chamber (102), and the output end of the first motor (26) extends into the lower chamber (101) and is connected to the gear (25).

4. The automatic cartilage cutting device according to claim 3, characterized in that: The driving groove (24) comprises: a first transverse groove (2401), a second transverse groove (2402) and a connecting groove (2403); there is a height difference between the first transverse groove (2401) and the second transverse groove (2402); there are two connecting grooves (2403), which are arranged between the first transverse groove (2401) and the second transverse groove (2402).

5. The automatic cartilage cutting device according to claim 4, characterized in that: A column (3) is fixedly installed at the center of the lower chamber (101); a slide groove (5) is installed on the connecting block (4); a slideway (6) is installed on the column (3), and the slideway (6) is slidably connected to the slide groove (5).

6. The automatic cartilage cutting device according to any one of claims 1 to 5, characterized in that: The scalpel assembly (8) comprises: a handle (81), a blade (82), a slot (83), a connecting arm (84) and a knife slot (85); The connecting arm (84) is mounted on the bottom end of the knife handle (81); the knife groove (85) is provided on the edge of the connecting arm (84); the clamping groove (83) is provided on the blade (82); and the blade (82) is mounted on the connecting arm (84) by clamping the clamping groove (83) and the knife groove (85).

7. The automatic cartilage cutting device according to claim 6, characterized in that: The tweezers assembly (9) includes: a tweezers body (91), a single head (92), a double head (93), an anti-slip tooth pattern (94), a connecting frame (95), a lead screw (96), a slide rod (97), a moving block (98), a sliding seat (99), a second motor (910) and a frame (911); The single head (92) and the double head (93) are respectively arranged at the two ends of the tweezers body (91); the single head (92) and the double head (93) are respectively provided with anti-slip teeth (94) on the opposite sides; the frame (911) is arranged in a U-shaped shape; the connecting frame (95) is installed in the frame (911); one end of the lead screw (96) is rotatably installed on the connecting frame (95), and the lead screw (96) passes through the tweezers body (91); the sliding rod (97) is installed on the connecting frame (95); the moving block (98) is threadedly connected to the lead screw (96); the sliding seat (99) is slidably connected to the sliding rod (97), and the sliding seat (99) is fixedly connected to the moving block (98); the second motor (910) is installed in the frame (911), and the output end of the second motor (910) is connected to the other end of the lead screw (96).

8. The automatic cartilage cutting device according to claim 7, characterized in that: A multi-dimensional force sensor (10) is installed on the top end of the housing (1).

9. An automatic cartilage harvesting device combining multi-dimensional force sensing and posture adjustment, characterized in that: The automatic cartilage cutting device comprises the automatic cartilage cutting device according to any one of claims 1 to 8, and further comprises: a surgical robot mechanical arm (100), wherein the automatic cartilage cutting device is mounted on the surgical robot mechanical arm (100).

10. The automatic cartilage cutting device according to claim 9, characterized in that: It also includes a micro-gyroscope integration (200), which is installed between the surgical robot mechanical arm (100) and the automatic cartilage cutting device.

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