Continuous automatic needle placing method
Through the continuous automatic needle placement method, the automatic operation of the internal fixation needle driven by the grasping device and multi-stage sliding table drives is solved, and the continuous and accurate penetration of pedicle screw implantation in orthopedic precision medicine is achieved, and efficient and safe internal fixation needle implantation is achieved.
Patent Information
- Application Number
- CN202510757247.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-06
- Publication Date
- 2025-07-22
AI Technical Summary
In the prior art, pedicle screw implantation in the field of orthopedic precision medicine has problems such as large errors and poor safety during manual needle placement.
The internal fixing needle is continuously grasped from the storage device by using a grasping device, and the automatic movement and placement of the internal fixing needle is realized through a multi-stage sliding table driving device. Combined with the needle tip positioning plate, the continuous automatic needle placement of the internal fixing needle is realized.
It improves the needle placement efficiency, reduces the needle placement error, and enhances the safety and accuracy of the operation.
Smart Images
Figure CN120345978A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of medical devices, and particularly to a continuous automatic needle placement method. Background Art
[0002] In the field of orthopedic precision medicine, there are currently two main clinical operation paradigms for pedicle screw implantation technology: traditional manual needle placement and intelligent robotic navigation-assisted needle placement. However, both of these methods face significant clinical pain points: firstly, the operation process is limited by the discrete single-screw-by-screw implantation mode and cannot achieve continuous automated operation, resulting in limited overall surgical efficiency; secondly, in the traditional manual operation scenario, although the surgeon makes judgments and positions based on experience of the bony structure, there are still non-negligible accuracy deviations (caused by factors such as human errors during the implementation process and physiological fatigue) and potential complication risks, with poor safety. Especially when involving important anatomical structures such as the spinal canal and nerve roots, millimeter-level errors can cause serious iatrogenic injuries.
[0003] Therefore, it is crucial to overcome the defects of being able to only complete single needle placement, unable to achieve continuous automatic needle placement, and being prone to needle placement errors during manual needle placement. Summary of the Invention
[0004] In view of this, an embodiment of this application provides a continuous automatic needle placement method to solve at least one problem in the background art.
[0005] An embodiment of this application provides a continuous automatic needle placement method, which includes:
[0006] A grasping device grabs an internal fixation needle from a storage device loaded with multiple internal fixation needles and drives the internal fixation needle to move towards a target object for one needle placement;
[0007] In the case where the internal fixation needle is inserted into the target object and reaches the target pose, the grasping device leaves the internal fixation needle and prepares to continue grabbing another internal fixation needle from the storage device for the next needle placement.
[0008] In an optional embodiment, the grasping device grabs an internal fixation needle from a storage device loaded with multiple internal fixation needles and drives the internal fixation needle to move towards a target object for one needle placement, including:
[0009] A multi-stage slide table moves the grasping device upward to the grasping position;
[0010] The grasping device grabs and carries the internal fixation needle and moves a first displacement towards the target object under the drive of the multi-stage slide table, so that the tip of the internal fixation needle reaches the intermediate pose;
[0011] The grasping device rotates the internal fixation needle and continues to move the internal fixation needle toward the target object by a second displacement under the drive of the multi-stage slide, so that the internal fixation needle reaches the target posture.
[0012] In an optional embodiment, the multi-stage slide moves the gripping device up to the gripping position, including:
[0013] The multi-stage slide performs at least one of the following actions to enable the grasping device to move upward to the grasping position:
[0014] A first-stage slide in the multi-stage slide moves to drive the grabbing device to move upward;
[0015] The second-stage slide in the multi-stage slide moves to drive the first-stage slide and the grasping device to move upward together.
[0016] In an optional embodiment, the grasping device grasps the internal fixation needle and moves a first displacement toward the target object under the drive of the multi-stage slide, so that the needle tip of the internal fixation needle reaches an intermediate posture, including:
[0017] The internal fixation needle is moved toward the target object by a first displacement and the needle tip reaches an intermediate position through multiple repetitions of the grasping device grasping the internal fixation needle, the multi-stage slide table moving to drive the grasping device grasping the internal fixation needle to move toward the target object by a first distance, and the grasping device releasing the internal fixation needle and retreating by a second distance under the drive of the multi-stage slide table.
[0018] In an optional embodiment, the grasping device rotates the internal fixation needle and continues to move the internal fixation needle toward the target object for a second displacement under the drive of the multi-stage slide, so that the internal fixation needle reaches the target posture, including:
[0019] When the grasping device grasps and rotates the internal fixation needle, the grasping device is driven by the multi-stage slide to move toward the target object at least once by a third distance, so that the internal fixation needle reaches the target posture.
[0020] In an optional embodiment, the grasping device leaves the internal fixation needle, comprising:
[0021] Rotate the storage device to a yield position to make way for the grabbing device;
[0022] The grasping device releases the internal fixation needle;
[0023] The multi-stage slide moves the grasping device upward to make the grasping device leave the internal fixing needle.
[0024] In an optional embodiment, the multi-stage slide moves the grasping device upward so that the grasping device leaves the internal fixation needle, including:
[0025] The first slide of the multi-stage slide moves up to move the gripping device up to the first retreat position;
[0026] The second stage slide in the multi-stage slide moves upward, so that the grasping device continues to move upward from the first withdrawal position and withdraws from the internal fixing needle.
[0027] In an optional embodiment, the step of preparing to continue grabbing another internal fixation needle from the storage device for the next needle placement includes:
[0028] The multi-stage slide moves the grabbing device to a moving starting position;
[0029] The storage device rotates from the yield position to return to the storage position.
[0030] In an optional embodiment, the continuous automatic needle placement method further comprises:
[0031] The storage device is rotated so that any internal fixation needle in the storage device is turned to a grabbing position to prepare for the next needle placement.
[0032] In an optional embodiment, the continuous automatic needle placement method further comprises:
[0033] When the needle tip alignment plate completes the needle tip alignment of the plurality of internal fixation needles in the storage device, the storage device containing the plurality of internal fixation needles is installed to the storage position.
[0034] The beneficial effects brought about by the technical solution provided in the embodiment of the present application include: a plurality of internal fixation needles can be continuously grabbed from a storage device through a grabbing device, and can automatically move toward a target object after each grabbing device takes out a needle to complete an automatic needle placement, after which the grabbing device automatically withdraws the internal fixation needle that has been inserted and reaches a state of being ready to continue grabbing another internal fixation needle from the storage device for the next needle placement, thereby being able to continuously perform the next needle placement, and so on and so forth, ultimately being able to achieve continuous automatic needle placement of internal fixation needles, overcoming the defects of low efficiency, large error, and poor safety of manual single needle placement, thereby improving the efficiency and safety of needle placement, and reducing the error of needle placement.
[0035] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below and in part will become apparent from the description below or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. Among them, the drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:
[0037] Figure 1 It is a schematic structural diagram of a specific example of the continuous needle placement robot system according to an embodiment of the present application;
[0038] Figure 2 It is a flowchart of Example 1 of the continuous automatic needle placement method according to an embodiment of the present application;
[0039] Figure 3 It is a flowchart of Example 2 of the continuous automatic needle placement method according to an embodiment of the present application;
[0040] Figure 4 It is a flowchart of Example 3 of the continuous automatic needle placement method according to an embodiment of the present application;
[0041] Figure 5 It is a flowchart of Example 4 of the continuous automatic needle placement method according to an embodiment of the present application;
[0042] Figure 6 It is a flowchart of Example 5 of the continuous automatic needle placement method according to an embodiment of the present application;
[0043] Figure 7 It is a flowchart of Example 6 of the continuous automatic needle placement method according to an embodiment of the present application;
[0044] Figure 8 It is a flowchart of Example 7 of the continuous automatic needle placement method according to an embodiment of the present application;
[0045] Figure 9 It is a schematic diagram of the principle block diagram of a specific example of the electronic device according to an embodiment of the present application.
[0046] Explanation of reference numerals
[0047] 10. Continuous needle placement device; 20. Manipulator; 101. Storage device; 102. Inner fixed needle; 103. Gripping device; 104. Slide table device; 105. Sleeve; 301. Tracking device; 302. Positioning device; 1011. Yielding motor; 1012. Feeding motor; 1013. Tip alignment plate. Detailed implementation manners
[0048] To make the technical solutions and beneficial effects of the present invention more obvious and understandable, the following provides a detailed description by way of specific examples. Among them, the accompanying drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical and scientific fields to which this application belongs.
[0049] The embodiments of this application are not an exhaustive list. They are only illustrations of some embodiments and do not specifically limit the scope of protection of this application. Without contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily. For example, the solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be exchanged arbitrarily. Additionally, the optional implementation manners in a certain embodiment can be combined arbitrarily; moreover, the embodiments can be combined arbitrarily. For example, some or all of the steps of different embodiments can be combined arbitrarily, and a certain embodiment can be combined arbitrarily with the optional implementation manners of other embodiments.
[0050] In each embodiment of this application, if there is no special explanation and logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.
[0051] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments and are not intended as a limitation of this application.
[0052] In the embodiments of this application, unless otherwise specified, elements expressed in the singular form, such as "one", "a kind of", "the", "above-mentioned", "said", "aforementioned", "this", etc., can mean "one and only one", or can also mean "one or more", "at least one", etc. For example, in the case of using articles such as "a", "an", "the" in English translation, the noun after the article can be understood as a singular expression form or a plural expression form.
[0053] In the embodiments of this application, "a plurality of" means two or more.
[0054] In some embodiments, terms such as "at least one (at least one of, at least one item, at least one)", "one or more", "a plurality of", "multiple", etc. can be replaced with each other.
[0055] The prefix words such as "first", "second", etc. in the embodiments of the present application are only used to distinguish different described objects, and do not impose restrictions on the position, order, priority, value, or content of the described objects. For the description of the described objects, refer to the description in the claims or the context of the embodiments. Unnecessary restrictions should not be formed due to the use of prefix words. For example, the value of the described object is not restricted by ordinal numbers and can be one or more. Taking "the first device" as an example, the value of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", then "the first device" and "the second device" can be the same device or different devices, and their types can be the same or different.
[0056] In some embodiments, "including A", "containing A", "used to indicate A", "carrying A" can be interpreted as directly carrying A or indirectly indicating A.
[0057] In some embodiments, terms such as "……", "determine……", "in the case of……", "when……", "while……", "if……", "if……" can be replaced with each other.
[0058] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", etc. can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below", etc. can be replaced with each other.
[0059] In some embodiments, the term "connection" can be a direct connection between two components, an indirect connection established through other components, a communication within two components, or any other possible connection form.
[0060] This specification provides method operation steps such as in the embodiments or flowcharts, but based on routine or non-creative labor, it can include more or fewer operation steps. The order of steps listed in the embodiments is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual device, system, or server product executes, it can be executed in the order of the method shown in the embodiments or the drawings or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing).
[0061] The embodiments of the present application provide a continuous automatic needle placement method, which can be applied to a continuous needle placement robot system. Figure 1The figure shows a schematic structural diagram of a specific example of the continuous needle placement robot system according to an embodiment of the present application. As shown in the figure, the continuous needle placement robot system may include:
[0062] An optical sensing module, configured to detect the pose of the tracing device 301 to obtain the pose of the internal fixation needle 102, and realize the movement navigation of the internal fixation needle 102;
[0063] A medical scanning device, configured to detect the position of the positioning device 302, so as to navigate the robotic arm 20 to move to the target position indicated in the planning information;
[0064] A tracing device 301, configured to indicate the pose of the installation site, so that the optical sensing module determines the pose of the internal fixation needle according to the pose of the installation site;
[0065] A positioning device 302, configured to indicate the current position, so as to position the robotic arm 20;
[0066] A robotic arm 20, configured to obtain the planning information and move according to the planning information, so as to drive the continuous needle placement device 10 to perform spatial movement;
[0067] A continuous needle placement device 10, installed at the end of the robotic arm 20, configured to store and automatically supply a plurality of internal fixation needles; and convey the internal fixation needles according to the pose of the internal fixation needles, so as to sequentially insert one or more internal fixation needles into the target object.
[0068] Wherein, the continuous needle placement device 10 may include:
[0069] A storage device 101, configured to store and automatically supply a plurality of internal fixation needles 102;
[0070] A grasping device 103, configured to grasp the internal fixation needle 102 from the storage device 101, so as to insert the internal fixation needle 102 into the target object;
[0071] A sliding table device 104, configured to move the grasping device 103, so as to grasp the internal fixation needle 102 and push the internal fixation needle 102 into the target object.
[0072] In the embodiment of the present application, the internal fixation needle, also known as the orthopedic internal fixation needle, includes but is not limited to at least one of the following: Kirschner wire, bone screw, bone drill; or it may also be other types of internal fixation devices.
[0073] The planning information in the embodiment of the present application may be obtained in preoperative planning, and the planning information may include the movement trajectory of the robotic arm, the movement trajectories of the sleeve 105, the tip of the internal fixation needle, the grasping device 103, the sliding table device 104, etc. in the continuous needle placement device, etc.
[0074] In this application, the pose can be a description of the position and orientation of an object in three-dimensional space. In some possible implementation manners, the description of the pose may include at least one of the following: three translation parameters of the object in three-dimensional space (for example, x, y, z coordinates), and three rotation parameters (for example, rotation angles about the x-axis, y-axis, and z-axis). In some possible implementation manners, the representation manner of the three rotation parameters may include at least one of the following: Euler angles, quaternions, and rotation matrices.
[0075] The storage device 101 can store one or more internal fixation needles, such as 6, etc.
[0076] The grasping device 103 can be used to complete at least one of the following: clamping (or grasping); rotating around the axis of the grasped object (such as the longitudinal axis of a cylinder). Exemplarily, the grasping device 103 may include a clamping motor, a rotating motor, and a claw clamp, etc. The claw clamp can be clamped or loosened under the drive of the clamping motor, and the claw clamp can also rotate around the axis under the drive of the rotating motor.
[0077] The sliding table device 104 can be a single-stage sliding table or a multi-stage sliding table to increase the stroke, and can be set according to actual requirements.
[0078] Figure 2 The flowchart of Example 1 of the continuous automatic needle placement method according to the embodiment of the present application is shown. As shown in the figure, the continuous automatic needle placement method includes:
[0079] S100: The grasping device 103 grasps an internal fixation needle 102 from the storage device 101 loaded with a plurality of internal fixation needles 102, and drives the internal fixation needle 102 to move towards the target object for one needle placement;
[0080] S200: When the internal fixation needle 102 is inserted into the target object and reaches the target pose, the grasping device 103 leaves the internal fixation needle 102, and is ready to continue grasping another internal fixation needle from the storage device 101 for the next needle placement.
[0081] In this way, in the embodiment of the present application, the grasping device can continuously grasp a plurality of internal fixation needles from the storage device, and can automatically move towards the target object after each needle is taken by the grasping device to complete one automatic needle placement. After that, the grasping device automatically withdraws from the inserted internal fixation needle and reaches the state of being ready to continue grasping another internal fixation needle from the storage device for the next needle placement, so that the next needle placement can be continuously performed. In this way, the cycle continues, and finally the continuous automatic needle placement of the internal fixation needle can be realized, overcoming the defects of low needle placement efficiency, large error, and poor safety of manual single needle placement, improving the needle placement efficiency and safety, and reducing the needle placement error.
[0082] Figure 3The flowchart of the second example of the continuous automatic needle placement method according to the embodiment of the present application is shown. As shown in the figure, in an alternative embodiment, the grasping device in step S100 grasps an internal fixation needle from a storage device loaded with a plurality of internal fixation needles and drives the internal fixation needle to move towards the target object for one needle placement, including:
[0083] S101: The multi-stage slide table moves the grasping device 103 upward to the grasping position;
[0084] S102: The grasping device 103 grabs and carries the internal fixation needle 102 and moves a first displacement towards the target object under the drive of the multi-stage slide table, so that the tip of the internal fixation needle 102 reaches the intermediate pose;
[0085] S103: The grasping device 103 rotates the internal fixation needle 102 and continues to drive the internal fixation needle 102 to move a second displacement towards the target object under the drive of the multi-stage slide table, so that the internal fixation needle 102 reaches the target pose.
[0086] In the embodiment of the present application, at the grasping position, the grasping device 103 can implement the grasping of the internal fixation needle 102. The grasping position can be set according to actual needs.
[0087] The needle placement process can be at least divided into two stages. Among them, the first stage can be the process of the internal fixation needle 102 entering the sleeve 105. At this time, the sleeve 105 can be in contact with the surface of the target object, or can have entered the target object to a certain depth. Then, the internal fixation needle 102 can enter the sleeve 105 without resistance, or the resistance is very small and can be ignored. Therefore, the internal fixation needle 102 does not need rotational assistance to overcome the resistance during advancement. In the first stage, the tip of the internal fixation needle can be inserted into the target object by a first displacement and reach the preset intermediate pose.
[0088] When the tip of the internal fixation needle protrudes from the sleeve 105, it can be considered that the process has entered the second stage. At this time, in order for the internal fixation needle 102 to penetrate the target object, it needs to overcome a strong resistance. Therefore, the grasping device 103 can rotate while pushing the internal fixation needle into the target object to reduce the resistance during advancement. Of course, during the process of inserting the internal fixation needle in the second stage, the internal fixation needle can also be forcibly pushed in without rotation. In the second stage, the tip of the internal fixation needle can be inserted into the target object by a second displacement, that is, continue to be pushed by a second displacement on the basis of the first displacement to reach the target pose.
[0089] In this way, through the upward and downward movements of the multi-stage slide table, the embodiment of the present application can drive the grasping device to move to the grasping position to realize the needle picking action of the internal fixation needle, and can automatically perform the needle placement action while driving the internal fixation needle to rotate, thereby reducing the resistance of the internal fixation needle during advancement and improving the efficiency of continuous automatic needle placement.
[0090] In an optional implementation manner, the multi-stage slide in step S101 moves the gripping device 103 up to the gripping position, including:
[0091] S1011: The multi-stage slide performs at least one of the following actions to enable the grasping device 103 to move upward to the grasping position:
[0092] The first slide of the multi-stage slide moves to drive the grabbing device 103 to move upward;
[0093] The second-stage slide in the multi-stage slide moves to drive the first-stage slide and the gripping device 103 to move upward together.
[0094] In the embodiment of the present application, the multi-stage slide may include a primary slide and a secondary slide, the primary slide is connected to the gripping device 103, and the secondary slide is connected to the primary slide.
[0095] For example, when the stroke of the first slide is met, moving the gripping device 103 up to the gripping position only requires moving the first slide. When the stroke of the first slide is exceeded, the first slide and the second slide need to cooperate, and the first slide and the second slide move together, and finally the gripping device 103 is moved up to the gripping position.
[0096] In this way, the embodiment of the present application can reduce the volume of the continuous needle placement device through the moving setting of the multi-stage slide.
[0097] In an optional embodiment, the grasping device 103 in step S102 grasps the internal fixation needle 102 and moves the internal fixation needle 102 toward the target object by a first displacement under the drive of the multi-stage slide, so that the needle tip of the internal fixation needle 102 reaches an intermediate posture, including:
[0098] S1021: The grasping device 103 grasps the internal fixation needle 102, the multi-stage slide moves to drive the grasping device 103 grasping the internal fixation needle 102 to move toward the target object by a first distance, and the grasping device 103 releases the internal fixation needle 102 and retreats by a second distance under the drive of the multi-stage slide for multiple repetitions, so that the internal fixation needle 102 moves toward the target object by a first displacement and the needle tip reaches an intermediate position.
[0099] In this way, the embodiment of the present application can drive the grasping device to realize multiple turns and multiple advancements of the internal fixation needle through multiple back-and-forth movements of the multi-stage slide, and finally realize the internal fixation needle moving the first displacement toward the target object and reaching a preset intermediate position, thereby realizing automatic needle placement and compensating for the defect that the slide stroke is not as long as the internal fixation needle.
[0100] The number of repetitions can be set according to actual needs based on factors such as the length of the internal fixation needle and / or the required insertion length of the internal fixation needle. For example, the number of repetitions can be 0 times, that is, the multi-stage slide table can advance once to make the internal fixation needle reach the intermediate pose, and the multi-stage slide table does not need to retract; the number of repetitions can be more than 1 time, that is, the retraction movement of the multi-stage slide table is required, and the actions of the grasping device to grasp and release the internal fixation needle are coordinated to make up for the shortage of the stroke of the multi-stage slide table, while reducing the space occupied by the length of the slide table, which is very beneficial to the already narrow operating room.
[0101] The movement process of the multi-stage slide table in step S1021 can also be implemented by at least one action performed by the multi-stage slide table in step S1011, which can be set according to actual needs. For details, reference can be made to the above, and details will not be repeated here.
[0102] In an alternative embodiment, in step S103, the grasping device 103 rotates the internal fixation needle 102 and continues to drive the internal fixation needle 102 to move a second displacement towards the target object under the drive of the multi-stage slide table, so that the internal fixation needle 102 reaches the target pose, including:
[0103] S1031: In the case where the grasping device 103 grasps and rotates the internal fixation needle 102, the grasping device 103 is driven by the multi-stage slide table to move at least once a third distance towards the target object, so that the internal fixation needle reaches the target pose.
[0104] In the embodiment of the present application, the process of moving at least once a third distance towards the target object can adopt the process of multiple repetitions in step S1021. For details, reference can be made to the above, and details will not be repeated here. Of course, it should be known that, different from step S1021, the internal fixation needle 102 is rotated while being pushed forward. In addition, the movement process of moving a third distance towards the target object each time can also be implemented by at least one action performed by the multi-stage slide table in step S1011, which can be set according to actual needs. For details, reference can be made to the above, and details will not be repeated here.
[0105] In the embodiment of the present application, the first distance, the second distance, the third distance, the first displacement, and the second displacement can all be set according to actual needs.
[0106] In this way, in the embodiment of the present application, by driving the internal fixation needle 102 to move at least once a third distance towards the target object in the case where the grasping device 103 grasps and rotates the internal fixation needle 102, the insertion resistance can be reduced and the shortage of the stroke of the multi-stage slide table can be made up.
[0107] Figure 4The flowchart of Example 3 of the continuous automatic needle placement method of the embodiment of the present application is shown. As shown in the figure, in an optional embodiment, the grasping device 103 in step S200 leaves the internal fixation needle 102, including:
[0108] S201: rotating the storage device 101 to a yielding position to make way for the grabbing device 103;
[0109] S202: the grasping device 103 releases the internal fixing needle 102;
[0110] S203 : The multi-stage slide moves the grasping device 103 upward to make the grasping device 103 leave the internal fixing needle 102 .
[0111] In the embodiment of the present application, since the internal fixing needle 102 is relatively long, when the grabbing device 103 moves upward to pull out the internal fixing needle 102, if the storage device 101 is still fixed, that is, stays in the original position (storage position), the grabbing device 103 may collide with the storage device 101. Therefore, by moving the storage device 101 to the yielding position, the retreating / upward grabbing device 103 can be yielded, thereby improving the safety of the system.
[0112] The yield position can be set according to actual needs.
[0113] Exemplarily, the storage device 101 may include a yielding device, which is used to allow the storage device 101 to rotate around an axis at a preset angle and deviate from the original position, so as to avoid the grasping device 103 when it withdraws from the internal fixing needle 102. For example, the yielding device can be driven to rotate by the yielding motor 1011, so that the storage device 101 can rotate around the output shaft of the yielding motor by a preset angle.
[0114] Figure 5 A flowchart of Example 4 of the continuous automatic needle placement method of an embodiment of the present application is shown. As shown in the figure, in an optional embodiment, the multi-stage slide in step S203 moves the grasping device 103 upward to make the grasping device 103 leave the internal fixation needle 102, including:
[0115] S2031: a first slide in the multi-stage slide moves upward, so that the grasping device 103 moves upward to a first retreat position;
[0116] S2032: The second-stage slide in the multi-stage slide moves upward, so that the grasping device 103 continues to move upward from the first withdrawal position and withdraws from the internal fixing needle 102.
[0117] In the embodiment of the present application, the first retreat position may be the full stroke position of the first-stage slide to improve the utilization of the stroke of the first-stage slide.
[0118] In this way, through the combined use of the first-stage sliding table and the second-stage sliding table in the embodiments of the present application, the insufficient stroke during the process of withdrawing the internal fixation needle is compensated, enabling the grasping device to completely take out the internal fixation needle.
[0119] Figure 6 The flowchart of Example 5 of the continuous automatic needle placement method according to the embodiments of the present application is shown. As shown, in an alternative embodiment, the preparation in step S200 to continue grasping another internal fixation needle from the storage device 101 for the next needle placement includes:
[0120] S204: The multi-stage sliding table moves the grasping device 103 to the moving starting position;
[0121] S205: The storage device 101 rotates from the yielding position back to the storage position.
[0122] In the embodiments of the present application, the moving starting position can be set according to actual needs. Each time the grasping device 103 starts to pick up a needle, it can move from the moving starting position to the grasping position, that is, the claw of the grasping device 103 can extend to the internal fixation needle 102 at the grasping position to perform grasping.
[0123] In this way, in the embodiments of the present application, by moving the grasping device to the moving starting position and the storage device returning to the storage position after avoidance, the preparation for continuing to grasp another internal fixation needle from the storage device for the next needle placement can be completed, and thus continuous automatic needle placement can be realized.
[0124] Figure 7 The flowchart of Example 6 of the continuous automatic needle placement method according to the embodiments of the present application is shown. As shown, in an alternative embodiment, the continuous automatic needle placement method further includes:
[0125] S300: Rotate the storage device 101 so that any one of the internal fixation needles 102 in the storage device 101 rotates to the grasping position to prepare for the next needle placement.
[0126] In the embodiments of the present application, the storage device 101 may further include a supply motor 1012 and a rotating mechanism; the rotating mechanism is used to rotate around an axis under the drive of the supply motor 1012, so that a plurality of internal fixation needles 102 distributed in the circumferential direction of the rotating mechanism rotate in the circumferential position to achieve needle filling at the same grasping position.
[0127] Step S300 can be set before, after, or between two appropriate steps according to actual needs. For example, step S300 can be performed after the grasping device 103 grasps an internal fixation needle 102 from the storage device 101 in step S100; or, it can be performed after the storage device 101 rotates from the yield position to the storage position in step S205.
[0128] Figure 8 The flowchart of Example 7 of the continuous automatic needle placement method of the embodiment of the present application is shown. As shown in the figure, in an optional embodiment, the continuous automatic needle placement method further includes:
[0129] S400: When the needle tip alignment plate 1013 completes the needle tip alignment of the plurality of internal fixing needles 102 in the storage device 101, the storage device 101 containing the plurality of internal fixing needles 102 is installed to the storage position.
[0130] In the embodiment of the present application, the needle tip alignment plate (TCP plate) 1013 can be moved away from the storage device 101 after completing the internal fixation needle tip alignment, so as not to hinder the needle removal, needle placement, needle filling and other actions during the continuous automatic needle placement process.
[0131] In this way, the embodiment of the present application realizes the alignment of the needle tip by using the needle tip alignment plate when placing the needle into the storage device, so that the needle tip can be on the same plane, thereby ensuring the reliability of the needle removal action and reducing the needle placement error.
[0132] The embodiment of the present application also provides an electronic device, Figure 9 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application is shown. As shown in the figure, the electronic device includes:
[0133] a memory storing instructions; and
[0134] A processor is configured to execute the instructions to implement the continuous automatic needle placement method as described in the above embodiment.
[0135] like Figure 9As shown, the electronic device may include a processor, a memory, a network interface, a display, and an input device connected via a system bus. Among them, the processor may be used to provide computing and control capabilities. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system and a computer program. The internal memory may provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface may be used to communicate with an external terminal via a network connection. The display may be a liquid crystal display or an electronic ink display. The input device may be a touch layer covering the display, or a button, a trackball, or a touchpad provided on the housing of the electronic device, or an external keyboard, touchpad, or mouse, etc.
[0136] Those skilled in the art can understand that Figure 9 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the electronic device to which the solution of this application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.
[0137] The embodiment of this application also provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed, it can implement the corresponding functions described in the above method embodiment. The computer program can also run on an electronic device as shown in Figure 9 . The memory of the electronic device contains each program module that constitutes the continuous automatic needle placement device corresponding to the above continuous automatic needle placement method. When the computer program constituted by each program module is executed, it can implement the functions corresponding to each step in the continuous automatic needle placement method described in the above embodiment.
[0138] The embodiment of this application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions. The computer instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the continuous automatic needle placement method provided in the above various implementation manners.
[0139] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application may include non-volatile and / or volatile memories. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.
[0140] It should be understood that the above embodiments are all exemplary and do not cover all possible implementation manners included in the claims. Without departing from the scope of the present disclosure, various deformations and changes can also be made on the basis of the above embodiments. Similarly, various technical features of the above embodiments can be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only represent several implementation manners of the present application and do not limit the protection scope of the patent of the present application.
Claims
1. A continuous automatic needle placement method, characterized in that, The continuous automatic needle placement method comprises: The grabbing device grabs an internal fixation needle from a storage device loaded with a plurality of internal fixation needles, and drives the internal fixation needle to move toward the target object to perform a needle placement; When the internal fixation needle is placed in the target object and reaches the target position, the grabbing device leaves the internal fixation needle and prepares to continue to grab another internal fixation needle from the storage device for the next needle placement.
2. The continuous automatic needle placement method according to claim 1, characterized in that, The grabbing device grabs an internal fixation needle from a storage device loaded with a plurality of internal fixation needles, and drives the internal fixation needle to move toward a target object to perform a needle placement, including: The multi-stage slide moves the grabbing device up to the grabbing position; The grasping device grasps and carries the internal fixation needle and moves the internal fixation needle toward the target object by a first displacement under the drive of the multi-stage slide, so that the needle tip of the internal fixation needle reaches an intermediate position; The grasping device rotates the internal fixation needle and continues to move the internal fixation needle toward the target object by a second displacement under the drive of the multi-stage slide, so that the internal fixation needle reaches the target posture.
3. The continuous automatic needle placement method according to claim 2, characterized in that, The multi-stage slide moves the gripping device up to the gripping position, including: The multi-stage slide performs at least one of the following actions to enable the grasping device to move upward to the grasping position: A first-stage slide in the multi-stage slide moves to drive the grabbing device to move upward; The second-stage slide in the multi-stage slide moves to drive the first-stage slide and the grasping device to move upward together.
4. The continuous automatic needle placement method according to claim 2, wherein The grasping device grasps the internal fixation needle and moves a first displacement toward the target object under the drive of the multi-stage slide, so that the needle tip of the internal fixation needle reaches an intermediate posture, including: The internal fixation needle is moved toward the target object by a first displacement and the needle tip reaches an intermediate position through multiple repetitions of the grasping device grasping the internal fixation needle, the multi-stage slide table moving to drive the grasping device grasping the internal fixation needle to move toward the target object by a first distance, and the grasping device releasing the internal fixation needle and retreating by a second distance under the drive of the multi-stage slide table.
5. The continuous automatic needle placement method according to claim 2, wherein The grasping device rotates the internal fixation needle and continues to move the internal fixation needle toward the target object for a second displacement under the drive of the multi-stage slide, so that the internal fixation needle reaches the target posture, including: When the grasping device grasps and rotates the internal fixation needle, the grasping device is driven by the multi-stage slide to move toward the target object at least once by a third distance, so that the internal fixation needle reaches the target posture.
6. The continuous automatic needle placement method according to claim 1, wherein The grasping device leaves the internal fixing needle, comprising: Rotate the storage device to a yield position to make way for the grabbing device; The grasping device releases the internal fixation needle; The multi-stage slide moves the grasping device upward to make the grasping device leave the internal fixing needle.
7. The continuous automatic needle placement method according to claim 6, wherein The multi-stage slide moves the grasping device up to move the grasping device away from the internal fixing needle, including: The first slide of the multi-stage slide moves up to move the gripping device up to the first retreat position; The second-stage slide in the multi-stage slide moves upward, so that the grasping device continues to move upward from the first withdrawal position and withdraws from the internal fixing needle.
8. The continuous automatic needle placement method according to claim 1, wherein The step of preparing to continue grabbing another internal fixation needle from the storage device for the next needle placement comprises: The multi-stage slide moves the grabbing device to a moving starting position; The storage device rotates from the yield position to return to the storage position.
9. The continuous automatic needle placement method according to claim 1, wherein The continuous automatic needle placement method further comprises: The storage device is rotated so that any internal fixation needle in the storage device is turned to a grabbing position to prepare for the next needle placement.
10. The continuous automatic needle placement method according to any one of claims 1-9, characterized in that, The continuous automatic needle placement method further comprises: When the needle tip alignment plate completes the needle tip alignment of the plurality of internal fixation needles in the storage device, the storage device containing the plurality of internal fixation needles is installed to the storage position.