Full-automatic titanium rod bending device in spinal malformation surgery and bending method

Abstract

The invention provides a full-automatic titanium rod bending device and method in a spinal malformation surgery, and belongs to the technical field of medical instruments. The full-automatic titanium rod bending device comprises a supporting table, a titanium rod supply mechanism, a laser cutting mechanism, an automatic bending mechanism and an optical shooting verification mechanism are installed at the top of the supporting table, and an intelligent control mechanism is installed on one side of the optical shooting verification mechanism; according to the full-automatic titanium rod bending machine, the titanium rod feeding mechanism, the laser cutting mechanism, the automatic bending mechanism and the optical shooting verification mechanism are arranged, under coordination of the intelligent control mechanism, the full-automatic process of feeding, bending and cutting of titanium rods is achieved, and the optical shooting verification mechanism conducts real-time shooting feedback through double CCD cameras; the bending process can be accurately adjusted in combination with an AI algorithm model arranged in the intelligent control mechanism, and compared with traditional manual bar bending, the bar bending precision and efficiency are greatly improved, the surgical instrument preparation process is simplified, and the operation burden of doctors is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a fully automatic titanium rod bending device and a bending method for spinal deformity surgery. Background Art

[0002] At present, in spinal surgery, nail-rod systems are widely used in treatment processes such as spinal deformity correction. Traditional titanium rod bending operations mostly rely on rod bender to manually bend and break the rods. This process is not only laborious to operate, but also the curvature of the bending rod depends entirely on the doctor's visual inspection and touch, and the accuracy is seriously insufficient. Especially in complex deformity correction surgeries such as scoliosis, longer pre-bent titanium rods are required. Manual rod bending methods make it more difficult to accurately control the position, degree and length of the bend, and these parameters directly determine the final effect of the surgical correction, thereby affecting the patient's postoperative recovery and long-term clinical results. Although there are titanium rod bending design systems in the prior art, such as NuVasive's, which use intraoperative navigation to sense the screw position to design bending parameters and assist in manual bending of rods, they still have not gotten rid of the limitations of manual operation and cannot meet the demand for high-precision bending rods;

[0003] In the development process of spinal surgical instruments, with the continuous improvement of the requirements for surgical accuracy and patient prognosis, the disadvantages of traditional manual rod bending methods have become increasingly prominent. Due to the lack of automation and precise control means, it not only increases the difficulty and time cost of surgical operations, but may also lead to poor surgical results due to bending rod errors, and even cause complications such as screw pullout or loosening, making it difficult to ensure the safety and effectiveness of the operation. Summary of the Invention

[0004] The embodiments of the present invention provide a fully automatic titanium rod bending device and bending method for spinal deformity surgery, aiming to solve the problems pointed out in the above background technology.

[0005] An embodiment of the present invention provides a fully automatic titanium rod bending device for spinal deformity surgery, comprising a support table, a titanium rod feeding mechanism, a laser cutting mechanism, an automatic bending mechanism and an optical shooting verification mechanism installed on the top of the support table, an intelligent control mechanism installed on one side of the optical shooting verification mechanism, the titanium rod feeding mechanism, the laser cutting mechanism and the automatic bending mechanism are all placed in a protective cover, and the protective cover is fixedly installed on the top of the support table; the titanium rod used for spinal deformity surgery is loaded from one end of the titanium rod feeding mechanism and conveyed to the automatic bending mechanism, the intelligent control mechanism automatically controls the automatic bending mechanism according to the patient's spinal deformity data, and enables the automatic bending mechanism to automatically bend the titanium rod, and during the bending process, the optical shooting verification mechanism is used to photograph the bending position, angle and length, and after processing, the optical shooting verification mechanism is used to feed back to the intelligent control mechanism in real time; when the titanium rod is bent, the laser cutting mechanism cuts the titanium rod, the titanium rod feeding mechanism continues to convey the titanium rod and pushes the cut and bent titanium rod forward to achieve unloading.

[0006] In one embodiment of the present invention, an observation window is provided on the surface of the protective cover, and transparent glass is installed inside the observation window.

[0007] In one embodiment of the present invention, the titanium rod supply mechanism includes a guide platform fixedly mounted on the top of one end of the support platform, an opening is provided in the middle of the guide platform, the guide platform is provided with two guide rails fixedly mounted on the top of the support platform, the top guides of the two guide rails are slidably connected with a conveying platform, two clamping mechanisms are installed on the top of the conveying platform, a linear screw module is provided on the bottom of the conveying platform, the screw nut of the linear screw module is fixedly connected to the bottom of the conveying platform, and after the titanium rod passes through the opening and is clamped by the two clamping mechanisms, it cooperates with the linear screw module to drive the conveying platform to move for conveying and supply.

[0008] In one embodiment of the present invention, the titanium rod supply mechanism also includes a support frame fixedly installed on the top of the support platform, and a plurality of guide plates with holes are fixedly installed on the top of the support frame by screws. Ball bearings are embedded in the holes of the guide plates with holes. When the titanium rod passes through the ball bearings, the ball bearings are rollingly connected to the titanium rod. A first grating reading head is installed on one side of the conveying platform, and the first grating reading head is slidingly matched with the scale grating installed on the top of the support platform.

[0009] In one embodiment of the present invention, the clamping mechanism includes a mounting groove provided on the surface of the conveying platform, a two-finger electric clamp is fixedly installed inside the mounting groove, and the two-finger electric clamp clamps the titanium rod.

[0010] In one embodiment of the present invention, the laser cutting mechanism includes a plurality of support columns fixedly mounted on the top of a support platform, two mounting plates fixedly mounted on the top of the plurality of support columns, an electric telescopic cylinder fixedly mounted on the mounting plate at the top, the telescopic end of the electric telescopic cylinder passes through the mounting plate at the bottom and is connected to a laser cutter, and the bottom of the laser cutter is provided with a cutting table fixedly mounted on the top of the support platform.

[0011] In one embodiment of the present invention, the automatic bending mechanism includes a portal frame fixedly mounted on the bottom of the support platform, the bottom of the portal frame is rotatably connected to an electric servo telescopic cylinder via a pin, the telescopic end of the electric servo telescopic cylinder is rotatably connected to a bending arm via a pin, one end of the bending arm is connected to a bending cam with a slot, the bending cam is rotatably connected to a U-shaped support seat via a pin, a fan-shaped grating disk is fixedly mounted on one side of the support seat, a second grating reading head is slidably fitted on one side of the fan-shaped grating disk, the second grating reading head is fixedly mounted on the top of the bending cam and rotates with it, a bending sleeve is also fixedly mounted on one end of the top of the bending cam, the sleeve hole of the bending sleeve is opposite to the slot of the bending cam.

[0012] In one embodiment of the present invention, the optical shooting verification mechanism includes a frame fixedly mounted on the top of the support platform and covered on the outside of the automatic bending mechanism, a mounting rod fixedly mounted on the top of the frame, and the mounting rod is adjustably mounted with a T-shaped frame through a sliding sleeve and a screw, a motor mounting frame is mounted on one end of the T-shaped frame, a servo reduction motor is mounted on one end of the motor mounting frame, the output shaft of the servo reduction motor is rotatably connected to a camera mounting frame by cooperating with a connecting pin, a first CCD camera is mounted on one side of the camera mounting frame, and a second CCD camera is mounted on the top and bottom of the frame frame.

[0013] In one embodiment of the present invention, the intelligent control mechanism includes a connecting frame rotatably connected to the frame through a hinge, an industrial computer is fixedly installed on the top of the connecting frame, the industrial computer has a built-in AI algorithm model, the motor of the linear screw module, the first grating reading head, the two-finger electric gripper, the electric telescopic cylinder, the laser cutter, the electric servo telescopic cylinder, the second grating reading head, the servo reduction motor, the first CCD camera and the second CCD camera are all electrically connected to the industrial computer, and the industrial computer is also electrically connected to an external power supply.

[0014] The method for fully automatic bending of titanium rods in spinal deformity surgery is to bend the titanium rod by using any of the above-mentioned fully automatic bending devices for titanium rods in spinal deformity surgery, and specifically comprises the following steps:

[0015] S1: Before the operation, X-rays or 3D CT images of the patient's spine are collected and input into the industrial computer of the intelligent control mechanism. The built-in AI algorithm model is used in combination with the simulated nail placement operation to calculate the appropriate bending angle, length, position and other parameters of the titanium rod;

[0016] S2: The titanium rod used for spinal deformity surgery is loaded from one end of the guide platform of the titanium rod supply mechanism. After passing through the opening and the ball bearing of the perforated guide plate, the titanium rod is clamped and fixed by the two-finger electric clamps of the two clamping mechanisms on the conveyor platform. The linear screw module drives the conveyor platform to move and transport the titanium rod to the automatic bending mechanism.

[0017] S3, the intelligent control mechanism automatically controls the electric servo telescopic cylinder of the automatic bending mechanism based on the calculated bending rod parameters. The electric servo telescopic cylinder pushes the bending arm to drive the bending cam to rotate, so that the bending sleeve automatically bends the titanium rod. During the bending process, the first CCD camera and the second CCD camera of the optical photography verification mechanism capture the position, angle, and length of the bending. The captured data is processed and fed back to the intelligent control mechanism in real time. The intelligent control mechanism adjusts and controls the bending process in real time based on the feedback data to ensure bending accuracy.

[0018] S4. When the titanium rod is bent, the intelligent control mechanism controls the electric telescopic cylinder of the laser cutting mechanism to extend, driving the laser cutter to descend and cut the titanium rod. After the cutting is completed, the titanium rod supply mechanism continues to transport the titanium rod, and drives the conveying platform to move through the linear screw module, pushing the cut and bent titanium rod forward to realize unloading for use in surgery.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1) The fully automatic titanium rod bending device for spinal deformity surgery of the present invention realizes a fully automated process from supplying, bending to cutting of titanium rods through the provided titanium rod supply mechanism, laser cutting mechanism, automatic bending mechanism and optical shooting verification mechanism under the coordination of the intelligent control mechanism. Among them, the titanium rod supply mechanism adopts a linear screw module and a two-finger electric clamp to accurately and stably convey titanium rods. The electric servo telescopic cylinder of the automatic bending mechanism drives the bending arm and the bending cam to realize multi-plane three-dimensional automatic bending. The optical shooting verification mechanism uses a dual CCD camera for real-time shooting feedback, combined with the built-in AI algorithm model of the intelligent control mechanism, to accurately adjust the bending process. Compared with traditional manual rod bending, the accuracy and efficiency of the rod bending are greatly improved, the surgical instrument preparation process is simplified, the operating burden of the doctor is reduced, and the probability of complications such as screw pullout or loosening after surgery is effectively reduced by reducing the bending error, thereby improving the safety and effectiveness of spinal surgery and providing better treatment protection for patients.

[0021] 2) The fully automatic titanium rod bending device for spinal deformity surgery of the present invention ensures operational safety and stability through the provision of a protective cover. The observation window allows the operator to view the internal situation in real time. The laser cutting mechanism uses an electric telescopic cylinder to drive the laser cutter, which can achieve precise cutting. The fan-shaped grating disk in the automatic bending mechanism cooperates with the second grating reading head to accurately feedback the bending angle, and the camera of the optical shooting verification mechanism has an adjustable installation structure to meet the shooting requirements at different angles, further ensuring the accuracy of the bending rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic diagram of the structure of a fully automatic titanium rod bending device for spinal deformity surgery provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the internal structure of a fully automatic titanium rod bending device for spinal deformity surgery provided by an embodiment of the present invention;

[0025] Figure 3 A schematic structural diagram of a titanium rod supply mechanism of a fully automatic titanium rod bending device for spinal deformity surgery provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the optical photography verification mechanism of the fully automatic titanium rod bending device for spinal deformity surgery provided by an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the automatic bending mechanism structure of the titanium rod fully automatic bending device in spinal deformity surgery provided by an embodiment of the present invention.

[0028] Icons: 100, support platform; 110, protective cover; 111, observation window; 112, transparent glass; 200, titanium rod supply mechanism; 210, guide platform; 211, opening; 220, guide rail; 230, conveyor platform; 240, clamping mechanism; 241, mounting slot; 242, two-finger electric gripper; 250, linear screw module; 260, support frame; 261, guide plate with hole; 262, ball bearing; 270, first grating reading head; 280, scale grating; 300, laser cutting mechanism; 310, multiple support columns; 320, mounting plate; 330, electric telescopic cylinder; 340, laser cutter; 350 , cutting table; 400, automatic bending mechanism; 410, gantry; 420, electric servo telescopic cylinder; 430, bending arm; 440, bending cam; 450, support seat; 460, fan-shaped grating disk; 470, second grating reading head; 480, bending sleeve; 500, optical shooting verification mechanism; 510, frame; 520, mounting rod; 530, sliding sleeve; 540, T-frame; 550, motor mounting bracket; 560, servo reduction motor; 570, camera mounting bracket; 580, first CCD camera; 590, second CCD camera; 600, intelligent control mechanism; 610, connecting bracket; 620, industrial computer. DETAILED DESCRIPTION

[0029] To make the purpose, 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 drawings in 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 shall fall within the scope of protection of the present invention.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0034] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0036] For examples, see Figure 1-5The fully automatic titanium rod bending device for spinal deformity surgery includes a support platform 100. A titanium rod feeding mechanism 200, a laser cutting mechanism 300, an automatic bending mechanism 400, and an optical photographing and verification mechanism 500 are installed on the top of the support platform 100. An intelligent control mechanism 600 is installed on one side of the optical photographing and verification mechanism 500. The titanium rod feeding mechanism 200, the laser cutting mechanism 300, and the automatic bending mechanism 400 are all placed in a protective cover 110, and the protective cover 110 is fixedly installed on the top of the support platform 100.

[0037] The titanium rod used for spinal deformity surgery is loaded from one end of the titanium rod supply mechanism 200 and transported to the automatic bending mechanism 400. The intelligent control mechanism 600 automatically controls the automatic bending mechanism 400 based on the patient's spinal deformity data, causing the automatic bending mechanism 400 to automatically bend the titanium rod. During the bending process, the optical photography and verification mechanism 500 captures the bending position, angle, and length, processes the captured data, and then feeds it back to the intelligent control mechanism 600 in real time.

[0038] After the titanium rod is bent, the laser cutting mechanism 300 cuts the titanium rod, and the titanium rod feeding mechanism 200 continues to transport the titanium rod and pushes the cut and bent titanium rod forward to achieve unloading.

[0039] Specifically, medical staff put the titanium rod used for spinal deformity surgery into one end of the titanium rod supply mechanism 200. The titanium rod supply mechanism 200, through the cooperation of the internal structure, accurately delivers the titanium rod to the automatic bending mechanism 400. The intelligent control mechanism 600 obtains the patient's spinal deformity data in advance, analyzes and processes it using the built-in AI algorithm model, and then issues a command to the automatic bending mechanism 400 to drive it to automatically bend the titanium rod. During the bending process, the optical shooting verification mechanism 500 captures the position, angle and length of the titanium rod in real time, and transmits the data to the intelligent control mechanism 600. The intelligent control mechanism 600 dynamically adjusts the bending process according to the feedback data to ensure bending accuracy.

[0040] When the titanium rod is bent to meet the surgical requirements, the laser cutting mechanism 300 is started to accurately cut the titanium rod. Then the titanium rod supply mechanism 200 continues to transport the titanium rod and pushes the cut and bent titanium rod out for unloading, completing the entire rod bending process and providing high-precision titanium rod instruments for spinal deformity surgery.

[0041] In this embodiment, an observation window 111 is provided on the surface of the protective cover 110 , and a transparent glass 112 is installed inside the observation window 111 .

[0042] Specifically, during the titanium rod conveying process, the operator can check through the observation window 111 whether the titanium rod is smoothly conveyed with the cooperation of the guide platform 210 and the conveying platform 230. During the titanium rod bending stage, the operator can observe in real time whether the bending action of the titanium rod by the bending arm 430 and the bending cam 440 in the automatic bending mechanism 400 is normal. During the cutting link, the cutting process of the titanium rod by the laser cutter 340 of the laser cutting mechanism 300 can also be observed. Through this visual observation method, the operator can promptly discover abnormal situations that may occur during the operation of the device, and ensure the stable and efficient operation of the bending rod device.

[0043] In this embodiment: the titanium rod supply mechanism 200 includes a guide platform 210 fixedly mounted on the top of one end of the support platform 100, an opening 211 is opened in the middle of the guide platform 210, and the guide platform 210 is provided with two guide rails 220 fixedly mounted on the top of the support platform 100, and the top guide sliding connection of the two guide rails 220 is connected with a conveying platform 230, and two clamping mechanisms 240 are installed on the top of the conveying platform 230. The bottom of the conveying platform 230 is provided with a linear screw module 250 installed on the top of the support platform 100, and the screw nut of the linear screw module 250 is fixedly connected to the bottom of the conveying platform 230. After the titanium rod passes through the opening 211 and is clamped by the two clamping mechanisms 240, it cooperates with the linear screw module 250 to drive the conveying platform 230 to move for conveying and supply.

[0044] Specifically, when preparing the titanium rod for spinal deformity surgery, the titanium rod is first loaded from one end of the guide platform 210. The opening 211 in the middle of the guide platform 210 provides initial guidance for the titanium rod so that it can accurately enter the conveying process. Among them, the two guide rails 220 are slidably connected to the guide rails 220 to provide a stable moving path for the conveying of the titanium rod. After the titanium rod passes through the opening 211, the two-finger electric clamps 242 of the two clamping mechanisms 240 on the top of the conveying platform 230 are started to firmly clamp the titanium rod. Then, the linear screw module 250 drives the screw to rotate through the motor, driving the screw nut and the conveying platform 230 to move smoothly along the guide rail 220, thereby accurately conveying the titanium rod to the automatic bending mechanism 400. By using precise mechanical structure coordination, the stability and accuracy of the titanium rod conveying are achieved, which lays a good foundation for the subsequent bending and cutting processes, and ensures that the titanium rod can enter the automatic bending mechanism 400 for processing at the right time and accurate position.

[0045] In this embodiment: the titanium rod supply mechanism 200 also includes a support frame 260 fixedly installed on the top of the support platform 100, and a plurality of perforated guide plates 261 are fixedly installed on the top of the support frame 260 by screws. Ball bearings 262 are embedded in the holes of the perforated guide plates 261. When the titanium rod passes through the ball bearings 262, the ball bearings 262 are rollingly connected to the titanium rod. A first grating reading head 270 is installed on one side of the conveying platform 230, and the first grating reading head 270 is slidably matched with the scale grating 280 installed on the top of the support platform 100.

[0046] Specifically, when the titanium rod passes through the perforated guide plate 261, the ball bearing 262 forms a rolling connection with the titanium rod, which greatly reduces the friction during the transportation of the titanium rod, allowing the titanium rod to be transported more smoothly. At the same time, the first grating reading head 270 can read the position information of the conveying platform 230 on the scale grating 280 in real time, and transmit the information to the intelligent control mechanism 600. The intelligent control mechanism 600 accurately controls the operation of the linear screw module 250 according to the preset titanium rod conveying distance and current position information, thereby realizing precise control of the titanium rod conveying position, especially when the titanium rod is conveyed to a specific position of the automatic bending mechanism 400 for bending, the intelligent control mechanism 600 accurately adjusts the number of rotations and direction of the linear screw module 250 based on the data feedback from the first grating reading head 270 and the scale grating 280, to ensure that the titanium rod can be accurately delivered to the target position and ensure the smooth progress of the bending process.

[0047] In this embodiment, the clamping mechanism 240 includes a mounting groove 241 provided on the surface of the conveying platform 230 . A two-finger electric clamp 242 is fixedly installed inside the mounting groove 241 . The two-finger electric clamp 242 clamps the titanium rod.

[0048] Specifically, when the titanium rod passes through the opening 211 of the guide platform 210 and the ball bearing 262 of the perforated guide plate 261 and reaches the appropriate position above the conveying platform 230, the intelligent control mechanism 600 sends an instruction to the two-finger electric clamp 242, and the two-finger electric clamp 242 starts and closes, using its mechanical clamping force to firmly clamp the titanium rod. When the linear screw module 250 drives the conveying platform 230 to move, the two-finger electric clamp 242 always maintains a stable clamp on the titanium rod to prevent the titanium rod from shaking, deviating or falling during the conveying process, ensuring that the titanium rod can be accurately conveyed to the automatic bending mechanism 400 along the predetermined path. When the titanium rod is delivered to the position, the two-finger electric clamp 242 can release the titanium rod according to the instruction of the intelligent control mechanism 600 so that the automatic bending mechanism 400 can perform subsequent bending operations on the titanium rod. Its precise clamping and releasing actions ensure the stability and reliability of the titanium rod conveying process.

[0049] In this embodiment: the laser cutting mechanism 300 includes a plurality of support columns 310 fixedly mounted on the top of the support platform 100, two mounting plates 320 fixedly mounted on the top of the plurality of support columns 310, an electric telescopic cylinder 330 fixedly mounted on the mounting plate 320 at the top, the telescopic end of the electric telescopic cylinder 330 passes through the mounting plate 320 at the bottom and is connected to a laser cutter 340, and a cutting table 350 fixedly mounted on the top of the support platform 100 is provided at the bottom of the laser cutter 340.

[0050] Specifically, after the titanium rod completes the bending process, when the intelligent control mechanism 600 determines that the bending of the titanium rod is completed and meets the surgical requirements, it sends a command to the electric telescopic cylinder 330, and the telescopic end of the electric telescopic cylinder 330 extends downward, passing through the bottom mounting plate 320 to drive the laser cutter 340 to descend. After the laser cutter 340 descends to a suitable position to contact the titanium rod, the laser emission function is started, and the titanium rod is cut using a high-energy laser beam. The provided cutting table 350 provides a stable support plane for the titanium rod cutting process, preventing the titanium rod from displacement or shaking during cutting, thereby ensuring cutting accuracy.

[0051] In this embodiment: the automatic bending mechanism 400 includes a portal frame 410 fixedly mounted on the bottom of the support platform 100, the bottom of the portal frame 410 is rotatably connected to the electric servo telescopic cylinder 420 through a pin, the telescopic end of the electric servo telescopic cylinder 420 is rotatably connected to the bending arm 430 through a pin, one end of the bending arm 430 is connected to a bending cam 440 with a slot, the bending cam 440 is rotatably connected to a U-shaped support seat 450 through a pin, a fan-shaped grating disk 460 is fixedly mounted on one side of the support seat 450, a second grating reading head 470 is slidably fitted on one side of the fan-shaped grating disk 460, the second grating reading head 470 is fixedly mounted on the top of the bending cam 440 and rotates with it, a bending sleeve 480 is also fixedly mounted on one end of the top of the bending cam 440, and the sleeve hole of the bending sleeve 480 is opposite to the slot position of the bending cam 440.

[0052] Specifically, when the intelligent control mechanism 600 sends a control instruction to the electric servo telescopic cylinder 420 based on the bending rod parameters calculated according to the patient's spinal deformity data, the electric servo telescopic cylinder 420 is started, and its telescopic end drives the bending arm 430 to rotate through the pin. During the rotation, the bending sleeve 480 on the bending cam 440 applies force to the titanium rod to achieve the bending of the titanium rod. At the same time, the fan-shaped grating disk 460 fixedly installed on one side of the support seat 450 slides with the second grating reading head 470 fixed on the top of the bending cam 440. When the bending cam 440 rotates, the second grating reading head 470 follows its rotation and reads the angle information on the sector grating disk 460 in real time, and feeds back the angle data to the intelligent control mechanism 600. The intelligent control mechanism 600 compares the feedback angle information with the preset bending rod parameters, and adjusts the extension and extension amount and speed of the electric servo telescopic cylinder 420 in real time, and accurately controls the rotation angle and amplitude of the bending cam 440, thereby realizing multi-plane three-dimensional automatic bending of the titanium rod, ensuring that the bent titanium rod can accurately adapt to the needs of spinal deformity surgery.

[0053] In this embodiment: the optical shooting verification mechanism 500 includes a frame 510 fixedly mounted on the top of the support platform 100 and covering the outside of the automatic bending mechanism 400, a mounting rod 520 is fixedly mounted on the top of the frame 510, and the mounting rod 520 is adjustably mounted with a T-frame 540 through a sliding sleeve 530 and a screw, a motor mounting frame 550 is mounted at one end of the T-frame 540, a servo reduction motor 560 is mounted at one end of the motor mounting frame 550, the output shaft of the servo reduction motor 560 is rotatably connected to the camera mounting frame 570 by cooperating with a connecting pin, a first CCD camera 580 is mounted on one side of the camera mounting frame 570, and a second CCD camera 590 is mounted at the top and bottom of the frame 510.

[0054] Specifically, the motor mounting frame 550 installed at one end of the T-frame 540 fixes the servo reduction motor 560, and the output shaft of the servo reduction motor 560 drives the camera mounting frame 570 to rotate through the connecting pin, thereby adjusting the shooting angle of the first CCD camera 580, and the second CCD camera 590 simultaneously shoots the bending process of the titanium rod from different angles. When the titanium rod is bent, the first CCD camera 580 and the second CCD camera 590 shoot the image information such as the bending position, angle and length of the titanium rod in real time, and transmit the shooting data to the intelligent control mechanism 600. The intelligent control mechanism 600 processes and analyzes the image data and compares it with the preset bending rod parameters. If a bending deviation is found, an adjustment instruction is promptly issued to the automatic bending mechanism 400 to realize closed-loop control of the bending process, thereby ensuring that the bending accuracy of the titanium rod meets the strict requirements of spinal deformity surgery.

[0055] In this embodiment: the intelligent control mechanism 600 includes a connecting frame 610 rotatably connected to the frame 510 through a hinge, and an industrial computer 620 is fixedly installed on the top of the connecting frame 610. The industrial computer 620 has a built-in AI algorithm model, and the motor of the linear screw module 250, the first grating reading head 270, the two-finger electric gripper 242, the electric telescopic cylinder 330, the laser cutter 340, the electric servo telescopic cylinder 420, the second grating reading head 470, the servo reduction motor 560, the first CCD camera 580 and the second CCD camera 590 are all electrically connected to the industrial computer 620, and the industrial computer 620 is also electrically connected to an external power supply.

[0056] Specifically, the industrial computer 620, serving as the core control unit and equipped with a built-in AI algorithm model, plays a central command role throughout the entire operation of the rod bending device. Before surgery, medical staff input X-rays, 3D CT scans, and other imaging data of the patient's spine into the industrial computer 620. The AI ​​algorithm model, combined with simulated nail placement operations, calculates the appropriate bending angle, length, position, and other parameters for the titanium rod. During the rod bending process, components such as the motor of the linear screw module 250, the first grating reading head 270, the two-finger electric gripper 242, the electric telescopic cylinder 330, the laser cutter 340, the electric servo telescopic cylinder 420, the second grating reading head 470, the servo reduction motor 560, the first CCD camera 580, and the second CCD camera 590 transmit real-time operating status data to the industrial computer 620. The industrial computer 620 precisely controls each mechanism based on preset parameters and real-time feedback data. For example, the operation of the linear screw module 250 is controlled based on the titanium rod conveying position information fed back by the first grating reading head 270 and the scale grating 280; the working state of the electric servo telescopic cylinder 420 is adjusted based on the bending angle information fed back by the second grating reading head 470 and the fan-shaped grating disk 460; and the bending and cutting processes are optimized in real time based on the image data captured by the first CCD camera 580 and the second CCD camera 590, thereby realizing the intelligent and precise operation of the entire titanium rod fully automatic bending device.

[0057] The method for fully automatic bending of titanium rods in spinal deformity surgery is to bend the titanium rod using any of the above-mentioned fully automatic bending devices for titanium rods in spinal deformity surgery, specifically comprising the following steps:

[0058] S1: Before the operation, X-rays or 3D CT images of the patient's spine are collected and input into the industrial computer 620 of the intelligent control mechanism 600. The built-in AI algorithm model is used in combination with the simulated screw placement operation to calculate the appropriate bending angle, length, position and other parameters of the titanium rod.

[0059] S2: A titanium rod for spinal deformity surgery is loaded from one end of the guide platform 210 of the titanium rod supply mechanism 200. After passing through the opening 211 and the ball bearing 262 of the perforated guide plate 261, the titanium rod is clamped and fixed by the two-finger electric clamps 242 of the two clamping mechanisms 240 on the conveying platform 230. The linear screw module 250 drives the conveying platform 230 to move, and the titanium rod is conveyed to the automatic bending mechanism 400.

[0060] S3, the intelligent control mechanism 600 automatically controls the electric servo telescopic cylinder 420 of the automatic bending mechanism 400 according to the calculated bending rod parameters. The electric servo telescopic cylinder 420 pushes the bending arm 430 to drive the bending cam 440 to rotate, so that the bending sleeve 480 automatically bends the titanium rod. During the bending process, the first CCD camera 580 and the second CCD camera 590 of the optical photography verification mechanism 500 capture the position, angle, and length of the bending. The captured data is processed and fed back to the intelligent control mechanism 600 in real time. The intelligent control mechanism 600 adjusts and controls the bending process in real time based on the feedback data to ensure bending accuracy.

[0061] S4. When the titanium rod is bent, the intelligent control mechanism 600 controls the electric telescopic cylinder 330 of the laser cutting mechanism 300 to extend, driving the laser cutter 340 to descend and cut the titanium rod. After the cutting is completed, the titanium rod supply mechanism 200 continues to transport the titanium rod, and drives the conveying platform 230 to move through the linear screw module 250, pushing the cut and bent titanium rod forward to realize unloading for use in surgery.

[0062] Specifically, during the preoperative phase, X-rays or 3D CT images of the patient's spine are collected and input into the industrial computer 620 of the intelligent control mechanism 600. Using a built-in AI algorithm model combined with simulated screw placement, the precise parameters required for titanium rod bending are calculated, providing a data foundation for the subsequent rod bending process. During the rod bending operation, the titanium rod supply mechanism 200 first loads the titanium rod from one end of the guide platform 210. Through internal guidance, clamping, and conveying, the titanium rod is accurately delivered to the automatic bending mechanism 400. Under the command of the intelligent control mechanism 600, the automatic bending mechanism 400 automatically bends the titanium rod using the electric servo telescopic cylinder 420 to drive the bending arm 430 and bending cam 440. During the bending process, the first and second CCD cameras 580, 590 of the optical imaging and verification mechanism 500 capture real-time images and feed the data back to the intelligent control mechanism 600, enabling dynamic monitoring and precise adjustment of the bending process. Once the titanium rod is bent, the intelligent control mechanism 600 controls the laser cutting mechanism 300 to cut the titanium rod. Finally, the titanium rod feeding mechanism 200 operates again to push the cut and bent titanium rod out for unloading. Throughout this process, each mechanism works closely together. Through intelligent control and precise mechanical operation, fully automated titanium rod bending is completed efficiently and accurately, providing high-quality titanium rod instruments that meet the requirements for spinal deformity surgery, improving surgical success rates and patient outcomes.

[0063] The above is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. Automatic titanium rod bending device for spinal deformity surgery, characterized by: The invention comprises a support platform (100), wherein a titanium rod supply mechanism (200), a laser cutting mechanism (300), an automatic bending mechanism (400) and an optical photographing verification mechanism (500) are installed on the top of the support platform (100), an intelligent control mechanism (600) is installed on one side of the optical photographing verification mechanism (500), and the titanium rod supply mechanism (200), the laser cutting mechanism (300) and the automatic bending mechanism (400) are all placed in a protective cover (110), and the protective cover (110) is fixedly installed on the top of the support platform (100); A titanium rod for spinal deformity surgery is loaded from one end of a titanium rod supply mechanism (200) and transported to an automatic bending mechanism (400). An intelligent control mechanism (600) automatically controls the automatic bending mechanism (400) based on the patient's spinal deformity data, and causes the automatic bending mechanism (400) to automatically bend the titanium rod. During the bending process, an optical photographing and verification mechanism (500) photographs the position, angle, and length of the bending, processes the photographs, and feeds back the photographs to the intelligent control mechanism (600) in real time. When the titanium rod is bent, the laser cutting mechanism (300) cuts the titanium rod, and the titanium rod supply mechanism (200) continues to transport the titanium rod and pushes the cut and bent titanium rod forward to achieve unloading.

2. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 1, characterized in that: An observation window (111) is provided on the surface of the protective cover (110), and transparent glass (112) is installed inside the observation window (111).

3. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 1, characterized in that: The titanium rod supply mechanism (200) includes a guide platform (210) fixedly mounted on the top of one end of the support platform (100), an opening (211) is opened in the middle of the guide platform (210), and the guide platform (210) is provided with two guide rails (220) fixedly mounted on the top of the support platform (100), and the top guides of the two guide rails (220) are slidably connected to a conveying platform (230), and two clamping mechanisms (240) are installed on the top of the conveying platform (230), and the bottom of the conveying platform (230) is provided with a linear screw module (250) mounted on the top of the support platform (100), and the screw nut of the linear screw module (250) is fixedly connected to the bottom of the conveying platform (230), and after the titanium rod passes through the opening (211), it cooperates with the linear screw module (250) to drive the conveying platform (230) to move for conveying and supply under the clamping action of the two clamping mechanisms (240).

4. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 3, characterized in that: The titanium rod supply mechanism (200) further includes a support frame (260) fixedly mounted on the top of the support platform (100), a plurality of guide plates (261) with holes are fixedly mounted on the top of the support frame (260) by screws, and ball bearings (262) are embedded in the holes of the guide plates (261) with holes. When the titanium rod passes through the ball bearings (262), the ball bearings (262) are connected to the titanium rod in a rolling manner. A first grating reading head (270) is mounted on one side of the conveying platform (230), and the first grating reading head (270) is in sliding engagement with a scale grating (280) mounted on the top of the support platform (100).

5. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 4, characterized in that: The clamping mechanism (240) comprises a mounting groove (241) provided on the surface of the conveying platform (230), a two-finger electric clamp (242) being fixedly mounted inside the mounting groove (241), and the two-finger electric clamp (242) clamps the titanium rod.

6. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 5, characterized in that: The laser cutting mechanism (300) comprises a plurality of support columns (310) fixedly mounted on the top of a support platform (100); two mounting plates (320) are fixedly mounted on the top of the plurality of support columns (310); an electric telescopic cylinder (330) is fixedly mounted on the mounting plate (320) at the top; the telescopic end of the electric telescopic cylinder (330) passes through the mounting plate (320) at the bottom and is connected to a laser cutter (340); and a cutting table (350) fixedly mounted on the top of the support platform (100) is provided at the bottom of the laser cutter (340).

7. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 6, characterized in that: The automatic bending mechanism (400) comprises a door frame (410) fixedly mounted on the bottom of the support platform (100); the bottom of the door frame (410) is rotatably connected to an electric servo telescopic cylinder (420) via a pin; the telescopic end of the electric servo telescopic cylinder (420) is rotatably connected to a bending arm (430) via a pin; one end of the bending arm (430) is connected to a bending cam (440) with a groove; the bending cam (440) is connected to a U-shaped support seat (450) via a pin. The support seat (450) is rotatably connected, and a fan-shaped grating disk (460) is fixedly mounted on one side of the support seat (450), and a second grating reading head (470) is slidably fitted on one side of the fan-shaped grating disk (460). The second grating reading head (470) is fixedly mounted on the top of the bending cam (440) and rotates with it. A bending sleeve (480) is also fixedly mounted on one end of the top of the bending cam (440), and the sleeve hole of the bending sleeve (480) is opposite to the notch position of the bending cam (440).

8. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 7, characterized in that: The optical shooting verification mechanism (500) comprises a frame (510) fixedly mounted on the top of a support platform (100) and covered on the outside of an automatic bending mechanism (400); a mounting rod (520) is fixedly mounted on the top of the frame (510); the mounting rod (520) is adjustably mounted with a T-shaped frame (540) through a sliding sleeve (530) and screws; a motor mounting frame (550) is mounted on one end of the T-shaped frame (540); a servo reduction motor (560) is mounted on one end of the motor mounting frame (550); an output shaft of the servo reduction motor (560) is rotatably connected to a camera mounting frame (570) by means of a connecting pin; a first CCD camera (580) is mounted on one side of the camera mounting frame (570); and a second CCD camera (590) is mounted on the bottom of the top of the frame (510).

9. The fully automatic titanium rod bending device for spinal deformity surgery according to claim 8, characterized in that: The intelligent control mechanism (600) includes a connecting frame (610) rotatably connected to the frame (510) via a hinge, an industrial control computer (620) is fixedly installed on the top of the connecting frame (610), and the industrial control computer (620) has an AI algorithm model built in. The motor of the linear screw module (250), the first grating reading head (270), the two-finger electric gripper (242), the electric telescopic cylinder (330), the laser cutter (340), the electric servo telescopic cylinder (420), the second grating reading head (470), the servo reduction motor (560), the first CCD camera (580) and the second CCD camera (590) are all electrically connected to the industrial control computer (620), and the industrial control computer (620) is also electrically connected to an external power supply.

10. A method for fully automatic bending of titanium rods in spinal deformity surgery, wherein the titanium rod is bent by the fully automatic bending device for titanium rods in spinal deformity surgery according to any one of claims 1 to 9, characterized in that: The specific steps include: S1, collecting X-rays or three-dimensional CT images of the patient's spine before surgery, inputting the image data into the industrial control computer (620) of the intelligent control mechanism (600), and using the built-in AI algorithm model, combined with the simulated nail placement operation, calculating the appropriate bending angle, length, position and other parameters of the titanium rod; S2, a titanium rod for spinal deformity surgery is loaded from one end of the guide platform (210) of the titanium rod supply mechanism (200), and after the titanium rod passes through the opening (211) and the ball bearing (262) of the guide plate with a hole (261), it is clamped and fixed by two-finger electric clamps (242) of two clamping mechanisms (240) on the conveying platform (230), and the linear screw module (250) drives the conveying platform (230) to move, and the titanium rod is conveyed to the automatic bending mechanism (400); S3, the intelligent control mechanism (600) automatically controls the electric servo telescopic cylinder (420) of the automatic bending mechanism (400) according to the calculated bending rod parameters, and the electric servo telescopic cylinder (420) drives the bending arm (430) to drive the bending cam (440) to rotate, so that the bending sleeve (480) automatically bends the titanium rod. During the bending process, the first CCD camera (580) and the second CCD camera (590) of the optical shooting verification mechanism (500) shoot the position, angle and length of the bending. The shooting data is processed and fed back to the intelligent control mechanism (600) in real time. The intelligent control mechanism (600) adjusts and controls the bending process in real time according to the feedback data to ensure the bending accuracy; S4, when the titanium rod is bent, the intelligent control mechanism (600) controls the electric telescopic cylinder (330) of the laser cutting mechanism (300) to extend, driving the laser cutter (340) to descend and cut the titanium rod. After the cutting is completed, the titanium rod supply mechanism (200) continues to transport the titanium rod, and drives the conveying platform (230) to move through the linear screw module (250), pushing the cut and bent titanium rod forward to achieve unloading for use in surgery.

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