A bone removal device with curved posture monitoring and navigation system thereof

Abstract

The application discloses a bone removing device with bending posture monitoring and a navigation system thereof. The bone removing device with bending posture monitoring comprises a handle, an insertion rod, a bone removing part and an endoscope module. The insertion rod is arranged at the front end of the handle. The insertion rod comprises, from outside to inside, an outer supporting tube, an inner mounting tube and a transmission shaft. The inner mounting tube is arranged opposite to the outer supporting tube. The transmission shaft is rotatably mounted in the inner mounting tube. The insertion rod is connected with a cutter head mounting section through a controllable bending part. The bone removing part is mounted on the cutter head mounting section. The bone removing part comprises a working cutter head and a cutter seat. The working cutter head is movably mounted on the cutter seat. The working cutter head is connected with the transmission shaft through a flexible shaft. The controllable bending part is separated into posture monitoring subunits which are arranged along the length direction and used for monitoring posture changes. Each posture monitoring subunit is provided with detection points which are uniformly distributed in the circumferential direction and used for detecting length change amounts. The application realizes bending posture monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of orthopedic surgical instruments, in particular to a bone removal device and a navigation system thereof. BACKGROUND

[0002] With the development of modern medical technology and the concept of precision medicine, the safety, accuracy and minimally invasive requirements of orthopedic surgery are increasingly improved. In the operation process of complex anatomical structure and narrow surgical space, the traditional straight-line bone removal tool is difficult to meet the clinical demand for precise bone removal due to its structural rigidity and operational limitations, especially in the fine anatomical operation of the spine, pelvis and joints, etc. The existing equipment often cannot balance safety and flexibility.

[0003] In order to improve the precision and flexibility of orthopedic surgery, some people have proposed a controllable bending bone removal scheme to solve the problem that the rigidity of the traditional bone removal device limits flexibility and the adaptability to the auxiliary environment. The existing controllable bending bone removal scheme is mostly made of snake bone or flexible material that can withstand large strain, which theoretically has infinite degrees of freedom and distributed continuous deformation capability, and has wide application prospects in the field of orthopedic instruments.

[0004] The control of the controllable bending part in the existing bone removal technology is mostly based on open-loop control, which observes the posture of the controllable bending part in a visual and intuitive way. However, in the orthopedic surgery, the controllable bending part needs to work in a narrow environment in many cases, which is difficult to observe directly. At the same time, the motion control of the controllable bending part mainly relies on its flexibility and traction drive, and it is impossible to determine the deformation condition and whether it is unstable.

[0005] Therefore, it is of great significance to monitor and detect the deformation process of the controllable bending part in the orthopedic instrument, and the recognition and detection of bending deformation are particularly critical, especially in the application of robots and navigation systems, which directly affects the safety of the whole system. SUMMARY

[0006] In view of the problems existing in the prior art, the present application provides a bone removal device with bending posture monitoring and a navigation system thereof to solve at least one of the above technical problems.

[0007] In order to achieve the above purpose, the present application provides a bone removal device with bending posture monitoring, which comprises a handle, an insertion rod, a bone removal part and an endoscope module.

[0008] The insertion rod is arranged at the front end of the handle, and the insertion rod is sequentially provided with an outer support tube, an inner mounting tube and a transmission shaft from the outside to the inside. The inner mounting tube is arranged in opposite to the outer support tube, and the transmission shaft is rotatably mounted in the inner mounting tube.

[0009] The insertion rod is connected with the cutter head mounting section through a controllable bending part;

[0010] The bone-removing part is mounted on the cutter head mounting section, and the bone-removing part comprises a working cutter head and a cutter seat, the working cutter head is movably mounted on the cutter seat, and the working cutter head is connected with the transmission shaft through a flexible shaft;

[0011] The controllable bending part is divided into posture monitoring subunits arranged in sequence along the length direction and used for monitoring posture changes, and each posture monitoring subunit is provided with detection points which are uniformly distributed in the circumferential direction and used for detecting length change amounts;

[0012] The endoscope module comprises a mounting seat, the mounting seat is provided with a first mounting hole used for penetrating the cutter head mounting section and a second mounting hole used for mounting an endoscope, and the first mounting hole and the second mounting hole are arranged side by side.

[0013] The application realizes posture monitoring of the bending part.

[0014] Further preferably, the working cutter head is provided with a connecting shaft, one end of the connecting shaft is connected with the flexible shaft through a press-fit pipe, and the other end of the flexible shaft is connected with the transmission shaft through press fitting.

[0015] Further preferably, the controllable bending part comprises a metal bending part and an elastic sealing sleeve which are arranged inside and outside;

[0016] The metal bending part is provided with a traction rope, and the end of the traction rope is connected with the cutter head mounting section;

[0017] The two ends of the metal bending part are connected with the cutter head mounting section and the inner mounting pipe respectively;

[0018] The two ends of the elastic sealing sleeve are connected with the mounting seat and the outer supporting pipe respectively;

[0019] The outer side of the elastic sealing sleeve is provided with the detection points.

[0020] Further preferably, the FBG sensor is mounted at the position of the detection point;

[0021] The outer wall of the elastic sealing sleeve is provided with a mounting groove used for embedding the FBG sensor.

[0022] Further preferably, three detection points are arranged outside the posture monitoring subunit;

[0023] The angles of the three detection points with the reference axis are B1, B2 and B3 respectively;

[0024] The length change amounts sensed by the FBG sensors in the same section are L1, L2 and L3.

[0025] The length variation of L1, L2, L3 is determined by the bending angle of the posture monitoring subunit, and the angles of the three detection points and the reference axis;

[0026] After the angles B1, B2, B3 and the length variation of L1, L2, L3 and the radius R are known, the bending angle A2 is calculated, and then the posture of the posture monitoring subunit is determined based on the base length thereof;

[0027] .

[0028] Further preferably, at least three detection surfaces are provided along the length direction of the controllable bending portion, and the detection surfaces are planes in which all the detection points are located in the circumferential direction;

[0029] The gap between adjacent detection surfaces is the base length of the posture monitoring subunit;

[0030] All the detection surfaces are sequentially a first detection surface, a second detection surface, …, an n-th detection surface along the axial direction from adjacent to the handle to adjacent to the bone-removing portion;

[0031] A circular first detection surface simulation surface is established in the three-dimensional deformation model;

[0032] The length variation of the detection points on the first detection surface is used to know the bending angle between the first detection surface and the second detection surface, and in combination with the gap between the first detection surface and the second detection surface, the simulation position of the second detection surface is further obtained, and a circular second detection surface simulation surface is generated;

[0033] The length variation of the detection points on the second detection surface is used to know the bending angle between the second detection surface and the third detection surface, and in combination with the gap between the second detection surface and the third detection surface, the simulation position of the third detection surface is further obtained, and a circular third detection surface simulation surface is generated;

[0034] By analogy, the length variation of the detection points on the n-1-th detection surface is used to know the bending angle between the n-1-th detection surface and the n-th detection surface, and in combination with the gap between the n-1-th detection surface and the n-th detection surface, the simulation position of the n-th detection surface is further obtained, and a circular n-th detection surface simulation surface is generated;

[0035] The outer contours of all the detection surface simulation surfaces are fitted to obtain the overall three-dimensional morphology of the controllable bending portion.

[0036] The calculation formula of the bending angle is as follows:

[0037] ;

[0038] L is the length of the detection point;

[0039] B is the angle of the detection point and the reference axis, the reference axis is the central axis of the attitude monitoring subunit;

[0040] A is the bending angle;

[0041] R is the radius value of the detection point to the center.

[0042] When the L values of all detection points on the same detection surface are different, and the deviation of the A value calculated from the L values of all detection points on the same detection surface is less than 1°, it is considered that the current attitude monitoring subunit has a bending attitude;

[0043] When the L values of all detection points on the same detection surface are the same, it is considered that the current attitude monitoring subunit has a stretching attitude, and the L value is the stretching and compression change amount.

[0044] As a preferred solution, three optical fibers are wound on the outer wall of the elastic sealing sleeve;

[0045] FBG sensors in the same radial section are respectively installed on the three optical fibers;

[0046] The spiral directions of the three optical fibers are the same.

[0047] Different ranges of amplification can be obtained according to the different spiral angles of the tangent of the FBG sensor and the axis of the controllable bending part; the spiral arrangement design of the fiber grating enables it to synchronously perceive axial, bending and torsional deformation, and a three-dimensional deformation reconstruction model is established through multi-grating data fusion.

[0048] As another preferred solution, left-handed installation grooves for left-handed winding of light and right-handed installation grooves for right-handed winding of optical fibers are arranged on the outer wall of the elastic sealing sleeve;

[0049] The depth of the left-handed installation groove is greater than the depth of the right-handed installation groove;

[0050] The FBG sensor is installed at the intersection of the left-handed installation groove and the right-handed installation groove.

[0051] When the optical fiber is spirally wound by left-handed and right-handed interlacing, the stability of the FBG sensor installed when the optical fiber grating is cross-over is ensured.

[0052] As another preferred solution, at least three optical fibers are wound on the outer wall of the elastic sealing sleeve;

[0053] At least one of the at least three optical fibers is a left-handed optical fiber wound left-handedly, and the other optical fibers are right-handed optical fibers wound right-handedly;

[0054] The FBG sensor on one of the left-handed optical fibers and the FBG sensor on one of the right-handed optical fibers are cross-over.

[0055] The outer wall of the elastic sealing sleeve can be wound with two optical fibers of the same rotation direction and one optical fiber of the opposite rotation direction, and the outer side of the attitude monitoring subunit is provided with a first detection point, a second detection point and a third detection point which are circumferentially distributed, and the FBG sensors installed at the positions of the first detection point, the second detection point and the third detection point are located on the same plane. Through such a design, the optical fiber gratings of the same and opposite rotation directions can effectively distinguish the coupling effects of axial tension, bending curvature and torsional load under large deformation conditions, and avoid measurement errors caused by angle changes when arranged in a single direction.

[0056] The outer wall of the elastic sealing sleeve can be wound with four optical fibers; two of the four optical fibers are left-handed optical fibers wound in a left-handed manner, and the other two are right-handed optical fibers wound in a right-handed manner; and the FBG sensor on one of the left-handed optical fibers overlaps with the FBG sensor on one of the right-handed optical fibers. Through such a design, the optical fiber gratings of the same and opposite rotation directions can effectively distinguish the coupling effects of axial tension, bending curvature and torsional load under large deformation conditions, and avoid measurement errors caused by angle changes when arranged in a single direction. Meanwhile, the FBG sensors arranged at the same point overlap, and the length changes of the optical fiber gratings of opposite rotation directions are different when the controllable bending part is twisted and deformed; while the length changes are consistent when stretched and deformed. Such identification can distinguish the torsional, bending and tensile deformations in the controllable bending part.

[0057] Further preferably, the metal bending part is provided with a first V-shaped groove and a second V-shaped groove on opposite sides thereof;

[0058] The first V-shaped groove and the second V-shaped groove are arranged alternately;

[0059] A through hole is formed in the metal bending part for passing through a traction rope, the through hole is in communication with the first V-shaped groove, one end of the traction rope is connected to the tool head mounting segment, and the other end of the traction rope extends to the handle through the gap between the outer support tube and the inner mounting tube.

[0060] Further preferably, a waist-shaped groove is formed in the inner mounting tube for mounting a waist-shaped support block, and the waist-shaped support block is clamped between the inner mounting tube and the outer support tube.

[0061] Further preferably, the gap between the inner mounting tube and the outer support tube is a flow channel for guiding the cooling liquid;

[0062] The outer wall of the metal bending part at the positions of the first V-shaped groove and the second V-shaped groove is covered with a waterproof film;

[0063] One end of the elastic sealing sleeve is in communication with the first mounting hole of the mounting base, and the other end of the elastic sealing sleeve is in communication with the outer supporting tube;

[0064] The mounting base and the tool bit mounting section are provided with a liquid outlet for connecting the flow channel.

[0065] A navigation system with a bone removal device with bending posture monitoring, in cooperation with the bone removal device with the bending posture monitoring, further comprises a navigation frame detachably mounted on a handle;

[0066] The navigation frame comprises an optical marker, a support plate and a locking assembly;

[0067] The locking assembly comprises a fixed locking block and a movable locking block, the fixed locking block is detachably connected with the support plate, and the optical marker is detachably connected on the support plate;

[0068] The movable locking block is hinged to one end of the fixed locking block, and the other end of the movable locking block is connected with the fixed locking block through a locking screw;

[0069] The fixed locking block comprises a connecting portion for detachably connecting the support plate;

[0070] The fixed locking block and the movable locking block enclose a handle fixing portion for fixing the handle and an avoiding portion for avoiding the extension branch pipe on the handle;

[0071] The handle fixing portion and the avoiding portion are in communication with each other;

[0072] The avoiding portion is arranged adjacent to the connecting portion.

[0073] Compared with the prior art, the beneficial effects of the present application are:

[0074] (1) The present application breaks through the limitation of the rigid structure of traditional bone removal tools, has good controllable bending performance, is suitable for minimally invasive surgery of complex parts such as spine and pelvis, and significantly improves the flexibility and adaptability of operation.

[0075] (2) The present application realizes real-time monitoring of three-dimensional deformation of the controllable bending part by arranging the FBG sensor in a spiral arrangement, can accurately identify bending, axial stretching and torsion and other composite deformation, improves the posture recognition accuracy, and provides higher safety guarantee for clinic.

[0076] (3) The present application innovatively adopts staggered rotation direction design and multi-sensing point layout, solves the problems of measurement nonlinearity and error accumulation under large deformation, has excellent stability and robustness, and is especially suitable for fine operation in narrow operation cavity where the posture is invisible.

[0077] (4) Through efficient integration with orthopedic surgery robots and navigation systems, real-time closed-loop feedback control is realized, good intelligent expansion potential is possessed, and the orthopedic surgery is upgraded from "visual navigation" to "pose perception control" precise operation mode. BRIEF DESCRIPTION OF DRAWINGS

[0078] Figure 1 It is the whole structure diagram of the embodiment of the application:

[0079] Figure 2 It is the bending part structure diagram of the embodiment of the application:

[0080] Figure 3 It is the bending unit module structure diagram of the embodiment of the application:

[0081] Figure 4 It is the bending unit monitoring point angle schematic diagram of the embodiment of the application:

[0082] Figure 5 It is the bending unit monitoring point schematic diagram of the embodiment of the application:

[0083] Figure 6 It is the schematic diagram of the outer side optical fiber distribution mode one of the controllable bending part of the application:

[0084] Figure 7 It is the expansion schematic diagram of the structure of the application: Figure 6

[0085] Figure 8 It is the schematic diagram of the outer side optical fiber distribution mode two of the controllable bending part of the application:

[0086] Figure 9 It is the expansion schematic diagram of the structure of the application: Figure 8

[0087] Figure 10 It is the schematic diagram of the outer side optical fiber distribution mode three of the controllable bending part of the application:

[0088] Figure 11 It is the schematic diagram of the outer side optical fiber distribution mode four of the controllable bending part of the application:

[0089] Figure 12 It is the local structure schematic diagram of the application:

[0090] Figure 13 It is the bone removal device insertion part schematic diagram of the application:

[0091] Figure 14 It is the internal structure diagram of the bone removal device insertion part of the application:

[0092] Figure 15 It is the soft shaft structure diagram of the bone removal device of the application:​​

[0093] Figure 16 Structure diagram of the optical fiber installation slot of the present application;

[0094] Figure 17 Structure diagram of the navigation frame installed in the present application;

[0095] Figure 18 Structure diagram of the navigation frame of the present application.

[0096] 1 is the insertion rod, 2 is the bone-removing part, 3 is the controllable bending part, 4 is the endoscope module, 5 is the knife head installation section, 6 is the traction rope, 7 is the FBG sensor, and 8 is the navigation frame;

[0097] 10 is the handle, 11 is the outer support tube, 13 is the inner installation tube, 131 is the waist-shaped slot, 132 is the waist-shaped support block,

[0098] 21 is the connecting shaft, 22 is the knife seat, 23 is the crimping tube, and 24 is the flexible shaft;

[0099] 30 is the elastic sealing sleeve, 31 is the first V-shaped slot, 32 is the second V-shaped slot, 33 is the through hole, and 35 is the connecting end face;

[0100] 301 is the attitude monitoring subunit, the first detection point is 30A, the second detection point is 30B, the third detection point is 30C, and the fourth detection point is 30D.

[0101] 41 is the image acquisition unit, and 43 is the flexible wire harness.

[0102] 51 is the sheath;

[0103] 81 is the optical marker, 82 is the support plate, 83 is the fixed locking block, 831 is the connecting part, and 84 is the movable locking block. DETAILED DESCRIPTION

[0104] The present application will be further described below in combination with the drawings.

[0105] Reference Figures 1 to 18Specific Embodiment 1: A bone removal device with bending posture monitoring includes a handle 10, an insertion rod 1, a bone removal part 2, and an endoscope module 4; the insertion rod 1 is located at the front end of the handle 10, and from the outside to the inside, the insertion rod 1 consists of an outer support tube 11, an inner mounting tube 13, and a drive shaft. The inner mounting tube 13 is arranged opposite to the outer support tube 11, and the drive shaft is rotatably installed inside the inner mounting tube 13; the insertion rod 1 is connected to the blade mounting section 5 through a controllable bending part 3; the bone removal part 2 is installed on the blade mounting section 5, and the bone removal part 2 includes a working blade and... The tool holder 22 has a working tool head movably mounted on it, and the working tool head is connected to the drive shaft via a flexible shaft 24. The controllable bending section 3 is divided into attitude monitoring sub-units 301 arranged sequentially along the length direction for monitoring attitude changes. Each attitude monitoring sub-unit 301 has detection points evenly distributed in the circumferential direction for detecting the amount of length change. The endoscope module 4 includes a mounting base with a first mounting hole for passing through the tool head mounting section 5 and a second mounting hole for mounting the endoscope. The first mounting hole and the second mounting hole are arranged side by side.

[0106] The working cutter head is equipped with a connecting shaft 21, which is connected to one end of a flexible shaft 24 via a crimping tube 23. The other end of the flexible shaft 24 is connected to a drive shaft via a crimping tube.

[0107] The controllable bending section 3 includes an inner and outer metal bending section and an elastic sealing sleeve 30; a traction rope 6 is threaded through the metal bending section, and the end of the traction rope 6 is connected to the cutter head mounting section 5; the two ends of the metal bending section are respectively connected to the cutter head mounting section 5 and the inner mounting tube 13; the two ends of the elastic sealing sleeve 30 are respectively connected to the mounting base and the outer support tube 11; a detection point is provided on the outer side of the elastic sealing sleeve 30.

[0108] An FBG sensor is installed at the location of the detection point; the outer wall of the elastic sealing sleeve 30 has a mounting groove for embedding the FBG sensor.

[0109] The controllable bending section 3 is equipped with a module for monitoring its posture, and the working principle of the module is as follows: Figure 2 As shown, the controllable bending section 3 is divided into attitude monitoring subunits 301, as follows: Figure 3 As shown, the shape of the attitude monitoring subunit 301 can be determined in real time based on the original length and the length changes of the three outer points. The overall attitude of the controllable bending part 3 can be obtained by combining the attitudes of the attitude monitoring subunit 301 determined by multiple relative positions.

[0110] pass Figure 3 , Figure 4It can be understood that three detection points are provided outside the posture monitoring subunit 301; it is assumed that the lengths of the three detection points outside the posture monitoring subunit 301 are 301a, 301b, and 301c. The angles of the three detection points with the reference axis are B1, B2, and B3, respectively; the length change amounts of the FBG sensors in the same section are L1, L2, and L3; the length change amounts of L1, L2, and L3 are determined by the bending angle of the posture monitoring subunit 301 and the angles of the three detection points with the reference axis; after the angles B1, B2, B3 and the length change amounts L1, L2, L3 and the radius R are known, the bending angle A2 is calculated, and then the posture of the posture monitoring subunit 301 is determined based on the basic length thereof;

[0111] .

[0112] At least three detection surfaces are provided along the length direction of the controllable bending part, and the detection surfaces are planes in which all detection points on the circumference are located;

[0113] The gap between adjacent detection surfaces is the basic length of the posture monitoring subunit;

[0114] All detection surfaces are sequentially a first detection surface, a second detection surface, …, and an n-th detection surface along the axial direction from the adjacent handle to the adjacent bone-removing part;

[0115] A circular first detection surface simulation surface is established in the three-dimensional deformation model;

[0116] The length change of the detection points on the first detection surface is used to know the bending angle between the first detection surface and the second detection surface, and the gap between the first detection surface and the second detection surface is combined to further obtain the simulation position of the second detection surface, and a circular second detection surface simulation surface is generated;

[0117] The length change of the detection points on the second detection surface is used to know the bending angle between the second detection surface and the third detection surface, and the gap between the second detection surface and the third detection surface is combined to further obtain the simulation position of the third detection surface, and a circular third detection surface simulation surface is generated;

[0118] By analogy, the length change of the detection points on the n-1-th detection surface is used to know the bending angle between the n-1-th detection surface and the n-th detection surface, and the gap between the n-1-th detection surface and the n-th detection surface is combined to further obtain the simulation position of the n-th detection surface, and a circular n-th detection surface simulation surface is generated;

[0119] The outer contours of all detection surface simulation surfaces are fitted to obtain the overall three-dimensional shape of the controllable bending part.

[0120] The calculation formula of the bending angle is as follows:

[0121] ;

[0122] L is the length of the detection point;

[0123] B is the angle of the detection point and the reference axis, which is the central symmetry plane of the central axis of the attitude monitoring subunit;

[0124] A is the bending angle;

[0125] R is the radius value from the detection point to the center.

[0126] When the L values of all detection points on the same detection surface are different, and the deviation of the A values calculated from the L values of all detection points on the same detection surface is less than 1°, it is considered that the current attitude monitoring subunit has a bending attitude;

[0127] When the L values of all detection points on the same detection surface are the same, it is considered that the current attitude monitoring subunit has a stretching attitude, and the L value is the stretching and compression change amount.

[0128] In some disclosures, the length change amount of L1, L2, and L3 is measured by a tablet resistance or a fiber Bragg grating.

[0129] In some disclosures, as shown in Figure 5 , the first detection point 30A, the second detection point 30B, and the third detection point 30C are kept on the same plane and are uniformly distributed in a circle. Such arrangement can reduce the measurement error caused by uneven distribution of detection points and improve the stability and accuracy of deformation calculation.

[0130] In some embodiments, the length change amount of L1, L2, and L3 is measured by a fiber Bragg grating.

[0131] A fiber Bragg grating is an optical sensor that writes a periodic refractive index modulation structure in the fiber core by ultraviolet laser. When external mechanical deformation (stretching / compression) acts on the grating, it will change the grating period or effective refractive index, causing the specific wavelength reflected / transmitted by the grating to shift. By demodulating the wavelength shift, the strain on the grating can be inferred. Fiber Bragg grating can read signals from multiple FBG sensors (fiber Bragg grating sensors) at the same time through one fiber, realizing long-distance or multi-point synchronous monitoring.

[0132] The fiber distribution mode can have the following schemes:

[0133] Fiber distribution scheme one:

[0134] Referring to Figure 6 and Figure 7On the outer side of the controllable bending part 3, three optical fibers are distributed circumferentially. On the outer side of the attitude monitoring subunit 301, a first detection point 30A, a second detection point 30B, and a third detection point 30C are distributed circumferentially. The first detection point 30A, the second detection point 30B, and the third detection point 30C are provided with FBG sensors (fiber Bragg grating sensors). The length changes of L1, L2, and L3 are detected.

[0135] Optical fiber distribution scheme two:

[0136] In some cases, considering that the bending amount of the controllable bending part 3 is large, which may exceed the range of the FBG sensor. To deal with the above situation, see Figure 7 and Figure 8 The outer wall of the elastic sealing sleeve 30 is wound with three optical fibers. The FBG sensors in the same radial section are installed on the three optical fibers. The spiral directions of the three optical fibers are the same. Different ranges can be obtained according to the different spiral angles A1 between the tangent of the FBG sensor and the axis of the controllable bending part. The spiral arrangement of the fiber grating enables it to simultaneously perceive axial, bending, and torsional deformation. A three-dimensional deformation reconstruction model is established through multi-grating data fusion.

[0137] Optical fiber distribution scheme three:

[0138] See Figure 9 The controllable bending part 3 is provided with two optical fibers with the same rotation direction and one optical fiber with the opposite rotation direction. The outer side of the attitude monitoring subunit 301 is provided with a circumferentially distributed first detection point 30A, a second detection point 30B, and a third detection point 30C. The FBG sensors installed at the positions of the first detection point 30A, the second detection point 30B, and the third detection point 30C are located on the same plane. Through such arrangement, the optical fiber gratings with the same and opposite rotation directions can effectively distinguish the coupling effects of axial tension, bending curvature, and torsional load under large deformation conditions, and avoid measurement errors caused by angle changes when arranged in a single direction.

[0139] Optical fiber distribution scheme four:

[0140] See Figure 10, four optical fibers are wound on the outer wall of the elastic sealing sleeve 30; two of the four optical fibers are left-handed optical fibers wound in a left-handed manner, and the other two are right-handed optical fibers wound in a right-handed manner; the FBG sensor on one left-handed optical fiber is cross-over and overlapped with the FBG sensor on one right-handed optical fiber. Specifically, the outer wall of the attitude monitoring subunit 301 is provided with four detection points, which are the first detection point 30A, the second detection point 30B, the third detection point 30C, and the fourth detection point 30D. The FBG sensors arranged at the first detection point 30A and the second detection point 30B are left-handed, and the FBG sensors arranged at the third detection point 30C and the fourth detection point 30D are right-handed. The second detection point 30B and the third detection point 30C are cross-over and overlapped. In this way, the same and opposite rotating optical fiber gratings work together to effectively distinguish the coupling effect of axial tension, bending curvature and torsion load under large deformation conditions, and avoid measurement errors caused by angle changes when arranged in a single direction. At the same time, the FBG sensors arranged at the same point have different length changes when the controllable bending part is twisted and deformed, and the length changes are consistent when stretched. In this way, the torsion, bending and stretching deformation in the controllable bending part can be identified.

[0141] On the basis of the third optical fiber distribution scheme and the fourth optical fiber distribution scheme, in order to arrange optical fibers of different rotating directions, referring to Figure 16 , the outer wall of the elastic sealing sleeve 30 is provided with a left-handed mounting groove for left-handed winding of optical fibers and a right-handed mounting groove for right-handed winding of optical fibers; the depth of the left-handed mounting groove is greater than the depth of the right-handed mounting groove; the FBG sensor is mounted at the intersection of the left-handed mounting groove and the right-handed mounting groove. When the optical fibers are spirally wound in a left-handed and right-handed staggered manner, the stability of the FBG sensor when cross-over and overlapped is ensured.

[0142] Referring to Figure 1 , Figure 12 , Figure 13 and Figure 14 , the opposite sides of the metal bending part are respectively provided with a first V-shaped groove 31 and a second V-shaped groove 32; the first V-shaped groove 31 and the second V-shaped groove 32 are arranged in a staggered manner; the metal bending part is provided with a through hole 33 for passing through the traction rope 6, the through hole 33 is in communication with the first V-shaped groove 31, one end of the traction rope 6 is connected with the tool head mounting section 5, and the other end of the traction rope 6 extends into the handle 10 through the gap between the outer support pipe 11 and the inner mounting pipe 13.

[0143] The inner mounting pipe 13 is provided with a waist-shaped groove 131 for mounting a waist-shaped support block 132, and the waist-shaped support block 132 is clamped between the inner mounting pipe 13 and the outer support pipe 11.

[0144] The gap between the inner installation pipe 13 and the outer support pipe 11 is a flow channel for guiding the cooling liquid; the outer wall of the first V-shaped groove 31 and the second V-shaped groove 32 of the metal bending part is covered with a waterproof film; one end of the elastic sealing sleeve 30 is in conductive communication with the first mounting hole of the mounting seat, and the other end of the elastic sealing sleeve 30 is in conductive communication with the outer support pipe 11; the mounting seat and the tool bit mounting section 5 are provided with a liquid outlet for connecting the flow channel.

[0145] The inner mirror module 4 is installed at the proximal end of the bone removal part 2, and is used to collect images of the position of the bone removal part 2 and transmit them to the host computer. The inner mirror module 4 includes an image acquisition unit 41, which is installed on the tool bit mounting section 5 through an endoscope mounting seat, and the inner mirror module 4 is connected to the handle through a flexible wire harness 43.

[0146] In some embodiments, the tool bit mounting section 5 is provided with a health-protecting sheath 51.

[0147] In some embodiments, the opening angle of the first V-shaped groove 31 is greater than that of the second V-shaped groove 32, so as to ensure one-way movement and improve strength.

[0148] In some embodiments, as shown in Figure 15 , Figure 15 is a three-dimensional view of the soft shaft 24. As can be seen from the three-dimensional view, the soft shaft 24 includes three layers of linear winding layers.

[0149] For example, each layer of linear winding layer is composed of linear material, and the multiple layers of linear winding layers are wound layer by layer. The winding method of the linear winding layer can be a spiral winding method. For example, the linear material can be a metal material or a non-metal material.

[0150] Further, the three layers of linear winding layers include a first layer of linear winding layer, a second layer of linear winding layer and a third layer of linear winding layer arranged from inside to outside. The spiral directions of the linear winding materials of the first layer of linear winding layer and the second layer of linear winding layer are opposite, and the spiral directions of the linear winding materials of the second layer of linear winding layer and the third layer of linear winding layer are opposite. In this way, different linear winding layers can be pressed and stressed with each other during actual use, thereby ensuring the structural stability of each layer of winding layer.

[0151] Referring to Figure 17 and Figure 18The navigation system of the bone removing device with the bending posture monitoring further comprises a navigation frame 8 detachably mounted on the handle 10; the navigation frame 8 comprises an optical marker 81, a support plate 82 and a locking assembly; the locking assembly comprises a fixed locking block 83 and a movable locking block 84; the fixed locking block 83 is detachably connected with the support plate 82, and the optical marker 81 is detachably connected on the support plate 82; the movable locking block 84 is hinged with one end of the fixed locking block 83, and the other end of the movable locking block 84 is connected with the fixed locking block 83 through a locking screw; the fixed locking block 83 comprises a connecting part 831 for detachably connecting the support plate 82; the fixed locking block 83 and the movable locking block 84 enclose a handle fixing part for fixing the handle 10 and an avoiding part for avoiding the extension branch pipe on the handle 10; the handle fixing part and the avoiding part are communicated with each other; the avoiding part is arranged adjacent to the connecting part 831.

[0152] The above merely describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A deboning apparatus with curved posture monitoring, characterized in that, The handle, the insertion rod, the bone-removing part and the endoscope module are included. The insertion rod is arranged at the front end of the handle, and the insertion rod is sequentially provided with an outer supporting tube, an inner mounting tube and a transmission shaft from outside to inside. The insertion rod is connected with the cutter head mounting segment through the controllable bending part. The bone-removing part is mounted on the cutter head mounting segment, and the bone-removing part includes a working cutter head and a cutter seat. The controllable bending part is separated into posture monitoring subunits which are sequentially arranged along the length direction and used for monitoring the posture change. The endoscope module includes a mounting seat, and the mounting seat is provided with a first mounting hole for passing through the cutter head mounting segment and a second mounting hole for mounting an endoscope. The controllable bending part includes a metal bending part and an elastic sealing sleeve. The metal bending part is provided with a traction rope, and the end of the traction rope is connected with the cutter head mounting segment. The two ends of the metal bending part are connected with the cutter head mounting segment and the inner mounting tube respectively. The two ends of the elastic sealing sleeve are connected with the mounting seat and the outer supporting tube respectively. The outer side of the elastic sealing sleeve is provided with the detection points. The FBG sensors are mounted at the positions of the detection points. The outer wall of the elastic sealing sleeve is provided with mounting grooves for embedding the FBG sensors. Three detection points are arranged outside the posture monitoring subunit. The angles of the three detection points with the reference axis are B1, B2 and B3 respectively. The length changes of the FBG sensors in the same section are L1, L2 and L3 respectively. The length changes of L1, L2 and L3 are determined by the bending angle of the posture monitoring subunit and the angles of the three detection points with the reference axis. After the angles B1, B2 and B3 and the length changes L1, L2 and L3 and the radius R are known, the bending angle A2 is calculated, and then the posture of the posture monitoring subunit is determined based on the basic length of the posture monitoring subunit. 。 2. A deboning apparatus with curved posture monitoring according to claim 1, characterized in that: Three optical fibers are wound on the outer wall of the elastic sealing sleeve. The FBG sensors in the same radial section are mounted on the three optical fibers respectively. The spiral directions of the three optical fibers are the same.

3. A deboning apparatus with curved posture monitoring according to claim 1, characterized in that: At least three optical fibers are wound on the outer wall of the elastic sealing sleeve. At least one of the at least three optical fibers is a left-handed optical fiber which is wound left-handedly, and the other optical fibers are right-handed optical fibers which are wound right-handedly. The FBG sensors on one left-handed optical fiber and the FBG sensors on one right-handed optical fiber are cross-over and overlapped.

4. A deboning apparatus with curved posture monitoring according to claim 3, characterized in that: The outer wall of the elastic sealing sleeve is provided with a left-handed mounting groove for the left-handed optical fiber and a right-handed mounting groove for the right-handed optical fiber. The depth of the left-handed mounting groove is greater than the depth of the right-handed mounting groove. The FBG sensors are mounted at the staggered positions of the left-handed mounting groove and the right-handed mounting groove.

5. A deboning apparatus with curved posture monitoring according to any one of claims 1 to 4, characterized in that: The opposite sides of the metal bending part are respectively provided with a first V-shaped groove and a second V-shaped groove; The first V-shaped groove and the second V-shaped groove are staggered; A through hole for passing through a traction rope is arranged on the metal bending part, the through hole is in communication with the first V-shaped groove, one end of the traction rope is connected with the cutter head mounting segment, and the other end of the traction rope extends to the handle through the gap between the outer supporting pipe and the inner mounting pipe.

6. A deboning apparatus with curved posture monitoring according to claim 5, characterized in that: The gap between the inner mounting pipe and the outer supporting pipe is a flow channel for guiding the cooling liquid; The outer wall of the metal bending part at the first V-shaped groove and the second V-shaped groove is covered with a waterproof film; One end of the elastic sealing sleeve is in communication with the first mounting hole of the mounting seat, and the other end of the elastic sealing sleeve is in communication with the outer supporting pipe; The mounting seat and the cutter head mounting segment are provided with a liquid outlet for communicating with the flow channel.

7. A navigation system with a bone removal device with curved pose monitoring for use with the bone removal device with curved pose monitoring of claim 1, wherein, A navigation frame detachably mounted on the handle is further included; The navigation frame includes an optical marker, a support plate and a locking assembly; The locking assembly includes a fixed locking block and a movable locking block, the fixed locking block is detachably connected with the support plate, and the support plate is detachably connected with the optical marker; One end of the movable locking block is hinged with the fixed locking block, and the other end of the movable locking block is connected with the fixed locking block through a locking screw; The fixed locking block includes a connecting portion for detachably connecting with the support plate; The fixed locking block and the movable locking block surround a handle fixing portion for fixing the handle and an avoiding portion for avoiding the extension pipe on the handle; The handle fixing portion and the avoiding portion are in communication with each other; The avoiding portion is arranged adjacent to the connecting portion.

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