A surgical apparatus

Abstract

The present specification discloses a surgical device, which comprises a tool holder and a clamping mechanism, the tool holder comprises a tool holder column and a cross arm, the first end of the cross arm is mounted on the tool holder, the clamping mechanism is mounted on the second end of the cross arm, the rotating shaft in the cross arm is rotationally connected with the input shaft of the clamping mechanism, the input shaft is drivingly connected with the main shaft, and the opening and disengaging mechanism arranged on the main shaft is used for mounting or dismounting the surgical tool on the main shaft, when the rotating shaft is controlled to rotate, the input shaft is driven to rotate, so that the main shaft rotates, and in turn drives the surgical tool to rotate to a specified angle. Thus, different surgical tools are clamped to perform corresponding surgical operations, instead of the operator holding the surgical tool, so as to relieve the risk caused by hand fatigue, and at the same time, more accurate, meticulous and efficient surgical operations are provided.

Description

Technical Field

[0001] This manual relates to the field of major surgical procedures, and in particular to a surgical device. Background Technology

[0002] With the development of minimally invasive surgical techniques, the requirements for minimally invasive and precise surgical procedures are becoming increasingly stringent. Among these, spinal endoscopic minimally invasive surgery, as one of the earliest minimally invasive techniques, is now widely used in clinical practice. Compared with traditional open surgery, spinal endoscopic minimally invasive surgery has advantages such as less trauma, less bleeding, faster recovery, and definite therapeutic effects.

[0003] In traditional surgical procedures, surgeons primarily perform the operation by directly holding and manipulating surgical instruments, which demands a high level of expertise. Furthermore, surgeons must maintain a high level of concentration throughout the entire process to avoid errors. However, performing surgery manually while maintaining this high level of concentration is extremely physically demanding, leading to hand fatigue and significantly increasing the uncertainty of the surgical procedure. Summary of the Invention

[0004] This specification provides a surgical device to partially solve the aforementioned problems existing in the prior art.

[0005] The following technical solution is adopted in this specification:

[0006] This specification provides a surgical device, which includes a tool base 1 and a clamping mechanism 2; the tool base 1 includes a tool base column 11 and a cross arm 12, the first end of the cross arm 12 is mounted on the tool base column 11, and the clamping mechanism 2 is mounted on the second end of the cross arm 12;

[0007] The horizontal arm 12 includes a rotating shaft 121, and the clamping mechanism 2 includes an input shaft 21 and a main shaft 22. The rotating shaft 121 is rotatably connected to the input shaft 21, and the input shaft 21 is drively connected to the main shaft 22.

[0008] The main spindle 22 is equipped with a snap-fit ​​mechanism 221, which is used to install or remove surgical instruments on the main spindle 22.

[0009] When the rotating shaft 121 is controlled to rotate, it drives the input shaft 21 to rotate, causing the main shaft 22 to rotate, so as to control the surgical tool to rotate to a specified angle, so as to perform surgical operations through the surgical tool.

[0010] Optionally, the horizontal arm 12 includes an upper horizontal arm 1201 and a lower horizontal arm 1202, and the clamping mechanism 2 includes a first clamping mechanism 201 and a second clamping mechanism 202, wherein the first clamping mechanism 201 is installed at the second end of the upper horizontal arm 1201, and the second clamping mechanism 202 is installed at the second end of the lower horizontal arm 1202.

[0011] The tool seat column 11 is equipped with a slide rail 111 and a lifting mechanism 112. The first end of the upper cross arm 1201 is equipped with a slider 12011 and a wire entry structure 12012. The slider 12011 slides on the slide rail 111, and the wire entry structure 12012 is connected to the lifting mechanism 112.

[0012] When the lifting mechanism 112 drives the wire inlet structure 12012, it causes the slider 12011 to slide on the slide rail 111, so that the upper cross arm 1201 slides on the tool seat 1 along the extension direction of the slide rail 111, thereby driving the first clamping mechanism 201 to slide along the extension direction of the slide rail 111.

[0013] Optionally, the spindle 22 is further configured with a spindle shank 222, and the cross arm 12 includes a zero-position trigger switch 122;

[0014] When the main shaft 22 rotates to the target position, the main shaft handle 222 pushes the piston shaft 34, which is arranged on the sterile cover structure 3, to move towards the horizontal arm 12, triggering the zero-position trigger switch 122 provided inside the horizontal arm 12;

[0015] When the zero-position trigger switch 122 is triggered, the target position to which the spindle 22 rotates is determined as the initial position corresponding to the spindle 22, so that the surgical tool installed on the spindle 22 starts from the initial position corresponding to the spindle 22 and rotates by a specified angle.

[0016] Optionally, the surgical device further includes a sterile hood structure 3, which is installed between the second end of the cross arm 12 and the clamping mechanism 2;

[0017] The sterile cover structure 3 is connected to the sterile cover, and the sterile cover covers the tool seat 1 and the robotic arm connected to the tool seat 1.

[0018] The sterile hood includes a tightening structure 31 for securing the sterile hood at several designated locations to make the sterile hood conform to the tool seat 1 and the robotic arm.

[0019] Optionally, the second end of the cross arm 12 is provided with a first positioning groove 123, the clamping mechanism 2 is provided with a second positioning groove 23, and the sterile cover structure 3 includes a positioning structure 32 and an intermediate shaft 33;

[0020] When the sterile hood structure 3 is installed between the second end of the cross arm 12 and the clamping mechanism 2, the first positioning groove 123, the positioning structure 32 and the second positioning groove 23 are connected so that the rotating shaft 121 of the cross arm 12, the intermediate shaft 33 of the sterile hood structure 3 and the input shaft 21 of the clamping mechanism 2 are on the same axis.

[0021] Optionally, the surgical device further includes an adapter 4, which is mounted on the tool holder 1. The adapter 4 includes a robotic arm adapter 41, a force sensor 42, and a tool holder adapter 43 connected in sequence.

[0022] The robotic arm adapter 41 is used to connect the robotic arm and the force sensor 42; different robotic arms correspond to different robotic arm adapters 41.

[0023] The force sensor 42 is used to acquire the force data of the tool holder 1, so as to determine the force data of the surgical tool based on the force data of the tool holder 1;

[0024] The tool holder adapter 43 is used to connect the force sensor and the tool holder 1.

[0025] Optionally, a first tracer array 113 is disposed on the tool holder column 11, and a second tracer array 124 is disposed on the cross arm 12;

[0026] The position of the first tracer array 113 is obtained by the positioning and tracking device, and the position of the tool holder column 11 is determined based on the position of the first tracer array 113.

[0027] The position of the second tracer array 124 is obtained by the positioning and tracking device, and the position of the cross arm 12 is determined based on the position of the second tracer array 124.

[0028] The surgical tool is controlled according to the position of the tool base column 11 and / or the position of the cross arm 12.

[0029] Optionally, the second end of the cross arm 12 is provided with a support device 125 and a fixing groove 126, and the clamping mechanism 2 includes a bearing mechanism 24 and a locking mechanism 25;

[0030] The bearing mechanism 24 is rigidly connected to the support device 125, and the locking mechanism 25 is rigidly connected to and locked to the fixing groove 126, so that the clamping mechanism 2 is fixedly installed at the second end of the cross arm 12.

[0031] Optionally, the clamping mechanism 2 is equipped with a surgical tool adapter 26 corresponding to the surgical tool;

[0032] The surgical tool adapter 26 is used to fix at least a portion of the surgical tool when it is mounted on the spindle 22.

[0033] Optionally, the surgical tools include a working cannula, a dilator, a puncture needle, a visual ring saw and a visual ring saw endoscope and a percutaneous endoscopic disc corresponding to the visual ring saw, as well as a drill tool holder and a drill matching the drill tool holder.

[0034] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0035] This specification provides a surgical device including a tool holder and a clamping mechanism. The tool holder includes a tool holder column and a cross arm. The first end of the cross arm is mounted on the tool holder, and the clamping mechanism is mounted on the second end of the cross arm. A rotating shaft in the cross arm is rotatably connected to the input shaft of the clamping mechanism, which is then drivenly connected to a main spindle. An opening mechanism configured on the main spindle is used to install or remove surgical tools from the main spindle. When the rotating shaft is controlled to rotate, it drives the input shaft to rotate, causing the main spindle to rotate, which in turn drives the surgical tools to rotate to a specified angle. This allows for the clamping of different surgical tools to perform corresponding surgical operations, replacing the operator's manual handling of surgical tools, reducing the risks associated with hand fatigue, and providing more precise, meticulous, and efficient surgical procedures. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0037] Figure 1 This is a schematic diagram of a surgical device used in this instruction manual;

[0038] Figure 2 This is a schematic diagram of the transverse arm in a surgical device described in this specification;

[0039] Figure 3 This is a schematic diagram of a clamping mechanism in a surgical device described in this specification;

[0040] Figure 4 This is a schematic diagram of a clamping mechanism in a surgical device described in this specification;

[0041] Figure 5 This is a schematic diagram of a sterile hood structure in a surgical device described in this specification;

[0042] Figure 6 This is a schematic diagram of a sterile cover-covering surgical device described in this instruction manual;

[0043] Figure 7 This is a schematic diagram of a transfer device in a surgical device described in this specification;

[0044] Figure 8 This is a schematic diagram of a surgical tool applicable to surgical equipment as described in this specification;

[0045] Figure 9 This is a schematic diagram of a surgical device-based installation of a visual trestle and a visual trestle mirror, as described in this specification.

[0046] Figure 10 This is a schematic diagram of a rotating working cannula based on surgical equipment as described in this specification;

[0047] Figure 11 This is a schematic diagram of a percutaneous endoscopic discectomy (PED) device installed using surgical equipment, as described in this specification.

[0048] Figure 12 This is a schematic diagram of a drill holder and drill based on a surgical device, as described in this specification. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0050] Additionally, it should be noted that all actions involving the acquisition of signals, information, or data in this invention are carried out in compliance with the relevant data protection laws and regulations of the country where the invention is located, and with authorization from the owner of the corresponding device.

[0051] Currently, minimally invasive surgery is required for treatment in orthopedics, neurology, and interventional procedures. The requirements for minimally invasive and precise surgical operations are becoming increasingly stringent, aiming to minimize trauma and accurately reach the affected area for effective treatment. Among these, spinal endoscopic minimally invasive technology, as one of the earliest minimally invasive techniques, causes less damage to the paraspinal muscles and can preserve the complete spinal structure to the greatest extent, maintaining postoperative spinal stability. It has the advantages of minimal trauma, less bleeding, faster recovery, fewer complications, and definite curative effect.

[0052] There are two main surgical methods for commonly used minimally invasive spinal endoscopy: percutaneous endoscopic lumbar discectomy (PELD) and unilateral biportal endoscopic technique (UBE). However, in general, the surgical procedure still requires the operator to hold the surgical instruments by hand. This not only results in a long learning curve and a lack of ability to complete highly complex surgeries in a short time, but also easily leads to hand fatigue, greatly increasing the probability of surgical errors and thus increasing surgical risks.

[0053] Based on this, this specification provides a surgical device in which different surgical tools are mounted on the main shaft of a clamping mechanism. By controlling the rotation of the rotating shaft in the cross arm, the input shaft on the clamping mechanism is driven to rotate, and the motion is transmitted to the main shaft, thereby controlling the surgical tools to rotate to a specified angle and performing corresponding surgical operations.

[0054] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0055] Figure 1 This is a schematic diagram of a surgical device provided in this instruction manual.

[0056] This specification provides a surgical device that assists operators in performing surgical procedures. In the embodiments described herein, for ease of understanding, spinal endoscopic surgery is used as an example to illustrate the specific technical solution.

[0057] like Figure 1 The diagram shows the surgical device provided in this specification in two different directions. The surgical device includes at least a tool holder 1 and a clamping mechanism 2. Generally, one or more cross arms 12 can be mounted on the tool holder column 11 of the tool holder 1, and the cross arms 12 and the clamping mechanisms 2 usually correspond one-to-one. Figure 1 As shown in the left figure, two horizontal arms 12, namely an upper horizontal arm 1201 and a lower horizontal arm 1202, are installed on a tool base column 11. Clamping mechanisms 2 are installed on each of the two horizontal arms 12. The first end of the horizontal arm 12 is mounted on the tool base 1, and the second end of the horizontal arm 12 is mounted on the clamping mechanism 2. That is, the first ends of the upper horizontal arm 1201 and the lower horizontal arm 1202 are mounted at different positions on the tool base column 11. A first clamping mechanism 201 is installed at the second end of the upper horizontal arm 1201, and a second clamping mechanism 202 is installed at the second end of the lower horizontal arm 1202. The two clamping mechanisms can respectively mount the same or different surgical instruments. In actual scenarios, the number of horizontal arms 12 installed on the tool base 1 can be determined as needed. This manual does not limit the actual number of horizontal arms 12 installed on the tool base 1.

[0058] Furthermore, for ease of description, the description of the horizontal arm 12 in this specification is actually a common description of the upper horizontal arm 1201 and the lower horizontal arm 1202, and the description of the clamping mechanism 2 is actually a common description of the first clamping mechanism 201 and the second clamping mechanism 202. However, the individual descriptions of the upper horizontal arm 1201, the lower horizontal arm 1202, the first clamping mechanism 201, or the second clamping mechanism are not common.

[0059] Figure 2 The image shown is a side view of the transverse arm 12. Figure 2 As shown in the left figure, a rotating shaft 121 is disposed on the second end of the cross arm 12. The rotating shaft 121 can be controlled to rotate clockwise or counterclockwise. Specifically, the rotating shaft 121 consists of an exposed shaft, a transmission mechanism inside the cross arm 12, and a power unit (motor). The power unit is connected to a control circuit disposed inside the cross arm 12, and is connected to the tool seat column 11 (see figure) via a cable. Figure 1 The internal connection allows the power unit to receive control signals from the main control console, driving the rotating shaft to rotate. The rotation angle and direction are usually determined based on the control signals received by the power unit.

[0060] like Figure 3 As shown, the clamping mechanism 2 includes an input shaft 21 and a main shaft 22, wherein the input shaft 21 is connected to the rotating shaft 121 in the cross arm 12 (see...). Figure 2 The input shaft 21 and the main shaft 22 can be connected via a mechanical transmission system or device, such as direct connection via coupling, gear drive, belt drive, hydraulic drive, or pneumatic drive. After the rotating shaft 121 is driven to rotate by the rotating shaft 121 of the cross arm 12, it can further transmit the rotation to the main shaft 22, realizing the rotation of the main shaft 22.

[0061] Optionally, the surgical tool held by the first clamping mechanism 201 is different from the surgical tool held by the second clamping mechanism 202, and the spindle 22 structure of the first clamping mechanism 201 is different from that of the second clamping mechanism 202. See details... Figure 3 This is a schematic diagram of the second clamping mechanism in two directions. Figure 4 This is a schematic diagram of the first clamping mechanism in two directions.

[0062] Still as Figure 4 As shown in the right figure, the spindle 22 is equipped with a locking mechanism 221, which can be used to lock or release the surgical instruments, thereby installing or removing the surgical instruments. When the surgical instruments are mounted on the locking mechanism 221 of the spindle 22, the power unit responds to the received control signal, determines the rotation angle and rotation direction, and drives the rotating shaft 121 in the cross arm 12 (see figure 12) based on the rotation angle and rotation direction. Figure 2The rotation of the rotating shaft 121 will drive the input shaft 21 of the clamping mechanism 2 to rotate synchronously, and transmit it to the main shaft 22 to rotate synchronously, thereby realizing the rotation of the surgical tool. When the surgical tool rotates to the predetermined specified angle according to the aforementioned rotation angle and rotation direction, it can respond to the operation signal sent by the main console to perform the surgical operation to complete the surgery on the patient's lesion area.

[0063] As mentioned earlier, when there are two horizontal arms 12 mounted on the tool holder column 11, each horizontal arm 12 includes an upper horizontal arm 1201 and a lower horizontal arm 1202. A first clamping mechanism 201 is mounted on the second end of the upper horizontal arm 1201, and a second clamping mechanism 202 is mounted on the second end of the lower horizontal arm 1202. Generally, the lower horizontal arm 1202 is mounted on the side of the tool holder column 11 closer to the patient, and the upper horizontal arm 1201 is mounted on the side of the tool holder column 11 away from the patient. Figure 1 As shown.

[0064] exist Figure 1 In the left figure, the tool holder column 11 is equipped with a slide rail 111 and a lifting mechanism 112, which can interact with the slider 12011 and the wire entry structure 12012 mounted on the cross arm 12 (see Figure 12012). Figure 2 (See right figure) This mechanism allows the horizontal arm 12 to move along the extension direction of the slide rail 111. The deployment direction of the slide rail 111 is parallel to the deployment direction of the lifting mechanism 112.

[0065] Specifically, in this specification, the slide rail 111 mounted on the tool holder column 11 is a bidirectional linear slide rail, which is connected to the slider 12011 mounted on the first end of the cross arm 12 (see...). Figure 2 (As shown in the right figure) When combined, the horizontal arm 12 can move up and down along the extension direction of the slide rail 111.

[0066] The lifting mechanism 112 includes a transmission screw, a drive motor, an electromagnetic brake, and other mechanisms, and a wire entry structure 12012 (see [reference]) is configured with the first end of the horizontal arm 12. Figure 2 (See right figure) In conjunction with this, the drive motor in the lifting mechanism 112 can drive the wire input structure 12012 to move along the extension direction of the slide rail 111, thereby causing the horizontal arm 12 to move up and down along the extension direction of the slide rail 111. The control signal for the drive motor can come from a separately set main control console, thereby enabling the operator to remotely control the surgical equipment to perform surgical operations.

[0067] In other words, the drive motor responds to the movement signal sent by the main control console and drives the wire entry structure 12012 of the horizontal arm 12 to move along the extension direction of the lifting mechanism 112 (slide rail 111) through the lifting mechanism 112 on the tool seat column 11. This causes the slider 12011 on the horizontal arm 12 to move along the extension direction of the slide rail 111, thereby realizing the movement of the clamping mechanism 2 and the surgical tool it clamps along the extension direction of the slide rail 111.

[0068] In addition, the electrical connection cables inside the cross arm 12 can also enter the tool holder column 11 through the cable entry structure 12012 and connect with the cables inside the tool holder column 11.

[0069] In one or more embodiments of this specification, in order to improve the accuracy of the rotation angle of the surgical tool, the position of the spindle 22 can be initialized before the surgical tool is installed or before the surgical operation is performed based on the surgical tool, and the initial position of the spindle 22 is determined so that the rotation starts from the initial position of the spindle 22.

[0070] Specifically, the spindle 22 is also equipped with a spindle shank 222, such as Figure 3 As shown in the right figure. A piston shaft 34 may also be configured between the second end of the horizontal arm 12 and the clamping mechanism 2. This piston shaft 34 may optionally be configured on the sterile cover structure 3 between the second end of the horizontal arm 12 and the clamping mechanism 2, such as... Figure 5 As shown.

[0071] Spindle shank 222 (see Figure 3 (Right figure), piston shaft 34 (see figure) Figure 5 ) and the zero-position trigger switch 122 configured within the cross arm 12 (see Figure 2 (Left figure) They are arranged on the same axis. The spindle shank 222 is connected to the first end of the piston shaft 34. The rotation of the spindle 22 will drive the spindle shank 222 to move along the extension direction of the cross arm 12, thereby pushing / pulling the piston shaft 34 to move along the extension direction of the cross arm 12. When the piston shaft 34 is in the initial state, the piston shaft 34 is axially aligned with the zero-position trigger switch 122 but not in contact, or is axially aligned and in contact but not triggered, that is, the piston shaft 34 in the initial state does not trigger the zero-position trigger switch 122. When the spindle 22 rotates, the spindle 222 drives the spindle shank 222 to move along the extension direction of the cross arm 12 towards the cross arm 12, thereby pushing the piston shaft 34 to move along the extension direction of the cross arm 12 towards the cross arm 12. At this time, the distance between the second end of the piston shaft 34 and the zero-position trigger switch 122 decreases until the spindle 22 rotates to the target position, at which point the second end of the piston shaft 34 contacts the zero-position trigger switch 122 and triggers the zero-position trigger switch. When the zero-position trigger switch 122 is triggered, the current position of the spindle 22 (i.e., the target position) is determined as the initial position. In this way, when the spindle 22 is rotated by transmission, it actually starts rotating from the initial position, thereby achieving more precise control of the rotation angle of the surgical tool.

[0072] Optionally, the piston shaft 34 can be configured on the clamping mechanism 2, or within the horizontal arm 12, or between the clamping mechanism 2 and the horizontal arm 12 (e.g., Figure 5The piston shaft 34 shown is mounted on the sterile hood structure 3.

[0073] In one optional embodiment of this specification, to maintain a sterile environment in the surgical area, prevent cross-infection, and protect surgical instruments, a sterile cover can be installed on the surgical equipment provided in this specification to effectively isolate the sterile and non-sterile areas of the surgical equipment, thus meeting surgical requirements. Figure 6 As shown, to ensure the stability of the sterile cover covering the surgical equipment, a sterile cover structure 3 can be installed between the second end of the cross arm 12 and the clamping mechanism 2. This sterile cover structure 3 is connected to the sterile cover, particularly by heat pressing or bonding, so that the sterile cover can cover the entire tool base 1 (including the tool base column 11 and all cross arms 12) and subsequent equipment connected to the tool base 1, including the adapter 4, the robotic arm, and the robotic arm support equipment. It is evident that the portion covered by the sterile cover is actually the sterile area of ​​the surgery. Before surgery, the sterile area not covered by the sterile cover, i.e., one or more clamping mechanisms 2 and the surgical instruments mounted on the clamping mechanisms 2, needs to be sterilized. The sterilization methods can include high-temperature high-pressure sterilization, low-temperature plasma sterilization, ethylene oxide sterilization, ultraviolet sterilization, etc. Therefore, the materials and design of the clamping mechanism 2 and the surgical instruments need to support the above sterilization methods and be reusable.

[0074] Generally, sterile covers are sterile packaged and for single use only.

[0075] Furthermore, to reduce the impact of the sterile hood on the surgical procedure, a tightening structure 31 can also be configured on the sterile hood, such as... Figure 6 As shown. The tightening structure 31 can secure the sterile cover at several designated locations, fixing it to the robotic arm or tool holder 1. This ensures the sterile cover conforms to the tool holder column 11, the horizontal arm 12, and the robotic arm. Especially during surgery, when the tool holder column 11 and the horizontal arm 12 move, the sterile cover will not shift, deform, or fall off significantly, thus preventing it from obstructing the tracking device and improving the efficiency and safety of the surgery. The opening of the sterile cover can extend long enough to cover the entire robotic arm support device.

[0076] Optionally, in order to ensure that the tightening structure 31 can fix the sterile cover to the cross arm 12, a sterile cover fixing groove can be optionally provided at the first end of the cross arm 12. The tightening structure 31 binds the sterile cover in the sterile cover fixing groove so as to fix and conform the sterile cover covering the cross arm 12 so as to make it flat.

[0077] Furthermore, since the sterile hood structure 3 is installed between the second end of the horizontal arm 12 and the clamping mechanism 2, in order not to affect the rotational connection between the rotating shaft 121 inside the horizontal arm 12 and the input shaft 21 of the clamping mechanism 2, the sterile hood structure 3 is equipped with an intermediate shaft 33 and a positioning structure 32, such as... Figure 5 As shown. The second end of the cross arm 12 is provided with a first positioning groove 123 (see...). Figure 2 (Left figure), the clamping mechanism 2 is equipped with a second positioning groove 23 (see left figure). Figure 3 (See right figure). Thus, when the first positioning groove 123, the positioning structure 32, and the second positioning groove 23 are sequentially aligned, it is considered that the sterile cover structure 3 is accurately installed between the second end of the horizontal arm 12 and the clamping mechanism 2. This ensures that the rotating shaft 121 of the horizontal arm 12, the intermediate shaft 33 of the sterile cover structure 3, and the input shaft 21 of the clamping mechanism 2 are on the same axis and accurately aligned. For example, the rotating shaft 121 and the intermediate shaft 33 are aligned using mechanical components such as couplings, and then the intermediate shaft 33 is aligned with the input shaft 21 using another coupling. Since mechanical components such as couplings can transmit the motion of the drive shaft to the driven shaft, when the rotating shaft 121 of the cross arm 12 rotates, it will first drive the intermediate shaft 33 of the sterile cover structure 3 to rotate. Then, the rotation of the intermediate shaft 33 will drive the input shaft 21 of the clamping mechanism 2 to rotate, thereby transmitting the rotation to the main shaft 22 of the clamping mechanism 2 so that the surgical tool can rotate. In this way, even if the sterile cover structure 3 is installed between the cross arm 12 and the clamping structure, the sterile cover structure 3 will not affect the rotation of the shaft 121 to drive the input shaft 21 to rotate.

[0078] This manual does not limit the position of the positioning structure 32 on the sterile cover structure 3, the position of the first positioning groove 123 on the cross arm 12, or the position of the second positioning groove 23 on the clamping mechanism 2. It also does not limit the number of the positioning structure 32, the first positioning groove 123, or the second positioning groove 23. However, the number and matching position of the three must correspond to ensure that the sterile cover structure 3 does not affect the rotation of the shaft 121 that drives the input shaft 21 to rotate.

[0079] In one or more embodiments of this specification, the surgical device further includes an adapter 4, such as Figure 1 As shown, the adapter 4 is mounted on the tool holder 1. The adapter 4 includes a robotic arm adapter 41, a force sensor 42, and a tool holder adapter 43 connected in sequence. Figure 7 As shown. One side of the robotic arm adapter 41 is connected to the robotic arm. The other side of the robotic arm adapter 41 is connected to the force sensor 42, achieving a rigid connection between the two. The force sensor 42 is rigidly connected to one side of the tool holder adapter 43, and the other side of the tool holder adapter 43 is mounted on the tool holder 1, so that the adapter 4 is entirely mounted on the tool holder (see...). Figure 1The robotic arm adapter 41, force sensor 42, and tool holder adapter 43 can be connected by any existing type of rigid connection, such as bolts or pins; this specification does not limit this. Furthermore, since the surgical equipment provided in this specification can be configured on robotic arms of different models and specifications in practical applications, the model and specifications of the robotic arm adapter 41 can also be different. Different robotic arms correspond to different robotic arm adapters 41 connected to the force sensor 42.

[0080] Force sensor 42 is used to acquire force data of tool holder 1, including force and torque in the XYZ directions, thereby determining the force data of the surgical tool held by the clamping structure, especially the force and torque of the surgical tool tip in the XYZ directions. The force data of the surgical tool is fed back to the main control console, which can determine whether the current operation of the surgical tool is safe based on the preset force safety threshold and the force data. Generally, if the force or torque on the surgical tool exceeds the preset safety threshold, it may be that the surgical tool has encountered unexpected resistance or a sudden change in force during the surgical operation, such as contact with hard human tissue like bone. This is clearly a dangerous situation. By detecting the force data through force sensor 42, the main control console can control the surgical tool to move away when the force or torque on the surgical tool exceeds the preset safety threshold, in order to avoid the occurrence of danger or further deterioration.

[0081] Optionally, the force sensor 42 can be a six-dimensional force sensor.

[0082] Tool holder adapter 43 enables a rigid connection between force sensor 42 and tool holder column 11 (see...) Figure 1 This allows the entire adapter 4 to be mounted on the tool holder 1. Simultaneously, the opening on the tool holder adapter 43 allows robotic arm cables, force sensor cables, and connectors to pass through and connect to the tool holder 1, thereby providing power to the tool holder 1 and enabling communication.

[0083] In one or more embodiments of this specification, the clamping mechanism 2 further includes a mounting slot on which a surgical tool adapter 26 can be mounted, such as... Figure 4 As shown in the right figure, the surgical tool adapter 26 is used to fix the surgical tool when it is installed inside the spindle 22.

[0084] In one or more embodiments of this specification, surgical tools used in conjunction with the surgical equipment provided in this specification include, but are not limited to: 3-in-1 tools 51 of various lengths (including working cannula 511, dilator 512, and puncture needle 513), a visual trephine saw 52 and its matching visual trephine endoscope 53, a percutaneous endoscopic disc 54, a drill tool holder 55 and its matching drill 56. Figure 8 As shown.

[0085] Different surgical tools can correspond to the same or different surgical tool adapters 26. For example, such as Figure 9 The diagram shows a visual ring saw mirror 53, which is matched with the visual ring saw 52, ​​installed on the first clamping mechanism 201. As can be seen, the surgical tool adapter 26 installed on the mounting groove of the first clamping mechanism 201 can fix part of the device of the visual ring saw mirror 53, thereby fixing the visual ring saw mirror 53 and enhancing the installation stability of the visual ring saw mirror 53.

[0086] In one or more embodiments of this specification, the second end of the cross arm 12 is further provided with a support device 125 and a fixing groove 126, such as Figure 2 As shown. The clamping mechanism 2 also includes a carrying mechanism 24 and a locking mechanism 25, as shown. Figure 3 As shown. Among them, the bearing mechanism 24 and the support device 125 correspond one-to-one and can be rigidly connected. In particular, when the bearing mechanism 24 is a bearing pin and the support device 125 is a support hole, the bearing pin can be inserted into the support hole. After the two are rigidly connected, the bearing pin can bear the load of the clamping mechanism 2 in the vertical direction and play the role of bearing and fixing the clamping mechanism 2.

[0087] Additionally, the locking mechanism 25 configured on the clamping mechanism 2 can also be inserted into the fixing slot 126 of the cross arm 12. The end of the locking mechanism 25 can also adopt a flat structure design, allowing it to be locked or released manually or automatically. When the locking mechanism 25 is inserted into the fixing slot 126 and locked, it can also bear the load of the clamping mechanism 2 in the vertical direction, further supporting and fixing the clamping mechanism 2, and relieving the stress on the bearing mechanism 24. Optionally, the locking mechanism 25 is a locking screw, and it is a non-detachable screw type. Optionally, the locking mechanism 25 is a locking buckle.

[0088] In practical applications, the number and position of the bearing mechanism 24 and the locking mechanism 25 in the clamping mechanism 2 are not limited in this specification. However, in general, in order to achieve the functions of bearing and fixing, the number and position of the bearing mechanism 24 in the clamping mechanism 2 correspond one-to-one with the number and position of the support device 125 configured at the second end of the cross arm 12. Similarly, the number and position of the locking mechanism 25 in the clamping mechanism 2 also correspond one-to-one with the number and position of the fixing groove 126 configured at the second end of the cross arm 12.

[0089] In one or more embodiments of this specification, for positioning surgical tools, tracer arrays may also be provided on the tool base column 11 and the cross arm 12 of the tool base 1. Specifically, a first tracer array 113 is provided on the tool base column 11, such as... Figure 1 As shown. A second tracer array 124 is set on the horizontal arm 12, as follows. Figure 2As shown in the left figure. The first tracer array 113 and the second tracer array 124 can be optical tracer arrays, such as infrared light emitting arrays, light-emitting diodes, or passive reflective arrays, or magnetic tracer arrays, such as magnets. Of course, other existing types of tracer arrays can also be used. In actual surgical environments, positioning and tracking devices can be set up in conjunction with the first tracer array 113 and the second tracer array 124, such as binocular cameras or optical positioning and tracking devices for optical tracer arrays, or magnetic field positioning devices for magnetic tracer arrays. Of course, the first tracer array 113 and the second tracer array 124 can be any other existing type of tracer array, and this specification does not limit this.

[0090] For example, when the first tracer array 113 and the second tracer array 124 are light-emitting diodes, the positioning and tracking device is a binocular camera. The positioning and tracking device can capture the position of the tool holder column 11 and the position of the cross arm 12 by receiving the light emitted by the first tracer array 113 and the second tracer array 124.

[0091] The positioning and tracking device can acquire the position of the first tracer array 113, thereby locating the position of the tool holder column 11. In particular, the first tracer array 113 can be used to provide additional visibility for the tool holder 1; that is, even when the second tracer array 124 configured on the cross arm 12 is in an invisible position or is obstructed, the positioning and tracking device can still perform pose tracking and guidance of the surgical tool through the tracer array. Optionally, the first tracer array 113 can be configured at the upper end of the tool holder column 11, where it is less likely to be obstructed by the robotic arm.

[0092] Similarly, the positioning and tracking device can acquire the position of the second tracer array 124, thereby locating the position of the transverse arm 12. The positioning and tracking device can send the acquired position of the second tracer array 124 to the main control console. The main control console, based on the position of the second tracer array 124 and its deployment position on the transverse arm 12, determines the position of the transverse arm 12. This, in turn, determines the position of the surgical tool and its end effector based on the position of the tool holder column 11 and / or the position of the transverse arm 12. Then, following the planned surgical path, the end effector of the surgical tool is precisely navigated, positioned, and controlled in the area close to the patient's lesion.

[0093] In an optional embodiment of this specification, the tool holder column 11 is also equipped with a communication interface and its circuit 114, a manual lifting button for the crossarm 115, and a status indicator light 116, such as... Figure 1 As shown in the figure on the right.

[0094] The communication interface and its circuit 114 are connected to the cables on the robotic arm and the force sensor cables to provide power to the drive motors of the various motion mechanisms on the tool holder 1 and to transmit communication and control signals.

[0095] The manual lifting button 115 controls the upper horizontal arm 1201 to rise and fall at a certain speed. Before surgical instruments (such as the percutaneous endoscopic discectomy unit 54) are installed on the horizontal arm 12, the height of the horizontal arm 12 needs to be adjusted. The assistant operator at the operating table can quickly achieve this adjustment using the manual lifting button.

[0096] The status indicator light 116 indicates the status of the horizontal arm 12 and the clamping mechanism 2 by different colors of light. These statuses include, but are not limited to: the horizontal arm 12 is moving, the horizontal arm 12 is stopped moving, the central pivot 121 of the horizontal arm 12 is rotating, and the main shaft 22 of the clamping mechanism 2 is rotating.

[0097] In an optional embodiment of this specification, a drill tool interface 127 may also be configured on the cross arm 12, such as... Figure 2 As shown in the right figure. When the grinding tool is mounted on the clamping mechanism 2, the grinding tool interface can be connected to the cable on the grinding tool to provide power and communication to the grinding tool.

[0098] Figure 10 This is the state after the 3-in-1 tool is installed in the second clamping mechanism 202. Guided by the tracking device, it can perform puncture and dilation according to the planned target lesion location and path, establishing a surgical channel to the intervertebral disc lesion. Typically, after puncture and dilation are completed, the puncture needle and dilation tube are removed sequentially, leaving only the working cannula. When the input shaft 21 of the second clamping mechanism 202 is rotated via the rotating shaft 121 of the lower transverse arm 1202, transmitting motion to rotate the main shaft 22, it can rotate the working cannula 511, thereby adjusting the orientation of the cannula opening, such as... Figure 10 As shown in the image on the right. It can then be combined with other surgical tools to complete other surgical procedures.

[0099] If large bone tissue needs to be removed during the channel establishment process, a visual trestle and a visual trestle mirror can be installed in sequence. Figure 9 The left image shows an installation diagram. Figure 9 The middle image shows the state after installation. Figure 9 The right figure shows that after installation, as the upper horizontal arm 1201 moves, the visual ring saw 52 and the visual ring saw mirror 53 reach a certain working position. At this time, the main shaft 22 in the first clamping mechanism 201 rotates, driving the visual ring saw 52 to rotate and cut the bone tissue. Combined with the movement of the upper horizontal arm 1201 and the movement of the robotic arm, bone tissue in the surgical channel path can be removed.

[0100] After bone tissue removal, the surgical channel is further established and approaches the lesion. At this point, the visual trephine 52 and visual trephine endoscope 53 can be removed, and the percutaneous endoscopic disc 54 is installed in the first clamping mechanism 201. Figure 11As shown. The percutaneous endoscopic endoscope 54 can also move up and down with the upper transverse arm 1201, or rotate with the main shaft 22 to obtain the optimal percutaneous endoscopic field of view. At this time, a surgical robot-specific nucleus pulposus forceps or high-frequency electrodes can be used to remove soft tissue through the working channel on the percutaneous endoscopic endoscope.

[0101] If a difficult-to-remove tissue or bone nodule is encountered near a nerve, a drill tool holder 55 and a corresponding drill 56 can be installed on the percutaneous endoscopic disc 54 to perform a safer tissue removal operation. Figure 12 The left and middle images show the state of the drill tool holder 55 installed, the connector on the drill tool holder 55, and the drill tool interface 127 on the upper cross arm 1201 (see...). Figure 12 The middle diagram shows the connection, which provides power and communication to the drill tool holder 55. The required drill 56 can then be installed on the drill tool holder 55, such as... Figure 12 As shown in the right figure, the drill tool holder 55 can move up, down, and rotate together with the percutaneous endoscope 54, or it can provide movement for the drill 56 to move up, down, and adjust its angle independently, thereby adjusting the relative position of the drill 56 and the percutaneous endoscope 54, and thus removing tissue more safely and effectively.

[0102] The different combinations of the above surgical tools can complete the operations required from planning and navigation to establishing the access channel, which are key steps in performing intervertebral disc decompression surgery. Of course, the surgical equipment provided in this manual is not limited to the surgical tools mentioned above. Other surgical tools can also be installed to complete other types of surgical operations and be applied in other surgical fields. This manual does not limit this.

[0103] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0104] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0105] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A surgical device, characterized in that, The surgical device includes a tool holder (1) and a clamping mechanism (2); the tool holder (1) includes a tool holder column (11) and a cross arm (12), the first end of the cross arm (12) is mounted on the tool holder column (11), and the clamping mechanism (2) is mounted on the second end of the cross arm (12); The horizontal arm (12) includes a rotating shaft (121), and the clamping mechanism (2) includes an input shaft (21) and a main shaft (22). The rotating shaft (121) is rotatably connected to the input shaft (21), and the input shaft (21) is drive-connected to the main shaft (22). A snap-fit ​​mechanism (221) is configured on the spindle (22), the snap-fit ​​mechanism (221) being used to install or remove surgical tools on the spindle (22); When the rotating shaft (121) is controlled to rotate, the input shaft (21) is driven to rotate, causing the main shaft (22) to rotate, so as to control the surgical tool to rotate to a specified angle, so as to perform surgical operations through the surgical tool; The spindle (22) is also equipped with a spindle handle (222), and the cross arm (12) includes a zero-position trigger switch (122). When the spindle (22) rotates to the target position, the spindle handle (222) pushes the piston shaft (34) configured on the sterile cover structure (3) to move towards the cross arm (12), triggering the zero-position trigger switch (122) set inside the cross arm (12). When the zero-position trigger switch (122) is triggered, the target position to which the spindle (22) rotates is determined as the initial position corresponding to the spindle (22), so that the surgical tool installed on the spindle (22) starts from the initial position corresponding to the spindle (22) and rotates by a specified angle.

2. The surgical device as described in claim 1, characterized in that, The horizontal arm (12) includes an upper horizontal arm (1201) and a lower horizontal arm (1202), and the clamping mechanism (2) includes a first clamping mechanism (201) and a second clamping mechanism (202), wherein the first clamping mechanism (201) is installed at the second end of the upper horizontal arm (1201), and the second clamping mechanism (202) is installed at the second end of the lower horizontal arm (1202); The tool seat column (11) is equipped with a slide rail (111) and a lifting mechanism (112). The first end of the upper cross arm (1201) is equipped with a slider (12011) and a wire entry structure (12012). The slider (12011) slides on the slide rail (111), and the wire entry structure (12012) is connected to the lifting mechanism (112). When the lifting mechanism (112) drives the wire inlet structure (12012), it causes the slider (12011) to slide on the slide rail (111), so that the upper cross arm (1201) slides on the tool seat (1) along the extension direction of the slide rail (111), so as to drive the first clamping mechanism (201) to slide along the extension direction of the slide rail (111).

3. The surgical device as described in claim 1, characterized in that, The surgical device also includes a sterile hood structure (3), which is installed between the second end of the cross arm (12) and the clamping mechanism (2); The sterile hood structure (3) is connected to the sterile hood, and the sterile hood covers the tool seat (1) and the robotic arm connected to the tool seat (1); The sterile hood includes a tightening structure (31) for securing the sterile hood at several designated locations to make the sterile hood conform to the tool holder (1) and the robotic arm.

4. The surgical device as described in claim 3, characterized in that, The second end of the cross arm (12) is provided with a first positioning groove (123), the clamping mechanism (2) is provided with a second positioning groove (23), and the sterile cover structure (3) includes a positioning structure (32) and an intermediate shaft (33). When the sterile hood structure (3) is installed between the second end of the cross arm (12) and the clamping mechanism (2), the first positioning groove (123), the positioning structure (32) and the second positioning groove (23) are connected so that the pivot (121) of the cross arm (12), the intermediate shaft (33) of the sterile hood structure (3) and the input shaft (21) of the clamping mechanism (2) are on the same axis.

5. The surgical device as described in claim 1, characterized in that, The surgical equipment also includes an adapter (4), which is mounted on the tool holder (1). The adapter (4) includes a robotic arm adapter (41), a force sensor (42), and a tool holder adapter (43) connected in sequence. The robotic arm adapter (41) is used to connect the robotic arm and the force sensor (42); different robotic arms correspond to different robotic arm adapters (41). The force sensor (42) is used to acquire the force data of the tool holder (1) so as to determine the force data of the surgical tool based on the force data of the tool holder (1); The tool holder adapter (43) is used to connect the force sensor and the tool holder (1).

6. The surgical device as described in claim 1, characterized in that, The tool holder column (11) is equipped with a first tracer array (113), and the cross arm (12) is equipped with a second tracer array (124). The position of the first tracer array (113) is obtained by the positioning and tracking device, and the position of the tool seat column (11) is determined according to the position of the first tracer array (113); The position of the second tracer array (124) is obtained by the positioning and tracking device, and the position of the cross arm (12) is determined according to the position of the second tracer array (124); The surgical tool is controlled according to the position of the tool holder column (11) and / or the position of the cross arm (12).

7. The surgical device as described in claim 1, characterized in that, The second end of the cross arm (12) is provided with a support device (125) and a fixing groove (126), and the clamping mechanism (2) includes a bearing mechanism (24) and a locking mechanism (25). The bearing mechanism (24) is used to rigidly connect with the support device (125), and the locking mechanism (25) is used to rigidly connect with and lock the fixing groove (126) so that the clamping mechanism (2) is fixedly installed at the second end of the cross arm (12).

8. The surgical device as described in claim 1, characterized in that, The clamping mechanism (2) is equipped with a surgical tool adapter (26) corresponding to the surgical tool. The surgical tool adapter (26) is used to secure at least a portion of the surgical tool when it is mounted on the spindle (22).

9. The surgical device as described in claim 1, characterized in that, The surgical tools include a working cannula, a dilator, a puncture needle, a visual ring saw and a corresponding visual ring saw endoscope, a percutaneous endoscopic disc, a drill tool holder and a drill that matches the drill tool holder.

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