A drill sharpening apparatus

Abstract

The present specification discloses a kind of grinding drill equipment.The grinding drill equipment includes: grinding drill mounting head, grinding handle, grinding head and power handle;The grinding handle is installed on the grinding drill mounting head, the power handle is connected with the grinding handle, and the grinding head is installed in the channel of the grinding handle;The grinding drill equipment is installed on the end tool of the mechanical arm of surgical robot through the grinding drill mounting head;Power handle responds to received control instruction, starts internal motor, and realizes grinding by driving the grinding head high-speed rotation through surgical click;While grinding drill mounting head receives control instruction, the combination of grinding handle, power handle and grinding head is controlled to rotate and lift, so as to realize greater range of grinding.

Description

Technical Field

[0001] This manual relates to the field of medical robot technology, and in particular to a drilling device. Background Technology

[0002] In orthopedic surgery, the drill is a key medical instrument that uses a high-speed rotating drill bit to perform fine grinding, drilling, and soft tissue planing on bone tissue. It is widely used in fracture repair, joint replacement, spinal surgery, and other fields. By precisely controlling the speed and force of the drill, doctors can perform delicate operations on the bones, thereby improving the success rate of surgery and the quality of patient recovery.

[0003] However, current grinding tools are typically designed for manual operation, with all actions controlled directly by hand. The operator's precision in grinding largely depends on their feel, experience, and level of fatigue. Prolonged surgery can lead to hand fatigue, affecting operational stability and accuracy, and increasing operational risks.

[0004] Therefore, ensuring accuracy and stability during the grinding and drilling process and reducing operational risks is an urgent problem to be solved. Summary of the Invention

[0005] This specification provides a grinding and drilling device to partially solve the aforementioned problems existing in the prior art.

[0006] The following technical solution is adopted in this specification:

[0007] This specification provides a grinding and drilling device, which includes: a grinding and drilling head 1, a grinding shank 2, a grinding head 3, and a power handle 4; the grinding shank 2 is mounted on the grinding and drilling head 1, the power handle 4 is connected to the grinding shank 2, and the grinding head 3 is installed in the channel of the grinding shank 2;

[0008] The grinding and drilling equipment is mounted on the robotic arm of the surgical robot via the grinding and drilling mounting head 1;

[0009] The power handle 4 responds to the received control command, starts the internal motor, and drives the grinding head 3 to work through the motor.

[0010] Optionally, after receiving a control command from the controller, the surgical robot controls the drilling device on the robotic arm to move according to the control command.

[0011] Optionally, the drill mounting head 1 is provided with: an endoscope interface 11 and a hook 12;

[0012] The endoscope interface 11 is used to connect to the endoscope device installed on the robotic arm, so as to fix the grinding and drilling device on the robotic arm through the endoscope device;

[0013] The hook 12 is used to fix the endoscope device on the drill mounting head 1.

[0014] Optionally, the grinding head 1 is provided with a liftable mounting base 13, and the grinding handle 2 is mounted on the grinding head 1 via the mounting base 13;

[0015] The grinding and drilling equipment is used to receive lifting commands sent by the controller, and according to the lifting commands, drive the grinding handle 2 to lift or lower via the mounting base 13.

[0016] Optionally, the mounting base 13 is provided with a rotatable spindle 131, and the grinding handle 2 is mounted on the mounting base 13 via the spindle 131;

[0017] The grinding and drilling equipment is used to receive rotation commands sent by the controller, and drive the grinding handle 2 to rotate via the spindle 131 according to the rotation commands.

[0018] Optionally, the grinding and drilling equipment is equipped with a force sensor;

[0019] The force sensor is used to collect force information of the grinding head 3, so as to control at least one of the mounting base 13, the spindle 131 and the power handle 4 based on the collected force information.

[0020] Optionally, the drill mounting head 1 is provided with: a housing 14 and a communication cable 15;

[0021] The outer casing 14 is used to isolate the circuitry and mechanisms inside the drill head 1;

[0022] The communication cable 15 is used to connect to the communication interface on the robotic arm to establish a communication connection between the grinding equipment and the robotic arm.

[0023] Optionally, the grinding handle 2 is provided with a sheath structure 211 and a groove structure 212;

[0024] The grinding handle is snapped onto the main shaft 131 via the sheath structure 211 and fixed by the embedding structure between the groove structure 212 and the main shaft 131.

[0025] Optionally, the grinding handle 2 is provided with: a replaceable O-ring groove 213 and a vibration isolation sleeve 214;

[0026] The O-ring groove 213 is used to install a replaceable O-ring to reduce the gap between the spindle 131 and the grinding shank 2 by installing the O-ring;

[0027] The vibration isolation sleeve 214 is distributed in multiple sections along the outer tube of the grinding handle 2 to reduce the gap between the grinding handle and the working channel.

[0028] Optionally, the grinding and drilling equipment is used to receive control commands sent by the controller, start the internal motor according to the control commands, and drive the grinding head 3 to work through the motor.

[0029] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0030] The grinding device provided in this specification includes: a grinding head, a grinding shank, a grinding head, and a power handle; the grinding shank is mounted on the grinding head, the power handle is connected to the grinding shank, and the grinding head is mounted in the channel of the grinding shank; the grinding device is mounted on the robotic arm of a surgical robot via the grinding head; the power handle responds to a received control command, starts its internal motor, and drives the grinding head to work via the motor.

[0031] As can be seen from the above method, the grinding equipment in this solution can be adapted to surgical robots. The grinding equipment is installed on the robot's robotic arm through the grinding head on the grinding equipment. In this way, the grinding equipment can be precisely controlled by controlling the robotic arm of the surgical robot. Furthermore, the power handle can be controlled by the controller to drive and stop the drill bit, avoiding the operational risks caused by the operator directly manually operating the grinding equipment and improving the stability and accuracy of the grinding operation. Attached Figure Description

[0032] 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:

[0033] Figure 1 This is a structural schematic diagram of a drilling device provided in this specification;

[0034] Figure 2 This is a schematic diagram of the various structures in a disassembled grinding and drilling device provided in this specification.

[0035] Figure 3 This is a schematic diagram of the structure of a drill bit mounting head provided in this specification;

[0036] Figure 4This is a schematic diagram illustrating the installation method of a drill bit mounting head and a robotic arm end effector provided in this specification.

[0037] Figure 5 This is a schematic diagram of one type of grinding shank provided in this specification;

[0038] Figure 6 This is a schematic diagram of the structure of a grinding shank provided in this specification;

[0039] Figure 7 This is a schematic diagram of the overall structure of a drilling tool mounted on a robotic arm, as provided in this specification. Detailed Implementation

[0040] 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.

[0041] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0042] Figure 1 This is a schematic diagram of a drilling device provided in this specification. The drilling device includes: a drilling head 1, a grinding shank 2, a grinding head 3, and a power handle 4.

[0043] The disassembled components of the grinding and drilling equipment are as follows: Figure 2 As shown.

[0044] Figure 2 This is a schematic diagram of the various structures in a disassembled grinding and drilling device provided in this specification.

[0045] The grinding head 1 is mounted on the grinding shank 2, the grinding shank 2 is mounted on the power handle 4, and the grinding head 3 is mounted in the channel of the grinding shank 2.

[0046] The grinding and drilling equipment is mounted on the robotic arm of the surgical robot via the grinding and drilling mounting head 1. After receiving the control command sent by the controller, the surgical robot controls the grinding and drilling equipment on the robotic arm to move according to the control command.

[0047] The power handle 4 starts the internal motor in response to the received control command, and drives the grinding head 3 to work (such as vibrate or rotate).

[0048] The aforementioned control commands can be generated and sent to the power handle by the controller in response to the user's start operation, or they can be generated by the power handle itself after the user triggers the start device (such as a button) set on the power handle.

[0049] In addition, the power handle 4 can be connected to the controller via a cable, thereby enabling power supply and signal transmission between the power handle and the controller. Of course, the power handle 4 can also be powered by a battery and communicate wirelessly with the controller (such as WiFi or Bluetooth).

[0050] In this specification, the controller can be connected to the surgical robot and the power handle 4 respectively, so that the controller can operate the robotic arm of the surgical robot, thereby adjusting the position and orientation of the grinding equipment through the robotic arm, and controlling the start and stop of the grinding head 3 through the power handle 4.

[0051] Furthermore, this specification also provides a structural schematic diagram of the drill mounting head, such as... Figure 3 As shown.

[0052] Figure 3 This is a structural schematic diagram of a drill bit mounting head provided in this specification.

[0053] The grinding and drilling head 1 includes: an endoscope interface 11, a hook 12, a height-adjustable mounting base 13, a housing 14, and a communication cable 15.

[0054] The endoscope interface 11 is used to connect to the endoscope device mounted on the end-effector of the robotic arm, so as to fix the drilling device to the robotic arm via the endoscope device. The latch 12 is used to fix the endoscope device on the drilling head 1. Pressing the latch 12 and lifting the drilling head 1 upwards will remove it. For ease of understanding, this specification provides a schematic diagram of the installation method of the drilling head 1 and the end-effector of the robotic arm, as shown below. Figure 4 As shown.

[0055] Figure 4 This is a schematic diagram illustrating the installation method of a drill bit and a robotic arm end effector provided in this manual.

[0056] The endoscope device 6 is pre-fixed to the tool clamping mechanism 5 at the end of the robotic arm, and is used to acquire images through the lens at the end and upload the images to the controller. The endoscope device 6 is provided with a working channel 61, which is divided into two parts: an endoscope channel and a tool channel. The inner diameter channel is used to place the endoscope, and the tool channel is used to place other surgical instruments. In this specification, when the grinding handle 2 and the endoscope device 6 are installed onto the drill mounting head 1, the grinding handle 2 can be inserted into the tool channel.

[0057] The grinding handle 2 is mounted on the grinding head 1 via the mounting base 13. During surgical procedures performed by the surgical robot, the controller can send lifting commands to the grinding equipment. Upon receiving the lifting command, the grinding equipment can move the grinding handle 2 up and down along the slide rail on the grinding head 1 via the mounting base 13, thereby adjusting the distance between the grinding head 3 and the endoscope.

[0058] Furthermore, a rotatable spindle 131 is provided on the mounting base 13, and the grinding handle 2 is mounted on the mounting base 13 via the spindle 131.

[0059] In addition, a force sensor can also be installed in the grinding and drilling equipment described in this manual. Figure 1 (Not shown in the image) is used to collect force information of the grinding head 3 and to control at least one of the mounting base 13, the spindle 131 and the power handle 4 based on the collected force information.

[0060] During the operation of the grinding and drilling equipment, the force sensor can collect the force on the grinding head 3 and upload it to the controller. The controller can generate and issue control commands to the mounting base 13, the spindle 131 or the motor inside the drive handle based on the received force information.

[0061] Specifically, for the mounting base 13, the control commands sent to it by the controller may include lifting commands. After receiving the lifting commands, the mounting base 13 can drive the grinding head 3 to lift or lower. For the spindle 131, the control commands sent to it by the controller may include rotation commands. After receiving the rotation commands, the spindle 131 can adjust the rotation speed of the grinding head 3. For the power handle 4, the control commands sent to it by the controller may include rotation commands or stop commands. After receiving the control commands, the power handle 4 can control the rotation speed of the grinding head or stop the drive motor.

[0062] For example, when the grinding head encounters a hard object, resulting in a large grinding force, the force sensor can provide feedback on the force information, and then the speed of the grinding equipment can be reduced according to the received control command, thereby protecting the equipment; another example is when the target tissue is ground through (missing its target), the external force changes suddenly, and the grinding stops immediately, thereby protecting the patient.

[0063] In practical applications, the grinding handle 2 can be replaced according to different surgical needs. For ease of understanding, this manual provides a schematic diagram of grinding handle types, such as... Figure 5 As shown.

[0064] Figure 5 This is a schematic diagram of one type of grinding handle provided in this specification.

[0065] Among them, the types of grinding handles may include, but are not limited to: conventional grinding handles 21, sheathed grinding handles 22, and adjustable angle grinding handles 23.

[0066] During the surgical procedure performed by the surgical robot, if the grinding handle 2 is a sheathed grinding handle or an adjustable angle grinding handle, the controller can send a rotation command to the grinding and drilling equipment. After receiving the rotation command, the grinding and drilling equipment can drive the grinding handle 2 to rotate through the spindle 131 of the mounting base 13, thereby changing the exposure angle or orientation of the grinding head 3 by rotating the grinding handle 2.

[0067] It should be noted that other types of grinding handles may also be included in practical applications, which will not be listed in this manual.

[0068] The housing 14 covers the drive spindle rotation mechanism, mounting seat lifting mechanism, and circuitry inside the drill head 1, isolating these circuits and mechanisms from the outside. When the drill equipment is subjected to low-temperature sterilization (such as alcohol wiping, ultraviolet sterilization, ethylene oxide sterilization, etc.), the housing 14 protects its internal components from damage.

[0069] The connector of the communication cable 15 is connected to the communication interface set on the end of the robotic arm, thereby establishing a communication connection between the surgical robot and the drilling equipment, and carrying out communication and power transmission (such as transmitting rotation commands, lifting commands, etc.).

[0070] In addition, this specification also provides a structural schematic diagram of the grinding shank, such as... Figure 6 As shown.

[0071] Figure 6 This is a schematic diagram of the structure of a grinding handle provided in this specification.

[0072] The grinding handle 2 is provided with: a sheath structure 211, a groove structure 212, a replaceable O-ring groove 213, and a vibration isolation sleeve 214.

[0073] The grinding handle is snapped onto the spindle 131 via the sheath structure 211. After the grinding handle 2 is installed, the ball screw on the spindle 131 will be embedded in the groove structure 212, thereby fixing it through the embedding structure between the groove structure 212 and the spindle 131 to prevent the grinding handle 2 from rotating during the grinding operation.

[0074] Replaceable O-rings can be installed on the O-ring groove 213, thereby reducing the gap between the spindle 131 and the grinding shank 2 and making the installation more stable.

[0075] The vibration isolation sleeve 214 is distributed in multiple sections along the outer wall of the grinding handle 2. Its material can include various biocompatible plastic materials or flexible materials such as polytetrafluoroethylene, polyetheretherketone, silicone, and nylon. Its function is to reduce the gap between the grinding drill and the endoscope working channel. When the grinding head 3 rotates at high speed, it will generate vibration. The vibration isolation sleeve 214 can limit the vibration amplitude of the grinding drill and offset some of the vibration, so that the quality of the endoscope image is not greatly affected. At the same time, it can protect the grinding handle 2 and the endoscope channel.

[0076] In addition, this manual also provides a schematic diagram of the overall structure after the grinding tool is installed on the robotic arm, such as... Figure 7 As shown.

[0077] Figure 7 This is a schematic diagram of the overall structure of a drilling tool mounted on a robotic arm, as provided in this specification.

[0078] After the drill mounting head 1 is connected to the endoscope device 6, the connector of the communication cable 15 on the drill mounting head 1 can be connected to the communication interface set at the end of the robotic arm. The required grinding head 3 and grinding handle 2 are assembled first (the adjustable angle grinding handle and grinding head are an integral structure and do not need to be assembled), and then installed on the drill mounting head 1. Finally, the power handle 4 is connected to the interface on the grinding handle 2, and the power handle 4 is connected to the controller.

[0079] During the actual drilling operation, the controller can respond to the specified operation performed by the operator, receive the operation command, and then control the robotic arm of the surgical robot through the operation command to move the drilling device installed on the robotic arm to the target position. After detecting that the drilling device has moved to the target position, the controller can further send a start command to the drilling device, so that the drilling device starts the motor inside the power handle according to the start command, and drives the grinding head to perform the operation through the motor.

[0080] In practical applications, corresponding tracers can be set up on the grinding equipment, near the target location, and on the robotic arm. The control equipment can monitor the position of the grinding equipment based on the tracer to determine whether it has moved to the target location.

[0081] In addition, during the operation, the controller can send lifting commands to the grinding equipment, so that the grinding equipment can lift and lower the grinding handle through the mounting base according to the lifting commands, thereby adjusting the length of the grinding drill extending out of the endoscope.

[0082] In addition, the controller can also send rotation commands to the grinding equipment, so that the grinding equipment can rotate the grinding shank through the spindle on the mounting base according to the rotation commands, thereby adjusting the orientation of the drill bit.

[0083] As can be seen from the above method, this solution allows the drilling equipment to be mounted on the robot's robotic arm via a drilling head. This enables precise control of the drilling equipment by controlling the robotic arm of the surgical robot. Furthermore, the power handle is controlled by a controller to drive and stop the drill bit. The controller also adjusts the length of the drill bit extending from the endoscope and the orientation of the drill bit. The entire process does not require direct manual operation, effectively avoiding the operational risks associated with manual operation of the drilling equipment and improving the stability and accuracy of the drilling operation.

[0084] In addition, this solution can use force sensors to constantly sense the force on the grinding head and control the lifting, rotation, and stopping of the grinding head based on the collected force information. This allows the grinding equipment to adjust its working state in a timely manner based on the external force conditions, providing full protection for the safety of the equipment itself and the patient.

[0085] 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.

[0086] 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.

[0087] 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 grinding and drilling device, characterized in that, The grinding and drilling equipment includes: a grinding and drilling head (1), a grinding shank (2), a grinding head (3), and a power handle (4); the grinding shank (2) is mounted on the grinding and drilling head (1), the power handle (4) is connected to the grinding shank (2), and the grinding head (3) is installed in the channel of the grinding shank (2); The grinding and drilling equipment is mounted on the robotic arm of the surgical robot via the grinding and drilling mounting head (1); The power handle (4) responds to the received control command, starts the internal motor, and drives the grinding head (3) to work through the motor; The grinding head (1) is provided with an endoscope interface (11); the endoscope interface (11) is used to connect the endoscope device provided on the robotic arm, so as to fix the grinding device on the robotic arm through the endoscope device; the endoscope device is provided with a working channel (61), and the grinding shank (2) passes through the working channel. The grinding head (1) is also provided with a liftable mounting base (13), and the grinding handle (2) is mounted on the grinding head (1) through the mounting base (13). The grinding equipment is used to receive lifting commands sent by the controller, and according to the lifting commands, drives the grinding handle (2) to lift through the mounting base (13) to adjust the distance between the grinding head (3) and the endoscope device. The mounting base (13) is provided with a rotatable spindle (131), and the grinding handle (2) is mounted on the mounting base (13) through the spindle (131). The grinding equipment is used to receive rotation commands sent by the controller, and according to the rotation commands, drives the grinding handle (2) to rotate through the spindle (131) to change the exposure angle or orientation of the grinding head (3).

2. The grinding and drilling equipment as described in claim 1, characterized in that, After receiving control instructions from the controller, the surgical robot controls the drilling device on the robotic arm to move according to the control instructions.

3. The grinding and drilling equipment as described in claim 1, characterized in that, The grinding and drilling head (1) is provided with a hook (12); The hook (12) is used to fix the endoscope device on the drill mounting head (1).

4. The grinding and drilling equipment as described in claim 1, characterized in that, The grinding and drilling equipment is equipped with a force sensor; The force sensor is used to collect the force information of the grinding head (3) so as to control at least one of the mounting base (13), the spindle (131) and the power handle (4) based on the collected force information.

5. The grinding and drilling equipment as described in claim 1, characterized in that, The drill bit (1) is provided with: a housing (14) and a communication cable (15); The outer casing (14) is used to isolate the circuitry and mechanisms inside the drill head (1); The communication cable (15) is used to connect the communication interface on the robotic arm to establish a communication connection between the grinding equipment and the robotic arm.

6. The grinding and drilling equipment as described in claim 1, characterized in that, The grinding handle (2) is provided with a sheath structure (211) and a groove structure (212). The grinding handle is snapped onto the main shaft (131) via the sheath structure (211) and fixed by the embedding structure between the groove structure (212) and the main shaft (131).

7. The grinding and drilling equipment as described in claim 6, characterized in that, The grinding handle (2) is provided with: a replaceable O-ring groove (213) and a vibration isolation sleeve (214). The O-ring groove (213) is used to install a replaceable O-ring to reduce the gap between the spindle (131) and the grinding shank (2) by installing the O-ring; The vibration isolation sleeve (214) is distributed in multiple sections along the outer tube of the grinding handle (2) to reduce the gap between the grinding handle and the working channel.

8. The grinding and drilling equipment as described in claim 1, characterized in that, The grinding and drilling equipment is used to receive control commands sent by the controller, start the internal motor according to the control commands, and drive the grinding head (3) to work through the motor.

Images