Spine decompression robot based on cutter swing angle osteotomy treatment

Abstract

The invention relates to a spinal decompression robot based on cutter swing angle osteotomy treatment, which comprises an electric orthopedic cutter cutting and cutting through autonomous detection device, an auxiliary probe rod cutting through detection device, a power driving and transmission device and a guide support device, the electric orthopedic cutter cutting and cutting-through autonomous detection device and the auxiliary probe rod cutting-through detection device are respectively in transmission connection with the power driving and transmission device, and both the electric orthopedic cutter cutting and cutting-through autonomous detection device and the auxiliary probe rod cutting-through detection device are mounted on the guide supporting device. A double-incision detection mechanism can be achieved through two kinds of incision judgment including probe rod assistance and orthopedics department cutter autonomous incision judgment. When the first cutting of the electric orthopedic cutter is close to the expected cut-through position, the auxiliary probe rod can detect once in real time every time a safe cutting distance is fed, and whether cut-through exists or not is judged. Whether the electric orthopedic cutter is cut through or not is judged through autonomous detection when the electric orthopedic cutter swings within a certain range and is fed, the two kinds of detection can ensure that the cut-through amount of the electric orthopedic cutter is controlled within a safe range, nervous tissue is effectively protected, and the accuracy and safety of a spinal decompression operation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a spinal decompression robot, in particular to a spinal decompression robot based on tool swing angle bone incision processing. BACKGROUND

[0002] It is well known that precise bone tissue such as lamina cutting and reliable nerve protection are the key to ensuring the safety and success of spinal decompression surgery.

[0003] At present, the traditional manual operation of spinal decompression surgery method depends on the rich experience of doctors, and there is a risk of nerve damage and paralysis due to fatigue, judgment error or slip of hand. In recent years, with the rapid development of various technologies, navigation, surgical robots and artificial intelligence and various methods have been gradually applied to spinal surgery. The existing conventional spinal decompression surgery robot usually uses an electric orthopedic tool as the main cutting decompression means, including an ultrasonic bone cutter, a drill, a swing saw, etc. During implementation, for the conventional spinal decompression robot, the skin surgical incision constructed is usually as long as the lesion area exposed, and the electric orthopedic tool can cut the bone tissue such as lamina in the manner of "vertical feeding of the tool up and down, horizontal movement", to avoid the obstruction of small incision and achieve nerve decompression. At the same time, the detection of bone tissue such as lamina incision or cutting depends on a single sensor such as a pressure sensor for judgment. Because the quality of different human bones is not the same, such a single sensor such as a pressure sensor sometimes does not perform well, so that even the doctor's vision needs to be directly involved in the judgment, there is a risk of repeated cutting without cutting through affecting efficiency or cutting too deep to damage the nerve, and there is also a possibility that the pressure sensor is not accurate enough to trigger the delay and affect the safety of bone tissue cutting. In addition, the electric orthopedic tool is difficult to be compatible with other various instruments such as endoscopes, electric knives, suction devices, etc. for collaborative operation, which limits the adaptability of the spinal decompression robot.

[0004] During use, the existing conventional spinal decompression robot involves the operation mode of "vertical feeding of the tool up and down, horizontal movement" of the electric orthopedic tool, which has a large surgical exposure and a large surgical trauma. Although there are spinal surgery robots and robot-related technologies as disclosed in the above-mentioned patents, there is still room for improvement in terms of real-time detection accuracy, structural reliability and durability, and multi-instrument compatibility.

[0005] At present, the spinal decompression surgery equipment still faces the following technical bottlenecks: first, the detection precision of bone tissue incision or cutting through state is insufficient or unreliable, and a single detection method is difficult to cope with complex bone conditions. Second, the sensor may not be accurate enough to trigger a delay, affecting the safety of bone tissue cutting. Third, the integration of multiple instruments is low, and the operation process is complicated, affecting their collaborative and efficient use. Fourth, the surgery exposes a large trauma, which does not meet the needs of the development of minimally invasive spinal surgery. Therefore, there is an urgent need for a spinal decompression robot with joint detection function, reliable and stable structure, and multiple instruments that can be operated efficiently and flexibly to meet the clinical needs of precise spinal decompression surgery.

[0006] In view of the above-mentioned defects, the present design person actively studies and innovates to create a spinal decompression robot based on tool swing angle bone incision processing, which can complete the cutting of a larger lesion area through a small incision, and realize the collinear layout of the orthopedic power cutter and the guide rod through the guide device, which is more in line with the requirements of minimally invasive spinal surgery, making it more useful in industry. SUMMARY

[0007] To solve the above technical problems, the purpose of the present application is to provide a spinal decompression robot based on tool swing angle bone incision processing, comprising an electric orthopedic cutter cutting and cutting through self-detection device, wherein: it also includes an auxiliary probe rod cutting through detection device, a power drive and transmission device, and a guide support device;The electric orthopedic cutter cutting and cutting through self-detection device and the auxiliary probe rod cutting through detection device are respectively connected with the power drive and transmission device, and the electric orthopedic cutter cutting and cutting through self-detection device and the auxiliary probe rod cutting through detection device are installed on the guide support device;The auxiliary probe rod cutting through detection device comprises a probe rod and a first signal trigger component for detecting the detection state of the probe rod;The electric orthopedic cutter cutting and cutting through self-detection device comprises an electric orthopedic cutter and a second signal trigger component for detecting the cutting state of the orthopedic cutter;The first signal trigger component and the second signal trigger component each include a compression spring and a contact electrode, the contact and separation of the contact electrode are controlled by the compression state change of the compression spring, and the corresponding cutting state signal is output;The guide support device further comprises an instrument channel, the instrument channel is provided on the comprehensive guide tube or the equipment manipulator, and is used for installing an endoscope, an electric knife and a suction device;The outlet of the instrument channel is provided with an elastic chuck, which is used for clamping the endoscope, the electric knife and the suction device.

[0008] Further, the above-mentioned spinal decompression robot based on tool swing angle bone cutting processing, wherein the electric orthopedic tool cutting and cutting through autonomous detection device further comprises an electric orthopedic tool clamp and an electric orthopedic tool sliding seat; the electric orthopedic tool is fixed on the electric orthopedic tool sliding seat through the electric orthopedic tool clamp, the electric orthopedic tool sliding seat is in sliding fit with the dovetail slot rod and can slide up and down along the dovetail slot rod; the electric orthopedic tool cutting and cutting through autonomous detection device further comprises a spring guide rod and a spring guide seat, the spring guide rod is arranged in the center of the compression spring, and the spring guide seat is fixed at the bottom of the spring sleeve so that the compression spring moves in the axial direction when it is stretched or contracted.

[0009] Further, the above-mentioned spinal decompression robot based on tool swing angle bone cutting processing, wherein the electric orthopedic tool cutting and cutting through autonomous detection device further comprises an electric orthopedic tool lifting drive rod and a spring sliding tube, one end of the electric orthopedic tool lifting drive rod is connected with a power drive and transmission device, the other end is connected with an orthopedic tool fixing seat through a screw rod structure; the compression spring is sleeved in the spring sliding tube, an outer side of the spring sliding tube is sleeved with a polytetrafluoroethylene spring sleeve, a polytetrafluoroethylene spring gasket is arranged between the compression spring and the spring seat, both ends of the compression spring abut against the square structure of the orthopedic tool lifting drive rod and the spring seat respectively, and the spring seat is fixed in the spring sleeve; the electric orthopedic tool cutting and cutting through autonomous detection device further comprises a spring adjusting block for adjusting the pre-tightening force of the compression spring; a nut is installed at the lower end of the spring guide rod, and the nut is located outside the spring seat.

[0010] Further, the above-mentioned spinal decompression robot based on tool swing angle bone cutting processing, wherein the auxiliary probe rod cutting through detection device further comprises a probe rod linking cantilever, a probe rod drive rod and a probe rod adjusting screw rod; one end of the probe rod is a detection end, the other end is connected to the probe rod drive rod through the probe rod linking cantilever, the probe rod adjusting screw rod is arranged on the probe rod electrical shell and is used for fine adjustment of the initial position of the probe rod; the probe rod drive rod comprises a passive telescopic drive rod and an active telescopic rod, the passive telescopic drive rod is provided with a hexagonal rod and is in sliding fit with a hollow gear driven by a reduction stepper motor, a hexagonal hole matched with the hexagonal rod is formed in the hollow gear, and a probe rod large sliding gasket and a probe rod small sliding gasket for reducing friction are installed on the sliding path of the passive telescopic drive rod.

[0011] Further, the above-mentioned spinal decompression robot based on tool swing angle bone cutting processing, wherein the first signal triggering assembly further comprises a probe rod electrical shell and a probe rod electrical shell wiring cover, the probe rod electrical shell wiring cover covers the probe rod electrical shell and is used for protecting internal wiring; the probe rod electrical shell is installed with a probe rod sensor electrode seat, a probe rod conductive ring, a contact electrode and a probe rod spring seat pad, when the probe rod is blocked, the probe rod compresses the internal spring, pushes the conductive sleeve to contact the contact electrode, and triggers the non-cutting through signal.

[0012] Further, the above-mentioned spinal decompression robot based on the bone cutting treatment of the tool swing angle, wherein the second signal triggering assembly further comprises an electric bone tool detection electrical shell and an electric bone tool detection electrical shell wiring cover, the electric bone tool detection electrical shell wiring cover covers the electric bone tool detection electrical shell for protecting the internal wiring; the electric bone tool detection electrical shell is internally provided with an electric bone tool detection electrode seat, an electric bone tool detection conductive ring and a contact electrode, when the electric bone tool cutting is blocked, the electric bone tool sliding seat stops moving downward, the block of the electric bone tool lifting driving rod continues to move downward to compress the spring, the conductive sleeve is pushed to contact the contact electrode, and the non-cutting signal is triggered.

[0013] Further, the above-mentioned spinal decompression robot based on the bone cutting treatment of the tool swing angle, wherein the power drive and transmission device comprises a reduction stepper motor, a double motor seat, a single motor seat and a universal connection table, the universal connection table is installed on the motor box fixing seat or the comprehensive guide pipe, and is used for adjusting the installation angle of the driving device; the reduction stepper motor is divided into two groups and is used for driving the electric bone tool and the probe rod respectively, the motor driving the probe rod is fixed on the double motor seat and is externally provided with a double motor shell and a double motor cover; the motor driving the electric bone tool is fixed on the single motor seat and is externally provided with a single motor shell and a single motor cover; the two groups of motors are integrally fixed on the equipment mechanical hand through the motor box fixing seat, and the motor and the transmission component are connected through the connecting sleeve.

[0014] Further, the above-mentioned spinal decompression robot based on the bone cutting treatment of the tool swing angle, wherein the power drive and transmission device further comprises a transmission gear set and a gear box seat, the transmission gear set comprises a transmission gear, a probe rod driving gear and a bone tool driving gear, and is all installed in the gear box seat, a gear box upper cover is installed on the gear box seat, the motor output shaft is connected with the transmission gear, the probe rod driving gear and the bone tool driving gear are driven through gear meshing; the power drive and transmission device further comprises a flexible shaft, the flexible shaft outputs the driving force of the motor to the auxiliary sliding block driving rod, the auxiliary sliding block driving rod drives the auxiliary sliding block driving rod seat to move up and down through the auxiliary sliding block driving rod; one end of the auxiliary sliding block driving rod is connected with the transmission gear through a gear, the other end of the auxiliary sliding block driving rod is connected with the auxiliary sliding block driving rod fixing sleeve, and the auxiliary sliding block driving rod fixing sleeve gasket is fixed on the auxiliary lifting sliding block.

[0015] Further, the above-mentioned spinal decompression robot based on the bone cutting treatment of the tool swing angle, wherein the guide support device comprises a comprehensive guide pipe and a endoscope height adjusting block, the comprehensive guide pipe is internally provided with a bone tool sliding seat, a probe rod driving rod and a flexible shaft, and is externally connected with an auxiliary lifting guide rail through a support; the comprehensive guide pipe is internally provided with the endoscope height adjusting block, and the endoscope is installed on the endoscope height adjusting block.

[0016] Furthermore, in the aforementioned spinal decompression robot based on the cutting tool angle osteotomy, the guide support device further includes an auxiliary lifting guide rail and an auxiliary lifting slider. The auxiliary lifting guide rail is fixed to the outside of the integrated guide tube and slides in cooperation with the auxiliary lifting slider. The auxiliary component slider drive rod seat is installed on the integrated guide tube, and the auxiliary component lifting slider slides on the auxiliary component slider drive rod seat.

[0017] By means of the above-described solution, the present invention has at least the following advantages: 1. A dual penetration detection mechanism is achieved through both probe-assisted and autonomous orthopedic blade intervention. The probe assists the electric orthopedic blade to make a real-time detection every time it advances a safe cutting distance as it approaches the expected penetration point in the bone tissue, such as the vertebral laminae, during the first cut. The autonomous blade then autonomously detects penetration as it moves within a certain angle and advances. Both detection methods ensure that the penetration depth of the electric orthopedic blade is controlled within a safe range, effectively protecting nerve tissue and significantly improving the precision and safety of spinal decompression surgery.

[0018] 2. Using a comprehensive guide tube as the core mounting reference frame, the sliding engagement between the dovetail groove rod and the orthopedic tool sliding seat, along with the axial limiting of the compression spring by the spring guide rod and spring guide seat, ensures that the electric orthopedic tool's lifting and lowering movements, and the probe's extension and retraction, proceed stably along a preset trajectory, preventing movement deviations caused by component misalignment. Simultaneously, a PTFE spring sleeve is fitted to the outside of the compression spring, and a PTFE spring washer is placed at the bottom. Large and small sliding washers are installed along the sliding path of the probe drive rod. The low friction and wear-resistant properties of PTFE, combined with the drag-reducing effect of the washers, reduce frictional losses between components, extend the service life of each core component, and ensure the robot's long-term stable operation.

[0019] 3. Both the power drive and transmission devices employ a grouped reduction stepper motor coupled with a gear set transmission design. The two sets of motors can independently drive the electric orthopedic blade and probe. Through the precise meshing of the transmission gears, probe drive gears, and orthopedic blade drive gears, power is distributed as needed. Utilizing the flexible shaft, it can adapt to complex internal spatial layouts of the surgical head, enabling non-linear power transmission and meeting the movement requirements of auxiliary components. Furthermore, the spring adjustment block allows for flexible adjustment of the compression spring preload, enabling the electric orthopedic blade to adapt its cutting force to spinal bones of varying hardness, thus broadening the robot's applicability in spinal decompression surgery for patients with different conditions.

[0020] 4. The guide support device integrates an instrument channel and flexible clamps, allowing for the simultaneous mounting of various commonly used surgical instruments such as endoscopes, electrosurgical units, and suction devices. The flexible clamps securely hold the instruments, preventing displacement due to vibration during surgery. The endoscope height adjustment block is linked to the auxiliary lifting slider, allowing for flexible fine-tuning of the endoscope height according to the surgical field requirements, without the need for additional tools. This integrated design reduces the time spent changing and adjusting instruments during surgery, simplifies the operation process, and is compatible with various conventional surgical instruments, reducing equipment adaptation costs in clinical applications.

[0021] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical aspects of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] 5. The orthopedic blades are used to swing and reduce the surgical incision, thus reducing surgical trauma. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the robot.

[0024] Figure 2 This is a schematic diagram of the internal structure of this robot.

[0025] Figure 3 This is a side view diagram of the robot.

[0026] Figure 4 It is a continuation Figure 3 In the diagram, a cross-sectional view along the AA direction.

[0027] Figure 5 This is a schematic diagram of the front structure of this robot.

[0028] Figure 6 It is a continuation Figure 5 A cross-sectional view along the BB direction.

[0029] Figure 7 yes Figure 6 A partially enlarged structural diagram.

[0030] Figure 8 It is a continuation Figure 5 A cross-sectional view along the CC direction.

[0031] Figure 9 It is a continuation Figure 5 A cross-sectional view along the DD direction.

[0032] Figure 10 It is a continuation Figure 9 In the diagram, a cross-sectional view along the FF direction.

[0033] Figure 11 It is a continuation Figure 5 In the diagram, a cross-sectional view along the EE direction.

[0034] Figure 12 This is a diagram illustrating the combined use of the robot and the operating table.

[0035] The meanings of the labels in the figures are as follows.

[0036] Detailed Implementation The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0037] like Figures 1 to 12A spinal decompression robot based on blade angle osteotomy includes an electric orthopedic blade, an active penetration detection device, and an auxiliary probe penetration detection device. Its unique feature lies in the auxiliary probe penetration detection device used to address the problem of not being able to determine whether the electric orthopedic blade 1 has penetrated bone tissue such as the vertebral laminae during the first cut, thus enabling the determination of bone tissue penetration during the first cut. The auxiliary probe detection device includes a probe 14 and a first signal triggering component. The first signal triggering component can be used in conjunction with the probe 14 to achieve accurate feedback on the penetration status during probe detection. The auxiliary probe detection device also includes a probe connecting cantilever 16, a probe drive rod 20, a probe adjusting screw 18, a large probe sliding washer 22, and a small probe sliding washer 23. Specifically, one end of the probe 14 is the detection end, facing the cutting area of ​​the electric orthopedic blade 1, and the other end is connected to the probe drive rod 20 via the probe connecting cantilever 16. The probe link cantilever can be made of a rigid material such as stainless steel to ensure that the probe 14 does not deform during detection. The probe adjustment screw 18 passes through the probe electrical housing 17. By rotating the probe adjustment screw 18, the initial extension length of the probe 14 can be finely adjusted, ensuring that the detection end of the probe 14 is precisely aligned with the expected cutting position of the electric orthopedic blade 1, ensuring the accuracy and reliability of the cutting detection. Simultaneously, the probe drive rod 20 includes a passive telescopic drive rod and an active telescopic rod. The passive telescopic drive rod has a hexagonal rod that can slide with the hollow gear driven by the reduction stepper motor 48. Thus, the hexagonal structure prevents relative rotation between the passive telescopic drive rod and the hollow gear, allowing only axial sliding. Furthermore, the active telescopic rod engages with the hollow gear via a thread. When the reduction stepper motor 48 drives the hollow gear to rotate, the threaded transmission drives the active telescopic rod to extend and retract axially, thereby pushing the probe 14 to achieve the extension and retraction of the detection action. The sliding path of the passive telescopic drive rod is equipped with a large sliding pad 22 and a small sliding pad 23. The two pads are respectively attached to the contact surfaces of the passive telescopic drive rod and the hollow gear, and the passive telescopic drive rod and the electrical housing 17 of the probe rod, to reduce the frictional resistance during the sliding process and ensure the smoothness of the telescopic movement of the probe rod 14.

[0038] The first signal triggering component used in this invention is used to detect the detection status of the probe 14, and includes a compression spring associated with the probe spring seat 24 and a contact electrode 25. It is also equipped with a probe electrical housing 17, a probe electrical housing wiring cover 59, a probe sensor electrode seat 21, a probe conductive ring 26, and a probe spring seat 24. During use, the probe electrical housing 17 provides protection for the internal components, and the probe electrical housing wiring cover 59 covers the probe electrical housing 17 to protect the internal wiring from external interference. The probe sensor electrode seat 21, the probe conductive ring 26, the contact electrode 25, and the probe spring seat 24 are all installed inside the probe electrical housing 17. The probe spring seat 24 supports the internal spring linked to the probe 14. When the detection end of the probe 14 contacts the bone that has not been cut through, the probe 14 is blocked and cannot extend further. At this time, the internal spring is compressed, pushing the conductive sleeve to contact the contact electrode 25, and the circuit is connected. Thus, a "not cut through" trigger signal is output. Once probe 14 has cut through the bone, the bone's resistance to the blade disappears, the internal spring returns to its original position, the conductive sleeve separates from the contact electrode 25, and the trigger signal disappears. Each time the electric orthopedic blade advances a safe cutting distance, the auxiliary probe penetration detection device performs a real-time detection to determine whether bone tissue, such as the vertebral laminae, has been cut through. This completes the accurate determination of whether the first cut has penetrated bone tissue, such as the vertebral laminae.

[0039] Furthermore, the electric orthopedic scalpel cutting and active penetration detection device can detect the penetration status of bone tissue, such as the lamina. It includes an electric orthopedic scalpel 1, a second signal triggering component, and is also equipped with an electric orthopedic scalpel clamp 7, an electric orthopedic scalpel sliding seat 8, a spring guide rod 38, a spring guide seat 40, an orthopedic scalpel feed drive rod 27, a spring sliding tube 10, and a spring adjusting block 36. Specifically, the connections and functions of each component are as follows: The electric orthopedic scalpel 1, as the cutting actuator, is preferably an electric orthopedic scalpel and can be fixed to the orthopedic scalpel sliding seat 8 via the electric orthopedic scalpel clamp 7. The electric orthopedic scalpel clamp 7 is fastened to the electric orthopedic scalpel sliding seat 8 by bolts. This ensures that the electric orthopedic scalpel 1 has no relative displacement during the cutting process. The bolts used in this invention can be commercially available compatible models, which will not be elaborated here. During use, the electric orthopedic scalpel sliding seat 8 and the dovetail groove rod 9 form a sliding fit, with the dovetail groove rod 9 fixed in the vertical direction. Therefore, the electric orthopedic cutter slide seat 8 can drive the electric orthopedic cutter 1 to slide stably up and down along the dovetail groove rod 9, providing guidance for the up and down cutting action of the electric orthopedic cutter 1.

[0040] Furthermore, the spring guide rod 38 passes through the center of the compression spring 6, and the spring guide seat 40 is fixed to the bottom of the spring sleeve 12. Simultaneously, a nut 35 is installed at the lower end of the spring guide rod 38, located outside the spring seat 11, for locking and positioning. The cooperation between the spring guide rod 38 and the spring guide seat 40 restricts the extension and retraction direction of the compression spring 6, ensuring that the compression spring 6 moves only axially, preventing signal triggering failure due to spring misalignment. Moreover, the compression spring 6 is sleeved inside the spring sliding tube 10, and a polytetrafluoroethylene (PTFE) spring sleeve 37 is also sleeved on its outer side. A PTFE spring washer 39 is placed between the compression spring 6 and the spring seat 11. PTFE material has low friction and wear-resistant properties, reducing frictional wear between the compression spring 6 and surrounding components during extension and retraction, extending the service life of the components. Furthermore, the spring seat 11 is fixed inside the spring sleeve 12, and the two ends of the compression spring 6 abut against the block structure of the orthopedic knife lifting drive rod 27 and the spring seat 11, respectively. During installation, the spring adjusting block 36 is mounted on one side of the spring sleeve 12. By rotating the spring adjusting block 36, the position of the spring seat 11 inside the spring sleeve 12 can be changed, thereby adjusting the preload of the compression spring 6 to adapt to the cutting requirements of bone tissue of different masses, such as the vertebral laminae.

[0041] In practical implementation, one end of the orthopedic tool lifting drive rod 27 is connected to the power drive and transmission device to receive the corresponding power input. The other end is connected to the orthopedic tool sliding seat 8 in the orthopedic tool fixing seat via a screw structure. When the orthopedic tool lifting drive rod 27 moves upward, it directly pushes the electric orthopedic tool fixing seat and the electric orthopedic tool sliding seat 8 upward along the dovetail groove rod 9. When the orthopedic tool lifting drive rod 27 moves downward, it first pushes the compression spring 6, and then the elastic force of the compression spring 6 pushes the orthopedic tool fixing seat and the orthopedic tool sliding seat 8 downward along the dovetail groove rod 9. Thus, the electric orthopedic tool 1 can perform vertical or inclined cutting actions by moving up and down, and the deformation characteristics of the compression spring 6 can be used to provide feedback for the active measurement function of the second signal trigger component to trigger subsequent cutting signals.

[0042] The second signal triggering component used in this invention is used to detect the cutting status of the electric orthopedic blade 1. It includes a compression spring 6 and a contact electrode 25. It also includes an electric orthopedic blade detection electrical housing 19, an orthopedic blade detection electrical housing wiring cover 60, an orthopedic blade detection electrode seat 28, and an orthopedic blade detection conductive ring 29. The orthopedic blade detection electrical housing 19 provides protection for the internal electrical components. The orthopedic blade detection electrical housing wiring cover 60 covers the orthopedic blade detection electrical housing 19 to protect the internal wiring and prevent contaminants such as blood and body fluids from interfering with the circuit during surgery. Furthermore, the orthopedic blade detection electrode seat 28, the orthopedic blade detection conductive ring 29, and the contact electrode 25 are all installed inside the orthopedic blade detection electrical housing 19. Thus, the conductive sleeve can be linked with the orthopedic blade sliding seat 8 and can move with the movement of the orthopedic blade sliding seat 8. During use, when the electric orthopedic blade 1 encounters cutting resistance (failing to cut through bone tissue such as the vertebral laminae), the electric orthopedic blade sliding seat 8 stops moving downwards. The block of the orthopedic blade lifting drive rod 27 continues to move downwards and compresses the spring 6. The deformation of the compressed spring 6 pushes the conductive sleeve to contact the contact electrode 25. At this time, the circuit is turned on, and a "not cut through" trigger signal is output. When the electric orthopedic blade 1 cuts through bone tissue such as the lamina, the resistance of the bone tissue to the blade disappears, and the orthopedic blade sliding seat 8 can continue to move downwards with the block of the orthopedic blade lifting drive rod 27. The conductive sleeve separates from the contact electrode 25, the trigger signal disappears, and the accurate judgment of the subsequent bone tissue, such as the lamina, cutting through is completed. Thus, the cutting resistance can be fed back in real time by the spring compression, indirectly judging whether the bone tissue has been cut through.

[0043] During implementation, the drive and transmission device provides power for the movement of the orthopedic scalpel cutting and penetration detection device, the auxiliary probe penetration device, and the accessories. It includes components such as a reduction stepper motor 48, a dual motor mount 49, a single motor mount 53, a universal joint 57, a transmission gear set, a gearbox mount 44, and a flexible shaft 58. Specifically, the reduction stepper motor 48 is divided into two groups: one group drives the extension and retraction of the probe 14 of the auxiliary probe penetration detection device, and the other group drives the lifting and swinging of the electric orthopedic scalpel 1 of the electric orthopedic scalpel cutting and penetration detection device. The reduction stepper motor 48 driving the probe 14 is fixed on the dual motor mount 49. The dual motor mount 49 provides stable support for the motor, and the outer side of the motor is covered with a dual motor housing 51 and a dual motor cover 52, forming a fully enclosed protection. This prevents surgical contaminants from entering the motor. Simultaneously, the reduction stepper motor 48 driving the electric orthopedic scalpel 1 is fixed on the single motor mount 53, and the outer side is covered with a single motor housing 54 and a single motor cover 55, which also serve a protective function. Two sets of geared stepper motors 48 are fixed to the robotic arm of the equipment via motor housing mounting base 56. The motor housing mounting base 56 and the robotic arm are fastened with bolts to ensure that the motors operate without vibration or deviation. The output shaft of the motor is connected to the transmission components via a connecting sleeve 50. The connecting sleeve 50 is made of rubber-like elastic material, which can buffer the vibration of the motor during operation and prevent the meshing clearance of the transmission components from increasing due to vibration.

[0044] To better implement this invention, the transmission gear set includes a transmission gear 45, a probe drive gear 46, and an orthopedic tool feed drive gear 47. All three are installed in a gearbox seat 44, which is covered by a gearbox cover 43, forming a sealed gear transmission space to prevent debris or external contaminants generated during gear meshing from affecting transmission accuracy. The output shaft of the reduction stepper motor 48 is connected to the transmission gear 45. During use, when the motor starts, the transmission gear 45 rotates, driving the probe drive gear 46 and the orthopedic tool feed drive gear 47 to rotate through gear meshing. The probe drive gear 46 is linked with the hollow gear of the probe drive rod 20, providing power for the extension and retraction of the probe 14, ensuring the effectiveness of the first signal trigger component's engagement with the probe (14), and ensuring the stability of the probe 14's detection force. The electric orthopedic tool 1 feed drive gear 47 is linked with the orthopedic tool feed drive rod 27, providing power for the electric orthopedic tool 1's feed and swing angle movement, achieving precise power distribution. The flexible shaft 58 used in this invention is connected at one end to the output shaft of the reduction stepper motor 48 or the transmission gear 45, and at the other end to the auxiliary component slider drive rod 33. The flexible shaft 58 can adapt to the complex spatial layout inside the robot arm of the equipment, enabling power transmission in non-linear directions. Simultaneously, one end of the auxiliary component slider drive rod 33 is linked to the transmission gear 45 via a gear to receive power input, while the other end is fixed to the auxiliary component lifting slider 31 via the auxiliary component slider drive rod fixing sleeve 41 and the auxiliary component slider drive rod fixing sleeve washer 42. When the auxiliary component slider drive rod 33 rotates, it can drive the auxiliary component lifting slider 31 to slide along the auxiliary component lifting guide rail 30, thereby providing power for the position adjustment of auxiliary components such as the endoscope 2 and the electrosurgical unit 3.

[0045] Meanwhile, the guiding support device used in this invention provides installation benchmarks and motion guidance for all components of the robot, and can integrate surgical accessories. Specifically, it includes components such as a comprehensive guide tube 13, an endoscope height adjustment block 5, an instrument channel 15, an elastic clamp 34, an accessory lifting guide rail 30, an accessory lifting slider 31, and an accessory slider drive rod seat 32. The connections and functions of each component are as follows: The comprehensive guide tube 13 serves as the installation benchmark skeleton and is made of high-strength alloy material. Inside, an orthopedic tool sliding seat 8, a probe drive rod 20, and a flexible shaft 58 are installed. The movement direction of each component is restricted by a pre-set guide groove inside. Furthermore, the exterior of the comprehensive guide tube 13 is connected to the accessory lifting guide rail 30 via a bracket. The bracket, the comprehensive guide tube 13, and the accessory lifting guide rail 30 are all fastened with bolts to ensure the installation accuracy of the accessory lifting guide rail 30.

[0046] To accommodate the installation of various surgical instruments, an instrument channel 15 is provided on the integrated guide tube 13. This channel is used to install the endoscope 2, electrosurgical unit 3, and suction device 4. An elastic clamp 34, made of elastic rubber, is located at the exit of the instrument channel 15. The clamp clamp 34 uses its elastic deformation to clamp the endoscope 2, electrosurgical unit 3, and other accessories, preventing displacement due to vibration during surgery. Simultaneously, an endoscope height adjustment block 5 is installed on the integrated guide tube 13, with the endoscope 2 directly mounted on it. Thus, the endoscope height adjustment block 5 is linked to the accessory lifting slider 31. When the accessory lifting slider 31 slides along the accessory lifting guide rail 30, it drives the endoscope height adjustment block 5 to move synchronously, thereby fine-tuning the height of the endoscope 2. This ensures that the endoscope 2's field of vision is always aligned with the cutting area of ​​the electric orthopedic blade 1, facilitating real-time observation of the cutting status by the surgeon. This also assists the surgeon in verifying the reliability of the active measurement results from the second signal trigger component, providing dual protection.

[0047] In practical implementation, the auxiliary component lifting guide rail 30 is fixed to the outside of the integrated guide tube 13 and distributed vertically. Therefore, the auxiliary component lifting slider 31 and the auxiliary component lifting guide rail 30 form a sliding fit. Simultaneously, the auxiliary component slider drive rod seat 32 is mounted on the integrated guide tube 13, allowing the auxiliary component lifting slider 31 to slide on it. Furthermore, the auxiliary component slider drive rod seat 32 restricts the sliding direction of the auxiliary component lifting slider 31 through guide grooves, ensuring that the auxiliary component lifting slider 31 moves only in the vertical direction, preventing deviation that could reduce the accuracy of auxiliary component position adjustment.

[0048] The working principle of this invention is as follows: In the initial preparation stage, the initial position of probe 14 is finely adjusted using probe adjusting screw 18, aligning the probe tip of probe 14 with the expected cutting position of the electric orthopedic blade 1. Then, the height of endoscope 2 is adjusted using endoscope height adjusting block 5 to ensure that the endoscope 2's field of view covers the cutting area. Next, the reduction stepper motor 48 is activated, driving the orthopedic blade lifting drive rod 27 and probe drive rod 20 to reset via the transmission gear set, bringing the electric orthopedic blade 1 and probe 14 to their initial standby position.

[0049] The procedure proceeds to the initial incision and the assessment stage using the auxiliary probe. During this phase, the power drive and transmission device propels the electric orthopedic blade 1 vertically up and down along the dovetail groove rod 9 to cut bone tissue, such as the vertebral laminae. Simultaneously, the electric orthopedic blade 1 makes a small oscillation towards the probe rod 14, achieving angular cutting. The oscillation amplitude is controlled by the rotation angle of the orthopedic blade drive gear 47 to ensure that the oscillation range does not exceed the safe surgical area.

[0050] When the electric orthopedic blade is expected to approach bone tissue, such as the lamina, the robot-controlled system controls the electric orthopedic blade 1 to pause cutting after advancing a safe distance, such as 0.5 mm. Simultaneously, the power drive and transmission device extend the probe 14 from the probe drive rod 20 for probing. During this period, if the probe 14 encounters obstruction (failure to penetrate bone tissue, such as the lamina), the probe 14 compresses its internal spring, pushing the conductive sleeve to contact the contact electrode 25, triggering an "incomplete cut" signal. Upon receiving this signal, the system controls the electric orthopedic blade 1 to continue cutting. If the probe 14 does not encounter obstruction, the internal spring returns to its original position, the conductive sleeve separates from the contact electrode 25, the "incomplete cut" signal disappears, and the system determines that the first cut has penetrated. At this point, the cutting depth of the electric orthopedic blade 1 is less than the safe distance, such as 0.5 mm, avoiding excessive or deep cutting that could cause dangerous nerve damage.

[0051] After the first cut penetrates the bone, the system switches to the autonomous detection mode of the electric orthopedic blade 1. The power drive and transmission device move the electric orthopedic blade 1 a certain distance (e.g., 1mm) towards the probe rod 14 to adjust the cutting position and then continue cutting. When approaching the new expected cut position, the system controls the electric orthopedic blade 1 to stop cutting and simultaneously moves it a safe distance (e.g., 0.5mm) for detection. During this period, if the electric orthopedic blade 1 is obstructed during its downward movement, the orthopedic blade sliding seat 8 stops moving downward, and the block of the orthopedic blade lifting drive rod 27 continues to move downward to compress the spring 6, pushing the conductive sleeve to contact the contact electrode 25, triggering the "not penetrated" signal, and the system controls the electric orthopedic blade 1 to start cutting again. If the electric orthopedic blade 1 is not obstructed during its downward movement, the orthopedic blade sliding seat 8 continues to move downward with the block of the orthopedic blade lifting drive rod 27, the conductive sleeve separates from the contact electrode 25, and the "not penetrated" signal disappears. Thus, the system determines that the bone tissue, such as the vertebral laminae, has been penetrated and controls the electric orthopedic blade 1 to stop cutting. At this point, the cutting depth of the electric orthopedic blade 1 is still less than the safe distance, such as 0.5mm, to ensure the safety of cutting bone tissue such as the vertebral laminae.

[0052] Finally, the surgery enters the final stage. After the bone tissue, such as the vertebral laminae, is cut, the electric orthopedic tool feed drive and transmission device drives the electric orthopedic tool 1 and probe 14 to reset, the deceleration stepper motor 48 is turned off, and the debris in the cutting area is cleaned up by the suction device 4, completing the bone tissue cutting or penetrating operation, such as the vertebral laminae.

[0053] In conjunction with the operating table 61, this robot is mounted on a swing beam 62 via a connecting arm. The swing beam 62 is equipped with left and right sliding guide rails, allowing adjustment of the robot's left and right position. Simultaneously, the swing beam is connected to a swing angle adjustment motor 63. Thus, the swing angle of the robot can be controlled by the actual swing of the swing beam 62. Furthermore, the swing angle adjustment motor 63 is connected to a height adjustment push rod 64, controlling the height of the electric orthopedic blade. A front-to-back adjustment slide rail 65 is installed on the operating table 61, connected to the height adjustment push rod 64. During use, the height adjustment push rod 64 is connected to the robot, controlling its left and right position. Considering future use and facilitating cutting on both sides of the spinous process, a robot arm reversing seat 66 can be installed on the robot, facilitating subsequent left-to-right swapping and changing operations for different decompression surgical sides.

[0054] It should be noted that the surgical procedures involved in the use described in this invention are only for illustrating the structure and working principle of this application, and do not involve the diagnosis and treatment of diseases.

[0055] Furthermore, the orientations or positional relationships described in this invention are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the purpose of facilitating the description of this invention and simplifying the description, and are not intended to indicate or imply that the device or structure referred to must have a specific orientation, or to operate in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A spinal decompression robot based on scalpel angle osteotomy, comprising an electric orthopedic scalpel for cutting and penetrating with an autonomous detection device, characterized in that: It also includes an auxiliary probe penetration detection device, a power drive and transmission device, and a guide support device; The electric orthopedic scalpel cutting and penetration autonomous detection device and the auxiliary probe cutting and penetration detection device are respectively connected to the power drive and transmission device, and both the electric orthopedic scalpel cutting and penetration autonomous detection device and the auxiliary probe cutting and penetration detection device are mounted on the guide support device; The auxiliary probe penetration detection device includes a probe (14) and a first signal triggering component for detecting the detection state of the probe (14); The electric orthopedic knife cutting and penetration autonomous detection device includes an orthopedic knife (1) and a second signal triggering component for detecting the cutting status of the orthopedic knife (1); The first signal triggering component and the second signal triggering component both include a compression spring (6) and a contact electrode (25). By changing the compression state of the compression spring (6), the contact and separation of the contact electrode (25) are controlled, and the corresponding cutting state signal is output. The guide support device also includes an instrument channel (15), which is located in the integrated guide tube (13) or the equipment manipulator and is used to install an endoscope (2), an electrosurgical knife (3) and a suction device (4). The instrument channel (15) is provided with an elastic clamp (34) at the exit to clamp the endoscope (2) and the electrosurgical knife (3).

2. The spinal decompression robot based on blade-driven angled bone cutting as described in claim 1, characterized in that: The electric orthopedic knife cutting and penetration autonomous detection device also includes an electric orthopedic knife clamp (7) and an electric orthopedic knife sliding seat (8). The electric orthopedic knife (1) is fixed on the electric orthopedic knife sliding seat (8) by the electric orthopedic knife clamp (7). The electric orthopedic knife sliding seat (8) is slidably engaged with the dovetail groove rod (9) and can slide up and down along the dovetail groove rod (9). The electric orthopedic knife cutting and penetration autonomous detection device also includes a spring guide rod (38) and a spring guide seat (40). The spring guide rod (38) passes through the center of the compression spring (6), and the spring guide seat (40) is fixed to the bottom of the spring sleeve (12), so that the compression spring (6) moves axially when it extends and retracts.

3. The spinal decompression robot based on blade-driven angled bone cutting as described in claim 1, characterized in that: The electric orthopedic knife cutting and penetration autonomous detection device also includes an orthopedic knife lifting drive rod (27) and a spring sliding tube (10). One end of the orthopedic knife lifting drive rod (27) is connected to the power drive and transmission device, and the other end is connected to the orthopedic knife fixing seat through a screw structure. The compression spring (6) is sleeved inside the spring sliding tube (10), and a polytetrafluoroethylene spring sleeve (37) is sleeved on the outside. A polytetrafluoroethylene spring washer (39) is placed between the compression spring (6) and the spring seat (11). The two ends of the compression spring (6) respectively abut against the block structure of the orthopedic knife lifting drive rod (27) and the spring seat (11). The spring seat (11) is fixed inside the spring sleeve (12). The electric orthopedic knife cutting and penetration autonomous detection device also includes a spring adjustment block (36) for adjusting the preload of the compression spring (6). The lower end of the spring guide rod (38) is fitted with a nut (35), which is located outside the spring seat (11).

4. The spinal decompression robot based on blade-driven angle osteotomy according to claim 1, characterized in that: The first signal triggering component also includes a probe electrical housing (17) and a probe electrical housing wiring cover (59). The probe electrical housing wiring cover (59) covers the probe electrical housing (17) to protect the internal wiring. The probe electrical housing (17) contains a probe sensor electrode seat (21), a probe conductive ring (26), a contact electrode (25), and a probe spring seat (24). When the probe (14) is blocked, the probe (14) compresses the internal spring, pushes the conductive sleeve to contact the contact electrode (25), and triggers the incomplete cut signal.

5. A spinal decompression robot based on a blade-driven angled osteotomy process according to claim 1, characterized in that: The auxiliary probe penetration detection device also includes a probe link cantilever (16), a probe drive rod (20), and a probe adjustment screw (18). One end of the probe (14) is the detection end, and the other end is connected to the probe drive rod (20) through the probe link cantilever (16). The probe adjustment screw (18) is installed on the probe electrical housing (17) and is used to fine adjust the initial position of the probe (14). The probe drive rod (20) includes a passive telescopic drive rod and an active telescopic rod. The passive telescopic drive rod has a hexagonal rod that slides in cooperation with a hollow gear driven by a speed reduction stepper motor (48). The hollow gear has a hexagonal hole that matches the hexagonal rod. The sliding path of the passive telescopic drive rod is equipped with a large probe sliding pad (22) and a small probe sliding pad (23) to reduce friction.

6. A spinal decompression robot based on a blade-driven angled bone-cutting process according to claim 1, characterized in that: The second signal triggering component also includes an orthopedic knife detection electrical housing (19) and an orthopedic knife detection electrical housing wiring cover (60), the orthopedic knife detection electrical housing wiring cover (60) covering the orthopedic knife detection electrical housing (19) to protect the internal wiring; The orthopedic knife detection electrical housing (19) is equipped with an orthopedic knife detection electrode seat (28), an orthopedic knife detection conductive ring (29), and a contact electrode (25). When the orthopedic knife (1) is blocked from cutting, the orthopedic knife sliding seat (8) stops moving down, and the block of the orthopedic knife lifting drive rod (27) continues to move down to compress the spring (6), pushing the conductive sleeve to contact the contact electrode (25) and triggering the incomplete cut signal.

7. A spinal decompression robot based on a blade-driven angled bone-cutting process according to claim 1, characterized in that: The power drive and transmission device includes a speed reduction stepper motor (48), a dual motor mount (49), a single motor mount (53), and a universal joint (57). The universal joint (57) is installed on the motor box mounting base (56) or the integrated guide tube (13) to adjust the installation angle of the drive device. The decelerated stepper motor (48) is divided into two groups, which drive the orthopedic knife (1) and the probe (14) respectively. The motor driving the probe (14) is fixed on the double motor base (49), and the double motor housing (51) and double motor cover (52) are installed on the outside. The motor driving the electric orthopedic knife (1) is fixed on a single motor base (53), and a single motor housing (54) and a single motor cover (55) are installed on the outside. The two sets of motors are fixed to the machine arm of the equipment through the motor box fixing base (56), and the motor and the transmission components are connected through the connecting sleeve (50).

8. A spinal decompression robot based on a blade-driven angled osteotomy process according to claim 7, characterized in that: The power drive and transmission device also includes a transmission gear set and a gearbox seat (44). The transmission gear set includes a transmission gear (45), a probe drive gear (46), and an electric orthopedic knife drive gear (47), all of which are installed in the gearbox seat (44). A gearbox cover (43) is installed on the gearbox seat. The motor output shaft is connected to the transmission gear (45), and the probe drive gear (46) and the electric orthopedic knife drive gear (47) are driven through gear meshing. The power drive and transmission device also includes a flexible shaft (58), which outputs the driving force of the motor to the auxiliary slider drive rod (33), and drives the auxiliary slider drive rod seat (32) to move up and down through the auxiliary slider drive rod (33). One end of the auxiliary component slider drive rod (33) is linked to the transmission gear (45) through a gear, and the other end is fixed on the auxiliary component lifting slider (31) through the auxiliary component slider drive rod fixing sleeve (41). The auxiliary component slider drive rod fixing sleeve gasket (42) is fixed on the auxiliary component lifting slider (31).

9. A spinal decompression robot based on a blade-driven angled osteotomy process according to claim 1, characterized in that: The guide support device includes a comprehensive guide tube (13) and an endoscope height adjustment block (5). The comprehensive guide tube (13) has an electric orthopedic knife sliding seat (8), a probe drive rod (20) and a flexible shaft (58) inside, and is connected to an auxiliary lifting guide rail (30) through a bracket outside. The endoscope height adjustment block (5) is installed on the comprehensive guide tube (13), and an endoscope (2) is installed on the endoscope height adjustment block (5).

10. A spinal decompression robot based on a blade-driven angled osteotomy process according to claim 9, characterized in that: The guide support device also includes an auxiliary lifting guide rail (30) and an auxiliary lifting slider (31). The auxiliary lifting guide rail (30) is fixed on the outside of the integrated guide tube (13) and slides in cooperation with the auxiliary lifting slider (31). The auxiliary component slider drive rod seat (32) is installed on the integrated guide tube (13), and the auxiliary component lifting slider (31) slides on the auxiliary component slider drive rod seat (32).

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