Bone cement injection device and bone cement injection robot

Abstract

The invention provides a bone cement injection device and a bone cement injection robot, and relates to the technical field of medical instruments. The bone cement injection device comprises an output mechanism and an injection mechanism, the output mechanism comprises an output shell, a driving assembly, a stirring assembly and a push-pull assembly, the driving assembly, the stirring assembly and the push-pull assembly are arranged in the output shell, the output shell is arranged on the bone cement injection robot, and the driving assembly is used for being selectively in transmission connection with the stirring assembly and the push-pull assembly to drive the stirring assembly to rotate. Or the push-and-pull assembly is driven to extend out of or retract into the output cylinder on the output shell; the injection mechanism comprises a contrast agent injection module and a bone cement injection module, the contrast agent injection module comprises a contrast agent cylinder, the bone cement injection module comprises a bone cement cylinder, and the contrast agent cylinder and the bone cement cylinder are both used as front cylinders and can be selectively connected to the output cylinder. According to the bone cement injection device and the bone cement injection robot, the technical problems of equipment redundancy, complicated operation, low efficiency and excessive ray exposure in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a bone cement injection device and a bone cement injection robot. Background Technology

[0002] In percutaneous vertebroplasty, a vertebral dilatation balloon is used to restore the height of the collapsed vertebral body and create an injection cavity, into which bone cement is then injected to provide mechanical support. The entire procedure mainly consists of three parts: First, contrast agent is injected into the balloon using a pressure pump to achieve dilation and reduction. Then, the contrast agent is withdrawn and the balloon is removed. Finally, bone cement powder and liquid are mixed using a specialized mixing device, and the injection instrument is changed to inject the bone cement into the vertebral cavity. After the bone cement hardens within the vertebral body, it provides support for the restored vertebral height.

[0003] The entire procedure involves the injection and extraction of contrast agents, mixing of bone cement, and injection of bone cement, all of which require multiple independent devices. As a result, the equipment needs to be changed frequently during the operation, which not only increases the complexity of the operation and the degree of human involvement for medical staff, but also prolongs the operation time and reduces the efficiency of the operation. Moreover, since the entire procedure is carried out under the real-time guidance of an X-ray machine, the cumbersome operation and low efficiency will lead to an increase in the radiation exposure dose for the operators. Summary of the Invention

[0004] The purpose of this invention is to provide a bone cement injection device and a bone cement injection robot, which can solve the technical problems of redundant equipment, cumbersome operation, low efficiency and excessive radiation exposure in the prior art.

[0005] To achieve this objective, the present invention adopts the following technical solution: A bone cement injection device, comprising: The output mechanism includes an output shell and a drive assembly, a stirring assembly, and a push-pull assembly disposed within the output shell. The output shell is disposed on a bone cement injection robot. The drive assembly is selectively connected to the stirring assembly and the push-pull assembly to drive the stirring assembly to rotate, or to drive the push-pull assembly to extend or retract from the output cylinder on the output shell. The injection mechanism includes a contrast agent injection module and a bone cement injection module. The contrast agent injection module includes a contrast agent cartridge, and the bone cement injection module includes a bone cement cartridge. Both the contrast agent cartridge and the bone cement cartridge serve as front cartridges and can be selectively connected to the output cartridge.

[0006] Compared with the prior art, the bone cement injection device provided by the present invention has the following advantages: The bone cement injection device provided in this solution features a drive assembly that can be selectively connected to the mixing assembly and the push-pull assembly. Both the contrast agent cartridge in the contrast agent injection module and the bone cement cartridge in the bone cement injection module serve as front cartridges, and can be selectively connected to the output cartridge on the output mechanism. Therefore, during operation at the target location, when contrast agent injection and extraction are required, the contrast agent cartridge in the contrast agent injection module is connected to the output cartridge, and the contrast agent injection module is punctured at the target location. Then, the drive assembly is connected to the push-pull assembly. When the drive assembly drives the push-pull assembly to extend out of the output cartridge, the push-pull assembly extending outside the output cartridge compresses the contrast agent in the contrast agent cartridge, injecting it into the target location to complete the expansion and repositioning operation. Afterward, the drive assembly drives the push-pull assembly to retract into the output cartridge. During this process, the push-pull assembly exerts a suction force on the contrast agent cartridge, drawing the injected contrast agent back into the contrast agent cartridge. Finally, the contrast agent injection module punctured at the target location is removed. The bone cement injection module is then connected to the output cylinder, and the module is inserted into the target location. First, the drive assembly is connected to the mixing assembly to rotate, mixing the bone cement powder and liquid in the injection cylinder. Then, the drive assembly is connected to the push-pull assembly. As the drive assembly extends the push-pull assembly out of the output cylinder, it compresses the mixed bone cement in the injection cylinder, injecting it into the target location. Once solidified at the target location, the bone cement provides support. Throughout this process, contrast agent injection and extraction, bone cement mixing, and injection are all achieved by connecting either the contrast agent injection module or the bone cement injection module to the output mechanism. This eliminates the need for frequent equipment changes, reducing the complexity and human intervention for medical personnel, minimizing operation time, increasing efficiency, and ultimately reducing radiation exposure for workers.

[0007] A bone cement injection robot includes an installation mechanism, a control mechanism, a support base, and the aforementioned bone cement injection device. The installation mechanism includes a telescopic arm assembly and a universal connecting arm. The first end of the universal connecting arm is pivotally connected to the upper end of the telescopic arm assembly. A plurality of output mechanisms in the bone cement injection device are spaced apart on the support base. The support base is pivotally connected to the second end of the universal connecting arm. The control mechanism is electrically connected to the bone cement injection device.

[0008] Compared with the prior art, the bone cement injection robot provided by the present invention has the following advantages: The bone cement injection robot provided in this solution features a bone cement injection device that is pivotally connected to a universal joint arm via a support base, which in turn is pivotally connected to a telescopic arm assembly. The bone cement injection device is also electrically connected to a controller. Therefore, during operation, the relative position of the bone cement injection device can be flexibly adjusted by changing the universal joint arm and the telescopic arm assembly, thus avoiding the imaging fluoroscopy area and preventing the bone cement injection device from obstructing the imaging fluoroscopy area. The support base, pivotally connected to the universal joint arm, allows adjustment of the angle between the bone cement cylinder and the horizontal plane during bone cement injection, improving the convenience and efficiency of injection and ensuring that injection is completed before the bone cement hardens. Furthermore, the electrical connection between the bone cement injection device and the controller allows for remote operation of contrast agent injection and extraction, bone cement mixing, and bone cement injection throughout the entire operation, except for connecting the contrast agent injection module or bone cement injection module to the output mechanism. This further reduces the radiation exposure dose for operators. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the bone cement injection robot provided in Embodiment 1 of the present invention; Figure 2 This is a partial structural schematic diagram of the bone cement injection robot provided in Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the output mechanism provided in an embodiment of the present invention; Figure 4 This is a cross-sectional view of the output mechanism provided in an embodiment of the present invention; Figure 5 This is a partial structural schematic diagram of the output mechanism provided in an embodiment of the present invention; Figure 6 This is a cross-sectional view of the output shell provided in an embodiment of the present invention; Figure 7 This is a cross-sectional view of the contrast agent cartridge provided in an embodiment of the present invention; Figure 8 This is a cross-sectional view of the bone cement cylinder provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the bone cement injection module and puncture sleeve provided in an embodiment of the present invention; Figure 10This is a schematic diagram of the support base provided in an embodiment of the present invention.

[0011] In the picture: 200. Output mechanism; 210. Output housing; 211. Output cylinder; 212. Adjustment groove; 213. Guide channel; 214. Guide groove; 215. Limiting plate; 216. Positioning plug; 220. Drive assembly; 221. Drive motor; 222. Injection main gear; 223. Stirring main gear; 230. Stirring assembly; 231. Stirring shaft; 232. Stirring blade; 233. Stirring driven gear; 240. Push-pull assembly; 241. Injection driven gear; 242. Internal threaded sleeve; 243. Transmission rod; 244. Injection plug; 250. Adjusting component; 251. Adjusting bearing; 252. Adjusting knob; 310. Contrast agent injection module; 311. Contrast agent cartridge; 312. Contrast agent injection module; 313. Contrast agent tubing; 314. Elastic diaphragm; 320. Bone cement injection module; 321. Bone cement cartridge; 322. Bone cement injection module; 3221. Injection marker; 323. Bone cement tubing; 400. Installation mechanism; 410. Telescopic boom assembly; 420. Universal joint arm; 430. Penetrating sleeve; 500. Control mechanism; 600, Support base; 610, Positioning cavity; 620, Positioning groove; 630, Adjustable positioning clamp; 631, Clamping part; 632, Adjustable support tube. Detailed Implementation

[0012] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0013] In this application, the terms "comprising," "including," "having," 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 that element.

[0014] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0015] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0016] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0017] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0018] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0019] like Figures 1-10 As shown, this embodiment provides a bone cement injection device. (Reference) Figures 1-4 as well as Figure 9The bone cement injection device includes an output mechanism 200 and an injection mechanism. The output mechanism 200 includes an output shell 210 and a drive assembly 220, a stirring assembly 230, and a push-pull assembly 240 disposed within the output shell 210. The output shell 210 is disposed on the bone cement injection robot. The drive assembly 220 is selectively connected to the stirring assembly 230 and the push-pull assembly 240 to drive the stirring assembly 230 to rotate, or to drive the push-pull assembly 240 to extend or retract from the output cylinder 211 on the output shell 210. The injection mechanism includes a contrast agent injection module 310 and a bone cement injection module 320. The contrast agent injection module 310 includes a contrast agent cylinder 311, and the bone cement injection module 320 includes a bone cement cylinder 321. Both the contrast agent cylinder 311 and the bone cement cylinder 321 serve as front cylinders and can be selectively connected to the output cylinder 211.

[0020] Since the bone cement injection device drive assembly 220 can be selectively connected to the stirring assembly 230 and the push-pull assembly 240, and both the contrast agent cylinder 311 and the bone cement cylinder 321 serve as front cylinders, they can be selectively connected to the output cylinder 211 on the output mechanism 200. Therefore, during the operation at the target location, when contrast agent injection and extraction are required, the contrast agent cartridge 311 in the contrast agent injection module 310 is connected to the output cartridge 211, and the contrast agent injection module 310 is punctured at the target location. Then, the drive assembly 220 is connected to the push-pull assembly 240. When the drive assembly 220 drives the push-pull assembly 240 to extend out of the output cartridge 211, the push-pull assembly 240 extending out of the output cartridge 211 squeezes the contrast agent in the contrast agent cartridge 311 to inject the contrast agent in the contrast agent cartridge 311 into the target location, thereby completing the expansion and repositioning operation of the target location. Afterward, the drive assembly 220 drives the push-pull assembly 240 to retract into the output cartridge 211. During this process, the push-pull assembly 240 has a suction force on the contrast agent cartridge 311. Under the action of the suction force, the contrast agent injected into the target location is drawn back into the contrast agent cartridge 311. Then, the contrast agent injection module 310 punctured at the target location is removed. Then, the bone cement cylinder 321 in the bone cement injection module 320 is connected to the output cylinder 211, and the bone cement injection module 320 is pierced into the target position. First, the drive component 220 is driven to connect with the mixing component 230 to drive the mixing component 230 to rotate, so as to mix the bone cement powder and liquid in the bone cement cylinder 321. Then, the drive component 220 is driven to connect with the push-pull component 240. When the drive component 220 drives the push-pull component 240 to extend out of the output cylinder 211, the push-pull component 240 extending out of the output cylinder 211 squeezes the mixed bone cement in the bone cement cylinder 321 to inject the bone cement into the target position. After the bone cement solidifies at the target position, it provides support for the target position. Throughout the process, contrast agent injection and extraction, bone cement mixing, and bone cement injection can be achieved simply by connecting either the contrast agent injection module 310 or the bone cement injection module 320 to the output mechanism 200. This eliminates the need for frequent changes in operating equipment, thereby reducing the complexity of operations and human intervention for medical staff, minimizing operation time, improving efficiency, and ultimately reducing the radiation exposure dose for operators.

[0021] Drive assembly 220 includes a drive motor 221, an injection main gear 222, and a stirring main gear 223. The injection main gear 222 and the stirring main gear 223 are spaced apart along the left-right direction on the output shaft of the drive motor 221. The drive motor 221 is movably mounted on the output housing 210 along the left-right direction. Push-pull assembly 240 includes an injection driven gear 241, an internally threaded sleeve 242, a transmission rod 243, and an injection plug 244. The internally threaded sleeve 242 is fixed to the middle of the injection driven gear 241 and is limited in the front-back direction on the output housing 210. The transmission rod 243 is at least partially configured as a lead screw. The transmission rod 243 is connected to the internal threaded sleeve 242. The injection plug 244 is located at the first end of the transmission rod 243. The injection driven gear 241 is used to mesh with the injection main gear 222. The stirring assembly 230 includes a stirring shaft 231, a stirring blade 232 and a stirring driven gear 233. The transmission rod 243 has a stirring channel extending through its axial direction in the middle. The first end of the stirring shaft 231 is inserted into the stirring channel and extends out of the first end of the transmission rod 243. The stirring blade 232 is connected to the first end of the stirring shaft 231. The stirring driven gear 233 is located at the second end of the stirring shaft 231 and is used to mesh with the stirring main gear 223.

[0022] Before injecting and extracting the contrast agent, the stirring blade 232 should be removed from the front end of the stirring shaft 231.

[0023] Combination Figure 4 and Figure 5As shown, the transmission rod 243 includes a smooth rod section on the left and a lead screw section on the right. When contrast agent injection is required, the contrast agent cartridge 311 in the contrast agent injection module 310 is connected to the output cartridge 211, and the contrast agent injection module 310 is punctured at the target position. Then, the drive motor 221 is moved towards the output cartridge 211 so that the injection master gear 222 meshes with the injection slave gear 241. As the output shaft of the drive motor 221 rotates clockwise, it drives the injection slave gear 241 to rotate clockwise. The transmission part, which is threaded to the internal thread sleeve 242, gradually extends towards the contrast agent cartridge 311 as the injection slave gear 241 rotates clockwise, thus pushing... The injection plug 244 moves into the contrast agent cartridge 311, thereby squeezing the contrast agent in the cartridge 311 to inject it into the target position. After expanding and resetting at the target position, the drive motor 221 rotates counterclockwise, causing the injection follower gear 241 to rotate counterclockwise. The transmission part, threadedly connected to the internal thread sleeve 242, gradually retracts into the output cartridge 211 as the injection follower gear 241 rotates counterclockwise. During this process, the injection plug 244 moves away from the interior of the contrast agent cartridge 311 to extract the contrast agent injected at the target position into the contrast agent cartridge 311. Then, the contrast agent injection module 310 punctured at the target position is removed. In addition, setting the left side of the transmission rod 243 as a lead screw improves the connection strength and ease of connection between the injection plug 244 and the transmission rod 243.

[0024] First, connect the stirring blade 232 to the first end of the stirring shaft 231, then connect the bone cement cylinder 321 to the output cylinder 211, and puncture the bone cement injection module 320 at the target position. First, move the drive motor 221 away from the output cylinder 211 until the stirring main gear 223 meshes with the stirring slave gear 233. Then, start the drive motor 221. As the output shaft of the drive motor 221 rotates, it drives the stirring slave gear 233 to rotate, thereby driving the stirring blade 232 to rotate through the stirring shaft 231, so as to mix the bone cement powder in the bone cement cylinder 321 with the liquid. Then, the drive motor 221 is moved closer to the output cylinder 211 again, so that the injection main gear 222 meshes with the injection driven gear 241. As the output shaft of the drive motor 221 rotates clockwise, it drives the injection driven gear 241 to rotate clockwise. The transmission rod 243, which is threaded to the internal thread sleeve 242, gradually extends closer to the bone cement cylinder 321 as the injection driven gear 241 rotates clockwise, so as to push the injection plug 244 into the bone cement cylinder 321, thereby squeezing the bone cement in the bone cement cylinder 321 to inject the bone cement in the bone cement cylinder 321 into the target position. After that, the bone cement injection module 320 punctured at the target position is removed. After the bone cement solidifies at the target position, it provides support for the target position.

[0025] During the injection process, in order to avoid damage to the contrast agent cylinder 311 and the bone cement cylinder 321 or detachment from the output cylinder 211 due to excessive extension distance, in this embodiment, the maximum path of the transmission rod 243 extending out of the output cylinder 211 is less than the depth of the contrast agent cylinder 311 and less than the depth of the bone cement cylinder 321.

[0026] The output mechanism 200 also includes an adjusting member 250. The output housing 210 is provided with an adjusting groove 212 extending in the left-right direction. The output shaft of the drive motor 221 passes through the adjusting bearing 251 at the first end of the adjusting member 250, and the second end of the adjusting member 250 extends out of the output housing 210 through the adjusting groove 212. When it is necessary to adjust the relative position of the drive motor 221 to achieve the meshing of the injection main gear 222 and the injection driven gear 241, or the meshing of the stirring main gear 223 and the stirring driven gear 233, it is only necessary to turn the second end of the adjusting member 250 in the left-right direction, which is convenient to operate. By providing an adjusting bearing 251 at the second end of the adjusting member 250, it is ensured that when the second end of the adjusting member 250 is turned, the drive motor 221 can be driven to move in the left-right direction, while avoiding the situation where the adjusting member 250 rotates with the output shaft when the output shaft of the drive motor 221 rotates, thus preventing damage to the output mechanism 200. To further improve the ease of adjusting the relative position of the drive motor 221, in this embodiment, an adjustment knob 252 is provided at the second end of the adjustment member 250, and an anti-slip friction part is provided on the upper surface of the adjustment knob 252. In the injection state, the distance between the center line of the stirring main gear 223 and the center line of the stirring driven gear 233 in the left-right direction is equal to the movement distance of the second end of the adjustment member 250 in the adjustment groove 212. Furthermore, in the stirring state, the distance between the center line of the injection main gear 222 and the center line of the injection driven gear 241 in the left-right direction is equal to the movement distance of the second end of the adjustment member 250 in the adjustment groove 212. In this way, it is ensured that when the adjustment member 250 is moved to the extreme positions on the left and right sides in the adjustment groove 212, the injection main gear 222 precisely meshes with the injection driven gear 241, or the stirring main gear 223 precisely meshes with the stirring driven gear 233.

[0027] The left side of the output housing 210 is provided with a guide channel 213 that allows the output shaft of the drive motor 221 to be inserted. During the left-right movement of the drive motor 221, the output shaft of the drive motor 221 cooperates with the guide channel 213 to guide the drive motor 221 to always move along a predetermined path, ensuring its smooth movement; at the same time, it limits the distance the drive motor 221 can move to the left, thereby ensuring that the injection main gear 222 precisely meshes with the injection driven gear 241 in this state. Similarly, the right side of the output housing 210 is provided with a guide cavity extending in the left-right direction. The motor body of the drive motor 221 is disposed within the guide cavity. Through the cooperation between the motor body and the guide cavity, the smoothness of the drive motor 221's movement along the predetermined route is further improved; and the distance the drive motor 221 can move to the right is limited, thereby ensuring that the stirring main gear 223 precisely meshes with the stirring driven gear 233 in this state.

[0028] The output housing 210 is provided with a guide rail extending in the left-right direction (not shown in the figure), and the drive body of the drive motor 221 is provided with a guide groove 214 that slides with the guide rail (specifically as shown in the figure). Figure 6 (As shown). Through the sliding cooperation of the guide rail and the guide groove 214, the smoothness of the drive motor 221 moving along the predetermined route is ensured, while the smoothness and convenience of the drive motor 221 moving are further improved, and the situation where the drive body rotates along its own axis and the output mechanism 200 is damaged is avoided.

[0029] In some other embodiments, the drive motor 221 is configured as a linear rotary motor. When the stirring main gear 223 and the stirring driven gear 233 mesh, the distance between the centerline of the injection main gear 222 in the left-right direction and the centerline of the injection driven gear 241 in the left-right direction is equal to the linear stroke of the output shaft of the linear rotary motor. With this configuration, as the output shaft of the linear rotary motor extends, the injection main gear 222 meshes with the injection driven gear 241. At this time, when the output shaft of the linear rotary motor rotates clockwise or counterclockwise, it can drive the injection driven gear 241 to rotate clockwise or counterclockwise, thereby realizing the injection or extraction of contrast agent or bone cement. As the output shaft of the linear rotary motor retracts, the stirring main gear 223 meshes with the stirring driven gear 233. At this time, when the output shaft of the linear rotary motor rotates clockwise or counterclockwise, it can drive the stirring driven gear 233 to rotate clockwise or counterclockwise, thereby realizing the stirring of bone cement. Throughout the process, the linear rotary motor can further reduce the complexity of operation and the degree of human intervention for medical staff.

[0030] Two limiting plates 215 are spaced apart along the front-to-back direction on the inner wall of the output housing 210. Each limiting plate 215 is fixed with a limiting bearing (not shown in the figure). The two ends of the internal threaded sleeve 242 are respectively positioned within the two limiting bearings, and... Figure 4 and Figure 6 As shown, each of the two limiting plates 215 has an installation channel, and each channel contains a corresponding limiting bearing. The injection driven gear 241 is fixedly sleeved in the middle of the internal threaded sleeve 242, with both ends of the sleeve set within the two limiting bearings. This arrangement ensures that the two limiting plates 215 effectively limit the injection driven gear 241 in the left-right direction, preventing deviations in the injection volume of contrast agent or bone cement due to displacement of the gear. The vertical height of both limiting plates 215 is less than the diameter of the injection driven gear 241 but greater than its radius. This ensures effective limiting of the gear 241 while preventing interference between the limiting plates 215 and the injection driven gear 222 when the drive motor 221 moves left-right to engage or disengage with the gear 241, thus guaranteeing the smooth and continuous operation of the output mechanism 200.

[0031] The injection plug 244 is rotatably mounted on the first end of the transmission rod 243 and is positioned along the left and right directions. The cross-sectional shape of the injection plug 244 is set to be non-circular. The cross-sectional shapes of the contrast agent cartridge 311 and the bone cement cartridge 321 along their depth directions are set to correspond to the injection plug 244.

[0032] Combination Figure 5 As shown, the injection plug 244 is rotatably mounted on the first end of the transmission rod 243 via an auxiliary bearing. At least a portion of the cross-sectional shape of the injection plug 244 has a straight section. The cross-sectional shapes of the contrast agent cartridge 311 and the bone cement cartridge 321 along their depth direction correspond to those of the injection plug 244. Taking the injection plug 244 located inside the contrast agent cartridge 311 as an example, when the drive motor 221 drives the transmission rod 243 to rotate and extend towards the contrast agent cartridge 311, the injection plug 244, in conjunction with the contrast agent cartridge 311, ensures that the injection plug 244 moves only along its axial direction within the contrast agent cartridge 311 without axial rotation, thereby improving the sealing effect of the injection plug 244 on the contrast agent cartridge 311.

[0033] Furthermore, the cross-sectional shape of the injection plug 244 along the left-right direction can be set to a polygon, ellipse, semicircle, or racetrack shape depending on the actual situation. The cross-sectional shapes of the contrast agent cartridge 311 and the bone cement cartridge 321 along their depth direction are correspondingly set to the injection plug 244. In this embodiment, the cross-sectional shape of the injection plug 244 along the left-right direction is set to a racetrack shape. During the injection operation, this restricts the circumferential rotation of the injection plug 244 while reducing the dead zone area inside the contrast agent cartridge 311 and the bone cement cartridge 321, thereby ensuring the injection effect.

[0034] The contrast agent injection module 310 also includes a contrast agent injection module 312 and a contrast agent tubing 313. The contrast agent injection module 312 is connected to the first end of the contrast agent cartridge 311 via the contrast agent tubing 313. An elastic diaphragm 314 is provided on the inner wall of the second end of the contrast agent cartridge 311. During contrast agent injection, under the pressure of the injection plug 244, the elastic diaphragm 314 is pushed out towards the first end of the contrast agent cartridge 311, such as... Figure 7 As shown, when the contrast agent is withdrawn, the elastic diaphragm 314 is stretched towards the second end of the contrast agent cartridge 311 under the suction of the injection plug 244. Throughout the operation, when the contrast agent injection module 310 and the bone cement injection module 320 share the same output mechanism 200, the elastic diaphragm 314 prevents the contrast agent from directly contacting the injection plug 244 during injection and withdrawal. Therefore, after the contrast agent cartridge 311 is removed from the output cartridge 211, the bone cement cartridge 321 can be directly installed on the output cartridge 211, preventing the contrast agent from adhering to the injection plug 244. This eliminates the need for cleaning the injection plug 244, further shortening the operation time and improving efficiency.

[0035] The bone cement injection module 320 also includes a bone cement injection module 322 and a bone cement tubing 323. The bone cement injection module 322 is connected to the first end of the bone cement cylinder 321 through the bone cement tubing 323. The bone cement injection module 322 is provided with an injection mark 3221 and an installation mark.

[0036] In some embodiments, by setting an installation mark, the installation direction of the bone cement injection module 322 can be specified, ensuring ease of installation into the puncture sleeve 430. The bone cement injection module 322 is then punctured at the target location using the puncture sleeve 430 before bone cement injection. This eliminates the need for a bone cement pusher and allows direct connection to the bone cement tubing 323, thereby reducing surgical steps and shortening surgical time. In other embodiments, the bone cement injection module 322 can be directly punctured at the target location without the puncture sleeve 430, and bone cement can be injected into the target location. By setting an injection mark 3221, the injection direction of the bone cement can be controlled according to the injection mark 3221, thereby accurately injecting the bone cement into the target location.

[0037] Combination Figure 1 and Figure 2As shown, this embodiment also provides a bone cement injection robot, which includes an installation mechanism 400, a control mechanism 500, a support base 600, and the aforementioned bone cement injection device. The installation mechanism 400 includes a telescopic arm assembly 410 and a universal connecting arm 420. The first end of the universal connecting arm 420 is pivotally connected to the upper end of the telescopic arm assembly 410. A plurality of output mechanisms 200 in the bone cement injection device are spaced apart on the support base 600. The support base 600 is pivotally connected to the second end of the universal connecting arm 420. The control mechanism 500 is electrically connected to the bone cement injection device.

[0038] The bone cement injection robot provided in this solution features a bone cement injection device that is pivotally connected to a universal connecting arm 420 via a support base 600. The universal connecting arm 420 is pivotally connected to a telescopic arm assembly 410, and the bone cement injection device is electrically connected to a controller. Therefore, during operation, the relative position of the bone cement injection device can be flexibly adjusted by changing the universal connecting arm 420 and the telescopic arm assembly 410, thereby avoiding the imaging fluoroscopy area and preventing the bone cement injection device from obstructing the imaging fluoroscopy area. Furthermore, the support base 600 is pivotally connected to the universal connecting arm 420. During bone cement injection, the angle between the bone cement cylinder 321 and the horizontal plane can be adjusted by changing the rotation angle of the support base 600, thereby improving the convenience and efficiency of bone cement injection and ensuring that injection is completed before the bone cement hardens. In addition, by electrically connecting the bone cement injection device to the controller, the contrast agent injection module 310 or the bone cement injection module 320 can be connected to the output mechanism 200 during the entire operation. The contrast agent injection and extraction, bone cement mixing and bone cement injection operations can all be remotely operated by the controller, further reducing the radiation exposure dose of the operators.

[0039] In this embodiment, the control mechanism 500 is configured as a foot pedal controller. The foot pedal controller is electrically connected to the bone cement injection device via a cable. The foot pedal controller is equipped with a forward rotation button for controlling the forward rotation of the drive motor 221, a reverse rotation button for controlling the reverse rotation of the drive motor 221, a speed adjustment button for controlling the high, medium, and low speeds of the motor, an emergency stop button for controlling the emergency stop of the drive motor 221, an aspiration button, and a display screen. The display screen shows the pressure and injected volume inside the contrast agent cartridge 311 or the bone cement cartridge 321, allowing the operator to monitor the precise injection status in real time. By using a foot pedal controller, not only is the operator's workload reduced, but the foot pedal also eliminates the need for sterilization, ensuring the convenience of bone cement injection while improving its efficiency.

[0040] Furthermore, the support base 600 is provided with a positioning cavity 610 and a positioning groove 620. The output housing 210 is installed in the positioning cavity 610, and the positioning plug 216 on the output housing 210 is inserted into the positioning groove 620.

[0041] Combination Figure 3 and Figure 10 As shown, a positioning plate and a positioning block are provided on the upper surface of the support base 600, forming a positioning cavity 610 between the positioning plate and the positioning block. The upper end of the positioning plate has a clearance area corresponding to the output cylinder 211, and the upper surface of the positioning block has a positioning groove 620. When the output shell 210 is placed in the positioning cavity 610, the front and rear side walls of the output shell 210 abut against the side walls of the positioning cavity 610, the output cylinder 211 is located in the clearance area, and the positioning plug 216 is inserted into the positioning groove 620. This arrangement improves the convenience of placing the output mechanism 200 on the support base 600 and enhances the connection stability after the output mechanism 200 is placed on the support base 600, thereby ensuring operational stability during bone cement injection. Only one output mechanism 200 can be provided on the support base 600, such as... Figure 2 and Figure 3 As shown, correspondingly, only one positioning groove 620 and one positioning cavity 610 are provided on the upper end surface of the support 600 (e.g., Figure 10 As shown), at this time, a single control mechanism 500 controls the output mechanism 200. In some other embodiments, multiple output mechanisms 200 may also be spaced apart on the support 600 (e.g., Figure 1 As shown), multiple positioning slots and multiple positioning cavities are correspondingly provided on the upper surface of the support base 600, and each output mechanism 200 is respectively confined to the corresponding positioning slot and positioning cavity; and when multiple output mechanisms 200 are spaced apart on the support base 600, they can be configured to be controlled simultaneously by the same control mechanism 500, such as... Figure 1 As shown; multiple control mechanisms 500 can also be set according to actual needs, and multiple control mechanisms 500 control multiple output mechanisms 200 in a one-to-one correspondence; when multiple output mechanisms 200 are set at intervals on the support base 600, the specific number of output mechanisms 200 can be set to two, four, five, etc. according to actual needs, and this embodiment does not make a specific limitation.

[0042] Furthermore, when multiple output mechanisms 200 are spaced apart on the support base 600, in actual operation, depending on actual needs, some output mechanisms 200 can be used for mixing and injecting bone cement, while others can be used for injecting and extracting contrast agent; or, all output mechanisms 200 can be used for mixing and injecting bone cement; or, all output mechanisms 200 can be used for injecting and extracting contrast agent. This embodiment does not impose specific limitations. The spaced-apart arrangement of the output mechanisms 200 avoids interference between the contrast agent injection module 310 and the bone cement injection module 320.

[0043] Furthermore, the support base 600 is also provided with an adjustable positioning clip 630, which is used to clamp and position the bone cement injection module 322 and the contrast agent injection module 312 in the bone cement injection device.

[0044] Combination Figure 1 and Figure 2 As shown, the adjustable positioning clamp 630 includes a clamping part 631 and an adjustable support tube 632. The first end of the adjustable support tube 632 is connected to the support base 600, and the clamping part 631 is disposed at the second end of the adjustable support tube 632. Before the bone cement injection operation, the clamping part 631 is used to clamp the puncture sleeve 430. During the bone cement injection operation, the clamping part 631 is used to clamp and position the puncture sleeve 430, in which the bone cement injection module 322 or the contrast agent injection module 312 is inserted. Since the clamping part 631 is disposed on the support base 600 through the adjustable support tube 632, the relative position of the clamping part 631 can be changed by adjusting the relative position of the adjustable support tube 632, ensuring operational flexibility while avoiding the clamping part 631 and the components disposed on the clamping part 631 from obstructing the image area. In addition, the puncture sleeve 430 has an inclined opening at its front end, and the front side wall of the puncture sleeve 430 is also provided with bone cement overflow holes. The number of bone cement overflow holes located on the same side as the front opening is greater than the number of bone cement overflow holes located on the opposite side of the front opening.

[0045] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A bone cement injection device, characterized in that, The output mechanism (200) comprises an output shell (210) and a driving assembly (220), a stirring assembly (230) and a push-pull assembly (240) arranged in the output shell (210), the output shell (210) is arranged in a bone cement injection robot, the driving assembly (220) is selectively connected to the stirring assembly (230) and the push-pull assembly (240) for driving the stirring assembly (230) to rotate or driving the push-pull assembly (240) to extend or retract in an output barrel (211) on the output shell (210); The injection mechanism comprises a contrast agent injection module (310) and a bone cement injection module (320), the contrast agent injection module (310) comprises a contrast agent barrel (311), and the bone cement injection module (320) comprises a bone cement barrel (321), the contrast agent barrel (311) and the bone cement barrel (321) are used as front barrels and can be selectively connected to the output barrel (211). The driving assembly (220) comprises a driving motor (221), an injection main gear (222) and a stirring main gear (223), the injection main gear (222) and the stirring main gear (223) are arranged on the output shaft of the driving motor (221) in the left-right direction, and the driving motor (221) is movably arranged on the output shell (210) in the left-right direction.

2. The bone cement injection device of claim 1, wherein, The push-pull assembly (240) comprises an injection slave gear (241), an internally-threaded sleeve (242), a transmission rod (243) and an injection plug (244), the internally-threaded sleeve (242) is fixedly arranged in the middle of the injection slave gear (241) and is limitingly arranged in the output shell (210) in the front-rear direction, the transmission rod (243) is at least partially arranged as a screw rod part, the screw rod part is threadedly connected to the internally-threaded sleeve (242), the injection plug (244) is arranged at the first end of the transmission rod (243), and the injection slave gear (241) is used for meshing with the injection main gear (222). The stirring assembly (230) comprises a stirring shaft (231), a stirring blade (232) and a stirring slave gear (233), the middle of the transmission rod (243) has a stirring channel penetrating in the axial direction, the first end of the stirring shaft (231) is inserted into the stirring channel and extends out of the first end of the transmission rod (243), the stirring blade (232) is connected to the first end of the stirring shaft (231), and the stirring slave gear (233) is arranged at the second end of the stirring shaft (231) and is used for meshing with the stirring main gear (223). The output mechanism (200) further comprises an adjusting part (250), and the output shell (210) is provided with an adjusting groove (212) extending in the left-right direction; 3. The bone cement injection device of claim 2, wherein, The output shaft of the driving motor (221) penetrates the adjusting bearing (251) at the first end of the adjusting part (250), and the second end of the adjusting part (250) penetrates the adjusting groove (212) and extends out of the output shell (210). ​ 4. The bone cement injection device of claim 2, wherein, The left side of the output shell (210) is provided with a guide channel (213) allowing the output shaft of the driving motor (221) to be inserted; And / or, the right side of the output shell (210) is provided with a guide cavity (214) extending in the left-right direction; And / or, the output shell (210) is provided with a guide convex rail extending in the left-right direction, and the side wall of the driving motor (221) is provided with a guide groove in sliding fit with the guide convex rail.

5. The bone cement injection device of claim 2, wherein, The driving motor (221) is a linear rotary motor, and when the stirring main gear (223) and the stirring from gear (233) are engaged, the distance between the middle line of the injection main gear (222) in the left-right direction and the middle line of the injection from gear (241) in the left-right direction is equal to the straight line stroke of the output end of the linear rotary motor.

6. The bone cement injection device of claim 2, wherein, The inner wall of the output shell (210) is spaced apart in the front-rear direction and provided with two limiting plates (215), both of which are fixedly provided with limiting bearings, and both ends of the internally threaded sleeve (242) are arranged in the two limiting bearings, respectively, and the height of the two limiting plates (215) in the up-down direction is less than the diameter of the injection from gear (241) and greater than the radius of the injection from gear (241).

7. The bone cement injection device of claim 2, wherein, The injection plug (244) is rotationally arranged at the first end of the transmission rod (243), and in the left-right direction, the cross-sectional shape of the injection plug (244) is arranged as a non-circular shape, and the cross-sectional shape of the contrast medium cylinder (311) and the bone cement cylinder (321) in the depth direction thereof is arranged correspondingly to the injection plug (244).

8. The bone cement injection device according to any one of claims 1 to 7, characterized in that The contrast medium injection module (310) further comprises a contrast medium injection module (312) and a contrast medium hose (313), the contrast medium injection module (312) communicates with the first end of the contrast medium cylinder (311) through the contrast medium hose (313), and the inner wall of the second end of the contrast medium cylinder (311) is provided with an elastic diaphragm (314).

9. The bone cement injection device according to any one of claims 1 to 7, characterized in that The bone cement injection module (320) further comprises a bone cement injection module (322) and a bone cement hose (323), the bone cement injection module (322) communicates with the first end of the bone cement cylinder (321) through the bone cement hose (323), and the bone cement injection module (322) is provided with an injection mark (3221) and a mounting mark.

10. A bone cement injection robot, characterized by The bone cement injection device comprises a mounting mechanism (400), a control mechanism (500), a support seat (600), and the bone cement injection device of any one of claims 1-9, the mounting mechanism (400) comprises a telescopic arm assembly (410) and a universal connecting arm (420), the first end of the universal connecting arm (420) is pivotally connected to the upper end of the telescopic arm assembly (410), a plurality of output mechanisms (200) in the bone cement injection device are spaced apart on the support seat (600), the support seat (600) is pivotally connected to the second end of the universal connecting arm (420), and the control mechanism (500) is electrically connected with the bone cement injection device.

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