End executive device for orthopedic surgery

Abstract

The end executive device comprises a power mechanism, a transmission mechanism and an executing mechanism, the executing mechanism is connected with the transmission mechanism, the power mechanism comprises a feeding assembly and a rotating assembly, and the rotating assembly can drive the executing mechanism to rotate through the transmission mechanism. And the feeding assembly is connected with the rotating assembly through the mounting block and can control the executing mechanism to feed or exit. According to the technical scheme, the threshold for a doctor to operate an orthopedic operation can be lowered, and the operation difficulty and the operation risk are reduced.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to an end effector for orthopedic surgery. Background Art

[0002] Traditional orthopedic surgery requires doctors to manually operate at the corresponding position of the patient's bones, which requires high precision in manual operation. Doctors need rich surgical experience to judge changes during the operation, which increases the difficulty of the operation to a certain extent, the risk of surgical errors is high, and the burden of surgery on doctors is heavy.

[0003] In order to solve the above problems, the current market has seen a large number of orthopedic surgery auxiliary products, such as some terminal devices such as fixed sleeves for needle placement, to help doctors determine the direction of needle placement. However, the terminal devices in the field of needle placement still require human intervention, and the doctor still has to hammer the needle or hold the electric drill to place the needle. Therefore, in the existing orthopedic needle placement surgery assisted by the terminal device, the doctor still needs to have sufficient experience and be able to accurately control the force and angle of the needle. If you are not careful, it will go off the target and cause a medical accident. Utility Model Content

[0004] In order to lower the threshold for orthopedic surgery, reduce the difficulty of surgery, and facilitate doctors' operations, the present application provides an end effector for orthopedic surgery.

[0005] The present application provides an end effector for orthopedic surgery using the following technical solution:

[0006] A terminal effector for orthopedic surgery comprises a power mechanism, a transmission mechanism and an actuator, wherein the actuator is connected to the transmission mechanism, the power mechanism comprises a feeding assembly and a rotating assembly, the rotating assembly can drive the actuator to rotate through the transmission mechanism, the feeding assembly is connected to the rotating assembly through a mounting block, and the feeding assembly can control the feeding or withdrawal of the actuator.

[0007] By adopting the above technical solution, while the rotating assembly drives the actuator to rotate, the feeding assembly is connected to the rotating assembly through the mounting block, and the feeding assembly drives the rotating assembly to move at the same time, thereby realizing the function of automatic needle placement without the need for additional manual intervention. The doctor only needs to monitor the feeding progress of the actuator in real time, thereby reducing the difficulty of orthopedic surgery.

[0008] Optionally, the actuator includes a puncture needle.

[0009] By adopting the above technical solution, the difficulty of doctors performing orthopedic needle placement surgery can be reduced.

[0010] Optionally, a reference mounting plate is also included, and the feed assembly is arranged on the reference mounting plate.

[0011] By adopting the above technical solution, the operator can install the automatic needle placement device on a robotic arm or other control device through the reference mounting plate, thereby increasing the use range of the automatic needle placement device.

[0012] Optionally, the feed assembly includes a feed motor, a lead screw and a slider, the feed motor is connected to a reference mounting plate, the lead screw is connected to the feed motor, the slider is threadedly connected to the lead screw, the slider is connected to a mounting block, the mounting block is connected to a rotating assembly, a slide rail is provided on the reference mounting plate, and the slider is slidably connected to the slide rail.

[0013] By adopting the above technical solution, the feed motor drives the lead screw to rotate, and the slide block is restricted to rotate around the lead screw by the slide rail. Then, the slide block can move along the lead screw while the lead screw rotates. Also, because the slide block is connected to the rotating assembly through the mounting block, the feed assembly can drive the rotating assembly to move along the lead screw. Also, because the actuator is connected to the rotating assembly, the feed assembly can control the actuator to advance and retract the needle.

[0014] Optionally, the sliding block includes a first portion and a second portion, the first portion and the second portion are connected via a safety block, the mounting block is connected to the second portion, and a force sensor is arranged between the first portion and the second portion.

[0015] By adopting the above technical solution, when the feeding component drives the rotating component to feed through the mounting block, the actuator will encounter resistance from human tissue during the needle insertion process. The resistance encountered by the actuator can be transmitted to the force sensor through the mounting block. The actuator receives different resistance in different human tissues. The resistance is converted into an electrical signal through the force sensor and presented to the operator, which is beneficial for the operator to monitor the changes in the needle insertion position in real time during the automatic needle placement process based on the electrical signal emitted by the force sensor.

[0016] Optionally, a limiting member is provided on the reference mounting plate, and the limiting member includes a signal output portion and an abutting portion, and the abutting portion can abut against a sliding block. A signal receiving end is provided on the feed motor, and the signal receiving end is connected to the signal output portion.

[0017] By adopting the above technical solution, when the slider abuts against the abutment part, in order to prevent the feed motor from continuing to operate and bringing danger to the surgical process, the signal output part can issue a power-off command, and the feed motor is powered off after receiving the power-off command through the signal receiving end, thereby further improving the safety and reliability of the automatic needle placement device.

[0018] Optionally, a buffer spring is provided on the reference mounting plate, and the buffer spring can abut against the sliding block.

[0019] By adopting the above technical solution, the buffer spring can prevent the slider from having a hard collision with the reference mounting plate, thereby improving the safety and reliability of the needle placement device.

[0020] Optionally, the rotating assembly includes a rotating motor, a coupling, a reducer and a drill clamp, the output shaft of the rotating motor is connected to the coupling, the coupling is connected to the reducer, the reducer is connected to the drill clamp, and the drill clamp is connected to the actuator.

[0021] By adopting the above technical solution, the operator starts the rotating motor, and the output shaft of the rotating motor drives the actuator to rotate through the coupling, the reducer and the drill clamp. The actuator is clamped by the drill clamp, which can improve the stability of the clamped state of the actuator, thereby improving the safety during the operation.

[0022] Optionally, a shaft sleeve is coaxially arranged on the coupling, and the shaft sleeve can cover the coupling.

[0023] By adopting the above technical solution, the shaft sleeve can protect the coupling from being affected by external forces and can protect the coupling from being corroded by liquids such as blood generated during surgery.

[0024] Optionally, the rotating assembly further includes a protective sleeve, a guide sleeve and an open sleeve, the protective sleeve is coaxially sleeved on the actuator, the guide sleeve is coaxially sleeved on the protective sleeve, and the protective sleeve is rotatably connected to the guide sleeve, and the open sleeve is sleeved on the guide sleeve.

[0025] By adopting the above technical solution, the rotating motor can drive the protective sleeve to rotate, and then drive the actuator to rotate. The protective sleeve can reduce the torque borne by the actuator, thereby protecting the actuator from deformation, thereby improving the safety and reliability of the operation.

[0026] Optionally, a protrusion is provided on the opening sleeve, and a limiting groove is provided on the guide sleeve, and the protrusion can be embedded in the limiting groove.

[0027] By adopting the above technical solution, the guide sleeve can prevent the longer protective sleeve from shaking during rotation, thereby improving the stability of the actuator during surgery; the guide sleeve is fixed at the required position through the open sleeve, and the clamping relationship between the protrusion and the limiting groove prevents the guide sleeve from rotating with the protective sleeve.

[0028] Optionally, an admittance groove is formed on the end surface of the projection close to the rotating motor.

[0029] By adopting the above technical solution, it is more convenient for operators to quickly connect the guide sleeve and the open sleeve by means of clamping.

[0030] In summary, the present application includes at least one of the following beneficial technical effects:

[0031] 1. While the rotating assembly drives the actuator to rotate, the feeding assembly is connected to the rotating assembly through the mounting block, and the feeding assembly drives the rotating assembly to move at the same time, thereby realizing the function of automatic needle placement. No additional manual intervention is required. The doctor only needs to monitor the progress of needle placement in real time, which reduces the difficulty of orthopedic surgery;

[0032] 2. When the slider abuts against the abutment portion, in order to prevent the feed motor from continuing to operate and causing danger to the surgical process, the signal output portion can issue a power-off command, and the feed motor is powered off after receiving the power-off command through the signal receiving end, further improving the safety and reliability of the automatic needle placement device;

[0033] 3. The rotating motor can drive the protective sleeve to rotate, and then drive the actuator to rotate. The protective sleeve can reduce the torque borne by the actuator, thereby protecting the actuator from deformation, thereby improving the safety and reliability of the operation; BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram showing the overall structure of this application.

[0035] Figure 2 It is a schematic diagram of the structure shown from other angles of this application.

[0036] Figure 3 It is a structural schematic diagram showing the guide sleeve and the open sleeve of the present application.

[0037] Explanation of the reference numerals: 1. power mechanism; 3. actuator; 4. feed assembly; 41. feed motor; 411. signal receiving end; 42. lead screw; 43. slider; 431. first portion; 432. second portion; 433. safety block; 434. force sensor; 5. rotating assembly; 51. rotating motor; 53. reducer; 54. drill clamp; 55. bushing; 56. protective sleeve; 57. guide sleeve; 571. limiting groove; 58. opening sleeve; 581. protrusion; 582. guide groove; 6. mounting block; 7. reference mounting plate; 71. slide rail; 72. limiting member; 721. signal output portion; 722. abutment portion; 73. buffer spring. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-3 This application is described in further detail.

[0039] An embodiment of the present application discloses an end effector for orthopedic surgery.

[0040] Reference Figure 1An end effector for orthopedic surgery includes a power mechanism 1, a transmission mechanism and an actuator 3. The actuator 3 is connected to the transmission mechanism, the power mechanism 1 includes a feeding assembly 4 and a rotating assembly 5, the actuator 3 includes a puncture needle, the rotating assembly 5 can drive the actuator 3 to rotate through the transmission mechanism, and the feeding assembly 4 can control the actuator 3 to advance and withdraw the needle.

[0041] It also includes a reference mounting plate 7, and the feeding assembly 4 is fixedly arranged on the reference mounting plate 7 by bolts. The operator can install the automatic needle placement device on a mechanical arm or other control devices through the reference mounting plate 7.

[0042] The feed assembly 4 includes a feed motor 41, a lead screw 42 and a slider 43. The feed motor 41 is fixedly connected to the reference mounting plate 7 by bolts. The feed motor 41 can drive the lead screw 42 to rotate. The slider 43 is threadedly connected to the lead screw 42. The slider 43 is connected to a mounting block 6, and the mounting block 6 is connected to the rotating assembly 5. A slide rail 71 is provided on the reference mounting plate 7, and the slider 43 is slidably connected to the slide rail 71. The operator can start the feed motor 41, and the feed motor 41 drives the lead screw 42 to rotate. Because the slider 43 is threadedly connected to the lead screw 42, and the slider 43 is limited to rotate around the lead screw 42 by the slide rail 71, the slider 43 can move along the lead screw 42 while the lead screw 42 rotates. Because the slider 43 is connected to a mounting block 6, and the mounting block 6 is connected to the rotating assembly 5, the feed assembly 4 can drive the rotating assembly 5 to move along the lead screw 42. Because the actuator 3 is connected to the rotating assembly 5, the feed assembly 4 can control the actuator 3 to advance and withdraw the needle.

[0043] The slider 43 includes a first portion 431 and a second portion 432. The first portion 431 and the second portion 432 are connected by a safety quick connection, and the mounting block 6 is connected to the second portion 432. A force sensor 434 is arranged between the first portion 431 and the second portion 432. When the feeding assembly 4 drives the rotating assembly 5 to feed through the mounting block 6, the actuator 3 will be subject to resistance from human tissue during the needle insertion process. The resistance received by the actuator 3 can be transmitted to the force sensor 434 through the mounting block 6. The actuator 3 receives different resistance in different human tissues. The resistance is converted into an electrical signal by the force sensor 434 and presented to the operator. The operator can monitor the change of the needle insertion position in real time during the automatic needle placement process according to the electrical signal sent by the force sensor 434.

[0044] A limiting member 72 is provided on the reference mounting plate 7. The limiting member 72 includes a signal output portion 721 and an abutting portion 722. The abutting portion 722 can abut against the slider 43. When the slider 43 moves to the end of the lead screw 42, the slider 43 can abut against the abutting portion 722 of the limiting member 72. The limiting member 72 can support the slider 43 to prevent the slider 43 from falling directly from the lead screw 42. A signal receiving terminal 411 is provided on the feed motor 41. The signal receiving terminal 411 is connected to the signal output portion 721. When the slider 43 abuts against the abutting portion 722, in order to prevent the feed motor 41 from continuing to operate and bringing danger to the surgical process, the signal output portion 721 can issue a power-off command. The feed motor 41 is powered off after receiving the power-off command through the signal receiving terminal 411, thereby further improving the safety and reliability of the automatic needle placement device.

[0045] The reference mounting plate 7 is provided with a buffer spring 73, and the buffer spring 73 can abut against the slider 43. The buffer spring 73 can prevent the slider 43 from hard collision with the reference mounting plate 7, and can improve the safety and reliability of the needle placement device.

[0046] The rotating assembly 5 includes a rotating motor 51, a coupling, a reducer 53 and a drill clamp 54. The output shaft of the rotating motor 51 is connected to the coupling, the coupling is connected to the reducer 53, the reducer 53 is connected to the drill clamp 54, and the drill clamp 54 is connected to the actuator 3. The operator starts the rotating motor 51, and the output shaft of the rotating motor 51 drives the actuator 3 to rotate through the coupling, the reducer 53 and the drill clamp 54. The drill clamp 54 clamps the actuator 3, which can improve the stability of the clamped state of the actuator 3, thereby improving the safety during the operation.

[0047] A shaft sleeve 55 is coaxially arranged on the coupling, and the shaft sleeve 55 can cover the coupling. The shaft sleeve 55 can protect the coupling from external forces and can protect the coupling from being eroded by liquids such as blood generated during surgery.

[0048] The rotating assembly 5 further includes a protective sleeve 56, a guide sleeve 57 and an open sleeve 58. The protective sleeve 56 and the coaxial sleeve 55 are arranged on the actuator 3. The actuator 3 is slidably connected with the protective sleeve 56, and the actuator 3 and the protective sleeve 56 rotate synchronously. The rotating motor 51 can drive the protective sleeve 56 to rotate, thereby driving the actuator 3 to rotate. Since the diameter of the actuator 3 is generally small and the actuator 3 has a certain length, when the rotating motor 51 directly clamps the actuator 3 through the drill clamp 54 and drives it to rotate, the actuator 3 needs to withstand a large torque, and the actuator 3 is easily damaged. The protective sleeve can reduce the torque borne by the actuator 3, thereby protecting the actuator 3 from deformation, thereby improving the safety and reliability of the operation.

[0049] The coaxial sleeve 55 of the guide sleeve 57 is arranged on the protective sleeve 56, and the protective sleeve 56 is rotatably connected to the guide sleeve 57, and the open sleeve 58 is sleeved on the guide sleeve 57, and a protrusion 581 is arranged on the open sleeve 58, and a limiting groove 571 is opened on the guide sleeve 57, and the protrusion 581 can be embedded in the limiting groove 571. The guide sleeve 57 can prevent the long protective sleeve 56 from shaking during the rotation process, thereby improving the stability of the actuator 3 during the operation; the guide sleeve 57 is fixed at the required position through the open sleeve 58, and the locking relationship between the protrusion 581 and the limiting groove 571 prevents the guide sleeve 57 from rotating with the protective sleeve 56.

[0050] An admittance groove 582 is provided on the end surface of the protrusion 581 close to the rotating motor 51, which makes it easier for operators to quickly connect the guide sleeve 57 and the open sleeve 58 by snapping.

[0051] The implementation principle of the end effector for orthopedic surgery in an embodiment of the present application is as follows: the feed motor 41 drives the lead screw 42 to rotate, and the slider 43 threadedly connected to the lead screw 42 can be displaced along the lead screw 42; and because the rotating component 5 is connected to the slider 43 through the mounting block 6, the feed component 4 can drive the rotating component 5 to be displaced along the lead screw 42; and because the actuator 3 is connected to the rotating component 5, and the rotating motor 51 can drive the actuator 3 to rotate; and then the automatic needle placement process is realized by the simultaneous operation of the feed component 4 and the rotating component 5.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An end effector for orthopedic surgery, characterized in that: The invention comprises a power mechanism (1), a transmission mechanism and an actuator (3), wherein the actuator (3) is connected to the transmission mechanism, the power mechanism (1) comprises a feeding assembly (4) and a rotating assembly (5), wherein the rotating assembly (5) can drive the actuator (3) to rotate through the transmission mechanism, the feeding assembly (4) is connected to the rotating assembly (5) through a mounting block (6), the feeding assembly (4) can control the feeding or withdrawal of the actuator (3), and the rotating assembly (5) further comprises a protective sleeve (56), a guide sleeve (57) and an opening sleeve (58), wherein the protective sleeve (56) is coaxially sleeved with the actuator (3), the guide sleeve (57) is coaxially sleeved with the protective sleeve (56), and the protective sleeve (56) is rotatably connected to the guide sleeve (57), and the opening sleeve (58) is sleeved on the guide sleeve (57).

2. The end effector for orthopedic surgery according to claim 1, characterized in that: The actuator (3) comprises a puncture needle.

3. The end effector for orthopedic surgery according to claim 1, characterized in that: It also comprises a reference mounting plate (7), and the feeding assembly (4) is arranged on the reference mounting plate (7).

4. The end effector for orthopedic surgery according to claim 3, characterized in that: The feed assembly (4) comprises a feed motor (41), a lead screw (42) and a slider (43); the feed motor (41) is connected to a reference mounting plate (7); the lead screw (42) is connected to the feed motor (41); the slider (43) is threadedly connected to the lead screw (42); the slider (43) is connected to a mounting block (6); the mounting block (6) is connected to a rotating assembly (5); a slide rail (71) is provided on the reference mounting plate (7); and the slider (43) is slidably connected to the slide rail (71).

5. The end effector for orthopedic surgery according to claim 4, characterized in that: The slider (43) comprises a first portion (431) and a second portion (432), the first portion (431) and the second portion (432) are connected via a safety block (433), the mounting block (6) is connected to the second portion (432), and a force sensor (434) is provided between the first portion (431) and the second portion (432).

6. The end effector for orthopedic surgery according to claim 4, characterized in that: The reference mounting plate (7) is provided with a limiting member (72), the limiting member (72) comprising a signal output portion (721) and an abutting portion (722), the abutting portion (722) being capable of abutting against a slider (43), and the feed motor (41) is provided with a signal receiving end (411), the signal receiving end (411) being connected to the signal output portion (721).

7. The end effector for orthopedic surgery according to claim 4, characterized in that: A buffer spring (73) is provided on the reference mounting plate (7), and the buffer spring (73) is capable of abutting against the slider (43).

8. The end effector for orthopedic surgery according to claim 1, characterized in that: The rotating assembly (5) comprises a rotating motor (51), a coupling, a reducer (53) and a drill clamp (54); the output shaft of the rotating motor (51) is connected to the coupling, the coupling is connected to the reducer (53), the reducer (53) is connected to the drill clamp (54), and the drill clamp (54) is connected to the actuator (3).

9. The end effector for orthopedic surgery according to claim 8, characterized in that: A shaft sleeve (55) is coaxially arranged on the coupling, and the shaft sleeve (55) can cover the coupling.

10. The end effector for orthopedic surgery according to claim 1, characterized in that: The opening sleeve (58) is provided with a protrusion (581), and the guide sleeve (57) is provided with a limiting groove (571), and the protrusion (581) can be embedded in the limiting groove (571).

11. The end effector for orthopedic surgery according to claim 10, characterized in that: An admittance groove (582) is formed on the end surface of the convex block (581) close to the rotating motor (51).

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