Bone saw executing mechanism of surgical robot

Abstract

The utility model relates to the technical field of medical instruments, in particular to a bone saw executing mechanism of a surgical robot. Comprising a bone saw, a linear driving mechanism driven by a first driving motor and a bone saw driving assembly driven by a second driving motor. The actuating mechanism adopts motor driving to replace manual operation, the automation degree is high, the action of the driving motor can be accurately controlled according to a signal of the sensor, and the operation safety is high; the problem that when an existing trephine for the lumbar intervertebral disc operation is used, the danger coefficient of cutting a whole circle is high is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a bone saw actuator of a surgical robot. Background Art

[0002] The action of the surgical robot manipulating the bone saw can be divided into two actions: feeding and sawing. The so-called feeding is the action of moving the surgical instrument to the surgical site, which usually has a large amplitude, a long moving distance, a slow movement and a low frequency; the so-called sawing is to perform vibration or rotation according to the type of bone saw, which usually has a small amplitude, a short moving distance, but a fast speed and a high frequency. The ring saw is a surgical instrument used for circular sawing, which is often used in endoscopic lumbar disc surgery such as anterior decompression of the thoracolumbar spine and lumbar disc herniation. For example, in the treatment of intervertebral disc herniation, in the case of intervertebral disc herniation, in order to make the working channel reach the spinal cavity safely, it is necessary to use a ring saw to remove the bone proliferating at the distal end of the facet joint and part of the upper joint protrusion to expand the intervertebral foramen, so that the working channel of the spinal endoscope can reach the spinal cavity, and the surgical instrument is used to remove the herniated nucleus pulposus tissue to achieve the purpose of treating intervertebral disc herniation. When using the ring saw during surgery, it can only be turned clockwise. Only by turning a complete circle can the articular process shaping under the endoscopic lens be achieved, and the cutting force and rotation speed depend entirely on the clinician's feel and personal experience, and the surgical risk is relatively high. Now there are clinicians who have improved the operation method to achieve safe cutting of intervertebral disc herniation by repeated semicircular movements. For example, Chinese patent 2020203057017 discloses "Spinal Endoscopic Forward and Reverse Ring Saw", the publication number is CN211911714U, this forward and reverse ring saw includes a tubular tube body with annular serrations at the bottom, the upper part of the tube body is slidably connected to the limit baffle and the limit tube from bottom to top in sequence, the outer circumference of the middle part of the limit tube is rotatably connected to a horizontally rotatable scale plate, the bottom of the scale plate is fixedly connected to an extension column at the bottom of the rear side, the bottom of the extension column is slidably connected to a sliding rod that can move up and down, the front end of the sliding rod is fixedly connected to an annular clamping ring, the inner side of the clamping ring is provided with a radially movable card, the clamping ring and the tube body are coaxial; the top of the tube body is detachably connected with a handle. This solves the problem that the risk factor of cutting a full circle is high and the efficiency of reciprocating semicircular cutting is low in the current lumbar disc surgery. However, the forward and reverse trepanning saw still needs to be operated manually, and the feeding and sawing actions of the trepanning saw are manually controlled and executed by the doctor, which cannot achieve precise feeding positioning and accurate torque control. During surgery, for different surgical individuals and different surgical sites, the bone density that needs to be cut by the trepanning saw varies greatly, and the cutting speed and torque corresponding to different bone densities also vary to a certain extent. Therefore, the trepanning saws in current technology and the forward and reverse trepanning saws mentioned above still need to be further improved in reducing surgical risks. Utility Model Content

[0003] In view of the above technical problems, the purpose of the utility model is to provide a bone saw actuator for a surgical robot with a high degree of automation, strong surgical safety and accurate control of feed positioning.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The bone saw actuator of a surgical robot described in the utility model includes a bone saw, which is installed on a bone saw driving assembly, and the bone saw driving assembly is slidably installed on a linear driving mechanism through a slide plate; the linear driving mechanism includes a mounting base plate, a slide rail fixedly connected to the mounting base plate, a lead screw rotatably connected to the mounting base plate at both ends through an axle seat, and a slider slidably connected to the slide rail and threadedly connected to the lead screw; the slide plate is fixedly connected to the slider; one end of the lead screw is drivingly connected to the first driving motor; a displacement detection device for detecting the moving position of the slider is provided on one side of the slide rail, and a signal acquisition end of the displacement detection device is electrically connected to a control circuit, and the control circuit controls the action of the first driving motor according to the signal of the displacement detection device.

[0006] Through this solution, the moving position of the bone saw drive assembly can be accurately located, thereby achieving precise control of the bone saw feeding action and improving the degree of automation.

[0007] Preferably, the bone saw is a ring saw, and the bone saw drive assembly is used to install the bone saw joint of the ring saw and the second drive motor transmission-connected to the bone saw joint, the output end of the second drive motor is connected to the torque input end of the torque sensor through a yaw mechanism, the torque input end of the torque sensor is fixedly connected to the bone saw joint, the signal acquisition end of the torque sensor is electrically connected to the control circuit, and the control circuit controls the rotation speed of the second drive motor according to the signal of the torque sensor; the yaw mechanism includes an eccentric wheel installed on the rotating shaft of the second drive motor, and a rocker rod fixedly connected to the torque input end of the torque sensor, the rocker rod is provided with a long hole matching the eccentric wheel, and the eccentric wheel is installed in the long hole through a bearing.

[0008] Through this solution, a motor-driven bone saw is used to replace manual operation, which has a high degree of automation and can control the rotation speed of the second drive motor according to the signal of the torque sensor, thereby enhancing the safety of the operation. Swinging cutting is used instead of unidirectional rotation cutting, thereby solving the problem of high risk factor of cutting a whole circle when using a ring saw in lumbar disc surgery.

[0009] Preferably, a U-shaped frame is fixedly installed on the mounting base plate, both ends of the U-shaped frame are fixedly connected to the two sides of the mounting base plate and the shape of the U-shaped frame is adapted to the bone saw driving assembly so that the bone saw driving assembly can pass through between the U-shaped frame and the mounting base plate; a fixed bracket is connected to the outer side of the U-shaped frame.

[0010] Through this solution, a fixed bracket can be installed on the outer side of the U-shaped frame without hindering the feeding action of the bone saw drive assembly.

[0011] Preferably, a reduction mechanism is provided between the second drive motor and the yaw mechanism, and the reduction mechanism is a planetary gear reduction mechanism.

[0012] Through this solution, the reduction ratio of the reduction mechanism is large, the operation is stable and the structure is compact.

[0013] Preferably, the lead screw is transmission-connected to the first drive motor via a coupling.

[0014] Through this solution, the lead screw runs smoothly and the maintenance and care of the first drive motor are convenient.

[0015] Compared with the prior art, the utility model has the following beneficial effects: the mechanism has a high degree of automation, strong surgical safety, and can accurately control the feeding positioning and sawing action. When using the ring saw, swing cutting replaces unidirectional rotation cutting, which solves the problem of high risk factor of cutting a full circle in the current use of the ring saw in lumbar disc surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment of the utility model.

[0017] Figure 2 yes Figure 1 Schematic diagram of the internal structure of an embodiment.

[0018] Figure 3 It is a schematic diagram of the internal structure of the bone saw drive assembly.

[0019] Figure 4 It is a principle block diagram of the control circuit of the utility model.

[0020] Figure 5 It is a structural diagram of the eccentric wheel. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] like Figure 1As shown, the bone saw actuator of the surgical robot described in the utility model includes a bone saw 9, and the bone saw 9 is installed on a bone saw driving assembly 91. The bone saw driving assembly 91 is used to drive the bone saw 9 to complete the sawing action. For example, the bone saw driving assembly 91 can be a wire saw driving assembly that drives the wire saw to vibrate back and forth, or it can be a ring saw driving assembly that drives the ring saw to rotate. The bone saw driving assembly 91 is slidably installed on the linear driving mechanism 92 through the slide plate 8, and the linear driving mechanism 92 drives the bone saw driving assembly 91 to move to realize the feeding action of the bone saw, and move the bone saw to the surgical site.

[0023] like Figure 2 As shown, the linear drive mechanism 92 includes a mounting base plate 921, a slide rail 923 fixedly connected to the mounting base plate 921, a lead screw 922 rotatably connected to the mounting base plate 921 at both ends through an axle seat, and a slider 924 slidably connected to the slide rail 923 and threadedly connected to the lead screw 922; the mounting base plate 921 is a flat structure to facilitate installation on a robotic arm or other devices or equipment, the slide rail 923 is attached to the working surface of the mounting base plate 921, and the lead screw 922 and the slider 924 are located on the same working surface as the slide rail 923.

[0024] The slide plate 8 is fixedly connected to the slider 924, and the bone saw drive assembly 91 and the slider 924 are connected together through the slide plate 8, so that the bone saw drive assembly 91 can slide on the slide rail 923 with the slider 924; one end of the lead screw 922 is transmission-connected to the first drive motor 925, and the first drive motor 925 is driven by the control circuit PCB. The first drive motor 925 and the lead screw 922 can be directly connected or connected through a coupling 928. When the first drive motor 925 is working, it drives the lead screw 922 to rotate, and when the lead screw 922 rotates, it drives the slider 924 and the bone saw drive assembly 91 to slide along the slide rail 923; a displacement detection device 926 for detecting the moving position of the slider 924 is provided on one side of the slide rail 923. The displacement detection device 926 preferably adopts a laser displacement detection device to accurately measure the movement of the slider 924 according to the principle of laser triangulation or laser echo analysis. The structure and principle of the displacement detection device 926 are existing well-known technologies and will not be described in detail here. Figure 4 As shown, the signal collection end of the displacement detection device 926 is electrically connected to the control circuit PCB, and the control circuit PCB controls the action of the first drive motor 925 according to the signal of the displacement detection device 926.

[0025] As a further improvement of the present invention, the bone saw 9 is a ring saw. Figure 3As shown, the bone saw driving assembly 91 includes a bone saw joint 1 for mounting the bone saw 9, and a second driving motor 2 drivingly connected to the bone saw joint 1. The ring saw adopts a common tubular structure, and a surgical ring saw with saw teeth on the end annular end surface. Of course, other tubular or rod-shaped rings can also be used. When in use, the ring saw 9 is mounted on the bone saw joint 1, and the second driving motor 2 drives the ring saw 9 to move through the bone saw joint 1.

[0026] The second drive motor 2 adopts a small or micro servo motor with adjustable speed. The speed of the second drive motor 2 is adjusted and controlled by the control circuit PCB. The circuit structure and working principle of the control circuit PCB are both existing technologies and will not be further introduced here.

[0027] The output end of the second driving motor 2 is connected to the torque input end of the torque sensor 3 through the yaw mechanism. The torque input end of the torque sensor 3 is fixedly connected to the bone saw joint 1. The signal collection end of the torque sensor 3 is electrically connected to the control circuit PCB. Figure 2 As shown, the control circuit PCB controls the speed of the second drive motor 2 according to the signal of the torque sensor 3. Torque sensors are commonly used to sense and detect torsional moments on rotating or non-rotating mechanical parts, and convert physical changes in torque into precise electrical signals. In this embodiment, the control circuit PCB accurately adjusts the speed of the second drive motor 2 according to the changes in the electrical signal received from the torque sensor to adapt to changes in bone density of different individuals and different surgical sites during surgery.

[0028] like Figure 3 As shown, the yaw mechanism includes an eccentric wheel 4 mounted on the rotating shaft of the second drive motor 2, and a swing rod 5 fixedly connected to the elastic shaft of the torque sensor 3. The swing rod 5 is provided with a long hole 6 matching the eccentric wheel 4, and the eccentric wheel 4 is mounted in the long hole 6 through a bearing. Figure 5 As shown, the eccentric wheel 4 is provided with an axial hole 41 for installing the rotating shaft of the driving motor 2 and a shaft rod 42 for installing the bearing. The axial hole 41 and the shaft rod 42 are eccentrically arranged, that is, the axes of the two are parallel to each other but not concentric. The rotating shaft of the driving motor 2 is fixedly installed in the axial hole 41, and the bearing is installed on the eccentric shaft rod 42. When the driving motor 2 is working, the bearing on the shaft rod makes a circular motion around the rotating shaft of the driving motor 2, and at the same time reciprocates in the long hole 6 of the swing rod 5, pushing the end of the swing rod 5 to swing back and forth. The bearing on the shaft rod can prevent the shaft rod from directly contacting the hole wall of the long hole 6, reduce friction, and extend the service life.

[0029] As a further improvement of the present invention, a reduction mechanism 7 is provided between the second drive motor 2 and the yaw mechanism. The reduction mechanism 7 can reduce the speed output to the yaw mechanism and increase the torque. In this embodiment, the reduction mechanism 7 is a planetary gear reduction mechanism. Compared with other forms of reduction mechanisms, the planetary gear reduction mechanism has the characteristics of large reduction ratio, small size, compact structure and smooth operation.

[0030] In addition, if Figure 3 As shown, the torque input end and the torque output end of the torque sensor 3 are respectively installed in the upper shaft seat 31 and the lower shaft seat 32 through bearings, and the upper shaft seat 31 and the lower shaft seat 32 are both fixedly installed on the slide 8. The second drive motor 2 is also installed on the slide 8 and is located on one side of the torque sensor 3, so that the rotating shaft of the second drive motor 2 is parallel to the elastic axis of the torque sensor 3. The upper shaft seat 31 and the lower shaft seat 32 are located on the same axis, so that the elastic axis of the sensor 3 and the ring saw are highly concentric. After being installed on the slide 8, the slide 8 can be installed on the slide rail to drive the slide 8 to move using the linear drive mechanism 92, so as to realize the axial feeding of the ring saw and further improve the degree of automation.

[0031] When in use, the second drive motor 2 drives the eccentric wheel 4 to rotate, and the shaft on the eccentric wheel 4 moves in a circular motion while reciprocating in the long hole 6 of the swing rod 5, pushing the swing rod 5 to swing, and the swing of the swing rod 5 is transmitted to the elastic shaft of the torque sensor 3, causing the elastic shaft of the torque sensor 3 to swing back and forth, and the torque sensor 3 drives the ring saw to swing back and forth, and the resistance encountered by the ring saw when cutting the bone is transmitted to the torque sensor 3 to generate a corresponding torque signal, such as Figure 4 As shown, the torque signal is fed back to the control circuit PCB, and the control circuit PCB generates a driving signal for controlling the rotation speed of the second drive motor 2 to adjust the rotation speed of the second drive motor 2.

[0032] In addition, a U-shaped frame 927 is fixedly mounted on the mounting base plate 921, and the two ends of the U-shaped frame 927 are fixedly connected to the two sides of the mounting base plate 921. The shape of the U-shaped frame 927 is adapted to the bone saw driving assembly 91, so that the bone saw driving assembly 91 can pass between the U-shaped frame 927 and the mounting base plate 921; the outer side of the U-shaped frame 927 is connected to a fixed bracket for connecting other auxiliary devices. In this way, it can work with other auxiliary devices without hindering the feeding action of the bone saw driving assembly.

[0033] During surgery, the surgical channel sleeve is connected to the fixed bracket, and the control circuit PCB moves the position of the bone saw drive assembly 91 through the first drive motor 925, so that the bone saw 9 on the bone saw drive assembly 91 passes through the surgical channel sleeve to reach the surgical site; then the control circuit PCB drives the eccentric wheel 4 to rotate through the second drive motor 2, causing the torque sensor 3 to connect to the bone saw to swing back and forth, completing the cutting action.

[0034] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bone saw actuator of a surgical robot, comprising a bone saw (9), characterized in that: The bone saw (9) is mounted on a bone saw drive assembly (91), and the bone saw drive assembly (91) is slidably mounted on a linear drive mechanism (92) via a slide plate (8); the linear drive mechanism (92) comprises a mounting base plate (921), a slide rail (923) fixedly connected to the mounting base plate (921), a lead screw (922) rotatably connected to the mounting base plate (921) at both ends via shaft seats, and a slider (924) slidably connected to the slide rail (923) and threadedly connected to the lead screw (922); the slide plate (8) is fixedly connected to the slider (924); one end of the lead screw (922) is drivingly connected to a first drive motor (925); a displacement detection device (926) for detecting a moving position of the slider (924) is provided on one side of the slide rail (923); a signal collection end of the displacement detection device (926) is electrically connected to a control circuit PCB, and the control circuit PCB controls the action of the first drive motor (925) according to a signal from the displacement detection device (926).

2. According to claim 1, a bone saw actuator of a surgical robot is characterized in that: The bone saw (9) is a ring saw. The bone saw drive assembly (91) comprises a bone saw joint (1) for mounting the bone saw (9), a second drive motor (2) drivingly connected to the bone saw joint (1), an output end of the second drive motor (2) being connected to a torque input end of a torque sensor (3) via a yaw mechanism, the torque input end of the torque sensor (3) being fixedly connected to the bone saw joint (1), a signal acquisition end of the torque sensor (3) being electrically connected to a control circuit PCB, and the control circuit PCB controlling the rotation speed of the second drive motor (2) according to a signal from the torque sensor (3); the yaw mechanism comprises an eccentric wheel (4) mounted on a rotating shaft of the second drive motor (2), a swing rod (5) fixedly connected to the torque input end of the torque sensor (3), a long hole (6) matching the eccentric wheel (4) being provided on the swing rod (5), and the eccentric wheel (4) being mounted in the long hole (6) via a bearing.

3. A bone saw actuator for a surgical robot according to claim 1 or 2, characterized in that: A U-shaped frame (927) is fixedly mounted on the mounting base plate (921), with two ends of the U-shaped frame (927) fixedly connected to two sides of the mounting base plate (921), and the shape of the U-shaped frame (927) is adapted to the bone saw drive assembly (91), so that the bone saw drive assembly (91) can pass between the U-shaped frame (927) and the mounting base plate (921); a fixed bracket is connected to the outer side of the U-shaped frame (927).

4. The bone saw actuator of a surgical robot according to claim 2, characterized in that: A reduction mechanism (7) is provided between the second drive motor (2) and the yaw mechanism, and the reduction mechanism (7) is a planetary gear reduction mechanism.

5. The bone saw actuator of a surgical robot according to claim 1 or 2, characterized in that: The lead screw (922) is transmission-connected to the first drive motor (925) via a coupling (928).

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