Flexible mechanical arm for minimally invasive surgery in orthopedics department

Abstract

The utility model relates to the technical field of orthopaedic minimally invasive surgery robots, and discloses a flexible mechanical arm for orthopaedic minimally invasive surgery, which comprises a base and a supporting seat, the top end of the base is fixedly connected with the supporting seat, and a first mounting groove is arranged in the supporting seat. According to the flexible mechanical arm for the minimally invasive surgery in the orthopedics department, during surgery, operation is conducted through a robot host after the mechanical arm is connected, surgery operation is conducted after a drill bit is correctly positioned, when the drill bit enters a vertebral pedicle to make contact with a first layer of cortical bone, vibration is strengthened, and when the drill bit breaks through the first layer of cortical bone, vibration is reduced; the flexible electron senses changes of vibration and pressure, the drill bit is stopped through an algorithm, and therefore the situation that the drill bit moves forwards excessively and causes iatrogenic injury is avoided, whether the drill bit is located at the optimal position or not can be sensed in real time in the operation process by setting the optimal pressure value and the optimal frequency value, and the operation efficiency is improved. The problem that operation guidance cannot be accurately conducted in the operation in real time is solved.

Description

Technical Field

[0001] This utility model relates to the field of orthopedic minimally invasive surgical robot technology, and in particular to a flexible robotic arm for orthopedic minimally invasive surgery. Background Technology

[0002] The appropriate application of robot-assisted surgery can not only provide precise positioning of surgical instruments and a 3D surgical field, but also avoid the tremors caused by manual operation, reduce surgical time and the patient's postoperative recovery period, and significantly shorten the training period for young surgeons. However, currently, the sensing feedback systems of surgical devices used in orthopedic robots are mostly limited to single pressure feedback systems, which makes it impossible to provide real-time and accurate intraoperative surgical guidance.

[0003] Now, a novel flexible robotic arm for minimally invasive orthopedic surgery is proposed to address the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a flexible robotic arm for minimally invasive orthopedic surgery, in order to solve the problem mentioned in the background art that it cannot provide real-time and accurate surgical guidance during the operation.

[0005] This utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery, comprising a base and a support base. The support base is fixedly connected to the top of the base. A first mounting groove is provided inside the support base, and a drive motor is fixedly installed inside the first mounting groove. A fixed frame is fixedly connected to the left side of the support base. A movable groove is provided on the left side inside the fixed frame. A fixed shell is provided on the left side of the fixed frame. A second mounting groove is provided inside the fixed shell, and a second drive motor is fixedly installed inside the second mounting groove. The output end of the second drive motor passes through the bottom end of the second mounting groove and is fixedly connected to a first arm. A second arm is provided on one side of the first arm. A third arm is provided on one side of the second arm, a fourth arm is provided on one side of the third arm, and an outer frame is provided on one side of the fourth arm. An electric guide rail is fixedly installed inside the outer frame. An electric slider is slidably connected to the outside of the electric guide rail. A mounting block is fixedly connected to one side of the electric slider. A drill tail clip is provided at the bottom of the mounting block. Positioning blocks are fixedly connected to both sides of the drill tail clip. A second reserved groove is provided inside the mounting block. The front and rear ends of the second reserved groove are provided with slots. Limiting grooves are provided on both sides of the top of the second reserved groove. A drill bit is engaged at the bottom of the drill tail clip. The top of the drill bit is wrapped with flexible electronics.

[0006] This invention relates to a flexible robotic arm for minimally invasive orthopedic surgery, wherein the positioning block is detachably embedded inside the limiting groove.

[0007] This utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery, wherein the output end of the drive motor passes through the interior of one side of the fixed frame and is fixedly connected to a lead screw, the rear end of the fixed frame is provided with a first reserved groove, the rear end of the fixed frame is provided with a connecting arm, the left side of the front end of the connecting arm is fixedly connected to the rear end of the fixed shell, and the left side of the lead screw is embedded in the movable groove and can rotate.

[0008] This invention relates to a flexible robotic arm for minimally invasive orthopedic surgery, wherein a connecting block is fixedly connected to the right side of the front end of the connecting arm, the connecting block passing through the interior of the first reserved groove and sleeved on the outside of the lead screw.

[0009] This utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery, wherein a circular base is fixedly connected to the bottom end of the fixed shell, and a guide block is fixedly connected to the top end of the first arm. The guide block is sleeved on the outside of the circular base and can rotate.

[0010] This utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery, wherein a third drive motor is respectively provided between the first and second arms, between the bottom ends of the second and third arms, and between the third and fourth arms.

[0011] This utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery. The fourth arm has a third mounting groove inside one side, and a fourth drive motor is fixedly installed inside the third mounting groove. The output end of the fourth drive motor passes through one side of the third mounting groove and is fixedly connected to a connecting seat. One side of the connecting seat is fixedly connected to the right side of the outer frame.

[0012] This utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery, wherein the limiting groove and the groove opening have the same width, and the second reserved groove is cylindrical.

[0013] The flexible robotic arm for minimally invasive orthopedic surgery of this invention differs from the prior art in that it not only achieves real-time sensing of whether the drill bit is in the optimal position and facilitates adjustment of the length and angle during use, but also facilitates adjustment of the angle during use.

[0014] (1) By setting up flexible electronics, drill bits and other parts, the height of the drill bit can be easily adjusted by using electric guide rails and electric sliders. During surgery, after connecting the robotic arm, the robot host is operated to correctly position the drill bit and then perform the surgical operation. When the drill bit enters the pedicle and contacts the first layer of cortical bone, the vibration is strengthened. When it breaks through the first layer of cortical bone, the flexible electronics sense the changes in vibration and pressure and stop the drill bit through the algorithm, thereby avoiding the drill bit from moving too far forward and causing iatrogenic damage. By setting the optimal pressure value and frequency value, it is possible to sense in real time whether the drill bit is in the optimal position during the operation.

[0015] (2) By setting a first mounting slot, a drive motor, a fixed frame, a first reserved slot, a connecting arm, and a lead screw, the drive motor is turned on and the lead screw is driven to rotate, which can drive the externally sleeved connecting block to move, thereby making it easier to adjust the position length during use and making it more flexible and applicable.

[0016] (3) By setting a fixed shell, a second mounting groove, a second drive motor, a round seat, a guide block, a first arm, a fourth arm, a third mounting groove, a fourth drive motor, and a connecting seat, the second drive motor is turned on to drive the first arm to rotate, which facilitates the rotation of the first arm at the bottom. The guide block is sleeved on the round seat and rotates, which facilitates the adjustment of the orientation. The fourth drive motor is turned on to drive the outer frame to rotate, which facilitates the adjustment of the guide rail angle, making it more suitable for use.

[0017] The following description, in conjunction with the accompanying drawings, further illustrates a flexible robotic arm of this utility model used in minimally invasive orthopedic surgery. Attached Figure Description

[0018] Figure 1 This is a frontal cross-sectional view of a flexible robotic arm for minimally invasive orthopedic surgery according to the present invention.

[0019] Figure 2 This is a schematic diagram of the connection between the outer frame and the fourth arm in a flexible robotic arm for minimally invasive orthopedic surgery according to the present invention.

[0020] Figure 3 This is a schematic diagram of the connection between the circular block and the fixed shaft in a flexible robotic arm for minimally invasive orthopedic surgery according to the present invention.

[0021] Figure 4 This is a schematic diagram of the connection between the second circular frame and the partition block in a flexible robotic arm for minimally invasive orthopedic surgery according to the present invention.

[0022] The markings in the diagram are as follows: 1-base; 2-support seat; 3-first mounting slot; 4-drive motor; 5-fixed frame; 6-first reserved slot; 7-connecting arm; 8-lead screw; 9-connecting block; 10-movable slot; 11-fixed shell; 12-second mounting slot; 13-second drive motor; 14-round seat; 15-guide block; 16-first arm; 17-second arm; 18-third arm; 19-third drive motor; 20-fourth arm; 21-third mounting slot; 22-fourth drive motor; 23-connecting seat; 24-outer frame; 25-electric guide rail; 26-electric slider; 27-mounting block; 28-limiting slot; 29-positioning block; 30-second reserved slot; 31-slot; 32-drill tail clip; 33-flexible electronics; 34-drill bit. Detailed Implementation

[0023] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] Example

[0025] like Figures 1-4 As shown, this utility model discloses a flexible robotic arm for minimally invasive orthopedic surgery, comprising a base 1 and a support 2. The support 2 is fixedly connected to the top of the base 1. A first mounting groove 3 is provided inside the support 2, and a drive motor 4 is fixedly installed inside the first mounting groove 3. A fixed frame 5 is fixedly connected to the left side of the support 2. A movable groove 10 is provided on the left side inside the fixed frame 5. A fixed shell 11 is provided on the left side of the fixed frame 5. A second mounting groove 12 is provided inside the fixed shell 11, and a second drive motor 13 is fixedly installed inside the second mounting groove 12. The output end of the second drive motor 13 passes through the bottom end of the second mounting groove 12 and is fixedly connected to a first arm 16. A second arm 17 is provided on one side of the first arm 16. A third arm 18 is provided on one side, a fourth arm 20 is provided on one side of the third arm 18, an outer frame 24 is provided on one side of the fourth arm 20, an electric guide rail 25 is fixedly installed inside the outer frame 24, an electric slider 26 is slidably connected to the outside of the electric guide rail 25, an installation block 27 is fixedly connected to one side of the electric slider 26, a drill tail buckle 32 is provided at the bottom of the installation block 27, positioning blocks 29 are fixedly connected to both sides of the outside of the drill tail buckle 32, a second reserved groove 30 is provided inside the installation block 27, slots 31 are provided at the front and rear ends of the second reserved groove 30, limit grooves 28 are provided on both sides of the top of the second reserved groove 30, a drill bit 34 is engaged at the bottom of the drill tail buckle 32, and a flexible electronic 33 is wrapped around the top of the drill bit 34.

[0026] The positioning block 29 is detachable and is embedded inside the limiting groove 28;

[0027] The limiting groove 28 has the same width as the groove 31, and the second reserved groove 30 is cylindrical;

[0028] Specifically, such as Figure 1 , Figure 2 and Figure 4As shown, the height of the drill bit 34 can be easily adjusted using the electric guide rail 25 and the electric slider 26. During surgery, after connecting the robotic arm, the operation is performed through the robot host. After the drill bit 34 is correctly positioned, the surgical operation is carried out. When the drill bit 34 enters the pedicle and contacts the first layer of cortical bone, the vibration is intensified. When it breaks through the first layer of cortical bone, the flexible electronics 33 senses the changes in vibration and pressure and stops the drill bit 34 through the algorithm, thereby avoiding the drill bit 34 from moving too far forward and causing iatrogenic damage. By setting the optimal pressure value and frequency value, it is possible to sense in real time whether the drill bit 34 is in the optimal position during the operation. When it is necessary to remove the drill tail clip 32 later, the drill tail clip 32 can be rotated to rotate the positioning block 29 to the slot 31 and remove it.

[0029] The output end of the drive motor 4 passes through the interior of one side of the fixed frame 5 and is fixedly connected to the lead screw 8. The rear end of the fixed frame 5 is provided with a first reserved slot 6 and a connecting arm 7. The left side of the front end of the connecting arm 7 is fixedly connected to the rear end of the fixed shell 11. The left side of the lead screw 8 is embedded in the movable slot 10 and can rotate.

[0030] A connecting block 9 is fixedly connected to the right side of the front end of the connecting arm 7. The connecting block 9 passes through the inside of the first reserved slot 6 and is sleeved on the outside of the lead screw 8.

[0031] Specifically, such as Figure 1 and Figure 3 As shown, turning on the drive motor 4 drives the lead screw 8 to rotate, which can move the externally sleeved connecting block 9, thus facilitating the adjustment of the position length during use and making it more flexible and applicable.

[0032] A circular base 14 is fixedly connected to the bottom end of the fixed shell 11, and a guide block 15 is fixedly connected to the top end of the first arm 16. The guide block 15 is sleeved on the outside of the circular base 14 and can rotate.

[0033] A third drive motor 19 is provided between the first arm 16 and the second arm 17, between the bottom ends of the second arm 17 and the third arm 18, and between the third arm 18 and the fourth arm 20.

[0034] The fourth arm 20 has a third mounting slot 21 inside one side. The fourth drive motor 22 is fixedly installed inside the third mounting slot 21. The output end of the fourth drive motor 22 passes through one side of the third mounting slot 21 and is fixedly connected to a connecting seat 23. One side of the connecting seat 23 is fixedly connected to the right side of the outer frame 24.

[0035] Specifically, such as Figure 1As shown, turning on the second drive motor 13 drives the first arm 16 to rotate, which facilitates the rotation of the first arm 16 at the bottom. The guide block 15 is sleeved on the round seat 14 and rotates, which facilitates the adjustment of the orientation. Turning on the fourth drive motor 22 drives the outer frame 24 to rotate, which facilitates the adjustment of the angle of the electric guide rail 25, making it more suitable for use.

[0036] Working Principle: In use, the height of the drill bit 34 can be easily adjusted using the electric guide rail 25 and electric slider 26. During surgery, after connecting to the robotic arm, the robot host operates to correctly position the drill bit 34 before proceeding with the surgical procedure. When the drill bit 34 enters the pedicle and contacts the first layer of cortical bone, the vibration intensifies. Upon breaking through the first layer of cortical bone, the flexible electronics 33 sense the changes in vibration and pressure and use an algorithm to stop the drill bit 34, thus preventing it from advancing excessively and causing iatrogenic injury. By setting optimal pressure and frequency values, the drill bit 34 can be monitored in real time during the surgery. To determine if it is in the optimal position, during operation, turn on the second drive motor 13 to drive the first arm 16 to rotate, which facilitates the rotation of the bottom first arm 16. The guide block 15 is fitted onto the round seat 14 and rotates, which facilitates the adjustment of the orientation. Turn on the fourth drive motor 22 to drive the outer frame 24 to rotate, which facilitates the adjustment of the angle of the electric guide rail 25. Turn on the drive motor 4 to drive the lead screw 8 to rotate, which can drive the externally fitted connecting block 9 to move, thereby facilitating the adjustment of the position length during use, making it more flexible and applicable. Finally, when it is necessary to disassemble the drill tail clip 32 later, the drill tail clip 32 can be rotated to rotate the positioning block 29 to the slot 31 and then removed.

[0037] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A flexible robotic arm for minimally invasive orthopedic surgery, characterized in that: The system includes a base and a support base, characterized in that: a support base is fixedly connected to the top of the base; a first mounting groove is provided inside the support base; a drive motor is fixedly installed inside the first mounting groove; a fixed frame is fixedly connected to the left side of the support base; a movable groove is provided on the left side inside the fixed frame; a fixed shell is provided on the left side of the fixed frame; a second mounting groove is provided inside the fixed shell; a second drive motor is fixedly installed inside the second mounting groove; the output end of the second drive motor passes through the bottom end of the second mounting groove and is fixedly connected to a first arm; a second arm is provided on one side of the first arm; and a second arm is provided on one side of the second arm. The system is equipped with a third arm, a fourth arm on one side of the third arm, and an outer frame on one side of the fourth arm. An electric guide rail is fixedly installed inside the outer frame, and an electric slider is slidably connected to the outside of the electric guide rail. A mounting block is fixedly connected to one side of the electric slider, and a tee catch is provided at the bottom of the mounting block. Positioning blocks are fixedly connected to both sides of the tee catch. A second pre-reserved groove is provided inside the mounting block, with slots at the front and rear ends. Limiting grooves are provided on both sides of the top of the second pre-reserved groove. A drill bit is engaged at the bottom of the tee catch, and a flexible electronic component is wrapped around the top of the drill bit.

2. The flexible robotic arm for minimally invasive orthopedic surgery according to claim 1, characterized in that: The positioning block is detachable and is embedded inside the limiting groove.

3. The flexible robotic arm for minimally invasive orthopedic surgery according to claim 1, characterized in that: The output end of the drive motor passes through the interior of one side of the fixed frame and is fixedly connected to a lead screw. The rear end of the fixed frame is provided with a first reserved slot and a connecting arm. The left side of the front end of the connecting arm is fixedly connected to the rear end of the fixed shell. The left side of the lead screw is embedded in the movable slot and can rotate.

4. A flexible robotic arm for minimally invasive orthopedic surgery according to claim 3, characterized in that: A connecting block is fixedly connected to the right side of the front end of the connecting arm. The connecting block passes through the inside of the first reserved groove and is sleeved on the outside of the lead screw.

5. A flexible robotic arm for minimally invasive orthopedic surgery according to claim 1, characterized in that: The bottom of the fixed shell is fixedly connected to a circular seat, and the top of the first arm is fixedly connected to a guide block. The guide block is sleeved on the outside of the circular seat and can rotate.

6. The flexible robotic arm for minimally invasive orthopedic surgery according to claim 1, characterized in that: A third drive motor is provided between the first and second arms, between the bottom ends of the second and third arms, and between the third and fourth arms.

7. A flexible robotic arm for minimally invasive orthopedic surgery according to claim 1, characterized in that: The fourth arm has a third mounting slot inside one side, and a fourth drive motor is fixedly installed inside the third mounting slot. The output end of the fourth drive motor passes through one side of the third mounting slot and is fixedly connected to a connecting seat. One side of the connecting seat is fixedly connected to the right side of the outer frame.

8. A flexible robotic arm for minimally invasive orthopedic surgery according to claim 1, characterized in that: The limiting groove has the same width as the groove opening, and the second reserved groove is cylindrical.

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