Surgical incision creating device and surgical robot

Abstract

The utility model relates to a surgical incision creating device and a surgical robot, the surgical incision creating device comprises a cutter bar and a sleeve, one end of the cutter bar is used as a driving end, a pressure sensor is arranged above the driving end, the other end of the cutter bar is used as a free end, and the free end is connected with a blade; the periphery of the cutter bar is sleeved with the sleeve, a compression spring is arranged between the sleeve and the driving end of the cutter bar, the sleeve can move along the central axis of the cutter bar, the rollers are symmetrically arranged on the sleeve and make contact with the skin of an operation object, the incision strength of the blade can be effectively controlled, and safety is improved.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, specifically relating to a device for creating surgical incisions and a surgical robot. Background Technology

[0002] With the development of technology and the innovation of artificial intelligence, surgical robots are being widely used in clinical surgery. These robots can replace doctors in performing surgeries on-site, allowing doctors to operate and control them from a remote control console, thus serving patients in more regions. Preparing the surgical incision is a crucial step. During the surgery, the robot guides the surgical blade along a planned trajectory, creating the incision at the intersection of the planned trajectory and the skin. Because each patient's anatomy is different, controlling the incision force of the surgical blade to improve safety is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0003] To address the shortcomings of existing technologies, a method for creating a surgical incision device and a surgical robot is proposed to effectively control the incision force of the surgical blade and improve safety.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] In a first aspect, this utility model provides a device for creating a surgical incision, comprising:

[0006] The tool holder has one end as the driving end, with a pressure sensor installed above the driving end, and the other end as the free end, with a blade connected to the free end.

[0007] A sleeve is fitted around the periphery of the scalpel, and a compression spring is provided between the sleeve and the drive end of the scalpel. The sleeve can move along the central axis of the scalpel. Rollers are symmetrically arranged on the sleeve, and the rollers are in contact with the skin of the surgical object.

[0008] During the creation of the surgical incision, a force is applied to the drive end of the scalpel, and the blade penetrates the skin of the surgical subject from shallow to deep and moves along a planned trajectory. During this process, the sleeve moves in the opposite direction relative to the blade and compresses the compression spring. The compression spring generates a thrust on the drive end of the scalpel. The mechanical force is monitored by a pressure sensor, and the roller is always in contact with the skin of the surgical subject.

[0009] The technical solution is further configured such that the sleeve has an elongated hole extending along its axial direction on its cylindrical wall, and the tool holder has a pin that is embedded in the elongated hole and can slide along the elongated hole.

[0010] The technical solution is further configured such that the length of the elongated hole is not greater than the maximum compression of the compression spring, and the length of the elongated hole is not less than the planned cut depth.

[0011] The technical solution is further configured such that the tool holder and the sleeve are arranged coaxially, and the rollers are arranged symmetrically with respect to the axis.

[0012] The technical solution is further configured such that the roller is rotatably mounted on the base, the base is connected to the sleeve, and the roller surface is provided with an anti-slip structure.

[0013] The technical solution is further configured such that the base is provided with a mounting hole, and the sleeve is embedded inside the mounting hole and fixedly connected to the mounting hole.

[0014] The technical solution is further configured such that there are two rollers arranged symmetrically, and each roller is rotatably connected to the base via an axle.

[0015] The technical solution is further configured such that four rollers are arranged symmetrically, and two rollers located on the same side of the base are rotatably mounted on the same side plate via axles, and the side plate is connected to the base by pins.

[0016] Secondly, this utility model provides a surgical robot, including a robotic arm and a surgical incision creation device. The surgical incision creation device is connected to the robotic arm via a connecting seat, and the pressure sensor is located at the connection between the surgical incision creation device and the connecting seat.

[0017] The technical solution is further configured such that the connecting seat is provided with a marking element for emitting a marking beam, the marking center of the marking beam coincides with the tip of the blade, and the marking beam has a straight beam aligned with the side of the blade.

[0018] The beneficial effects of this utility model are:

[0019] By setting up symmetrical rollers, the rollers can always adapt to the skin of the surgical subject as the blade goes deeper. At the same time, the compression spring is compressed, generating a thrust on the drive end of the blade. The pressure sensor is used for mechanical monitoring to control the cutting force of the blade and improve safety. The rollers on both sides will squeeze the skin on both sides of the surgical incision as the blade goes deeper, which will help to open the surgical incision. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of one embodiment of the device for creating a surgical incision according to this utility model;

[0021] Figure 2This is a schematic diagram of another embodiment of the surgical incision device in this utility model;

[0022] Figure 3 This is a schematic diagram of the surgical robot in an embodiment of this utility model.

[0023] In the attached diagram: 1. Drive end of the tool holder; 2. Sleeve; 3. Roller; 4. Compression spring; 5. Blade; 6. Base; 7. Oblong hole; 8. Pin; 9. Side plate;

[0024] 100. Robotic arm; 200. Surgical incision creation device; 300. Connector; 400. Marking element. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solution of this utility model, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0026] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0027] According to an embodiment of this utility model, a device for creating surgical incisions is provided. Please refer to [link / reference]. Figures 1 to 2 The device includes a tool holder and a sleeve 2. One end of the tool holder serves as a drive end 1, and a pressure sensor is installed above the drive end. The other end serves as a free end, and a blade 5 is connected to the free end. The sleeve 2 is sleeved around the periphery of the tool holder, and a compression spring 4 is installed between the sleeve 2 and the drive end 1 of the tool holder. The sleeve 2 can move along the central axis of the tool holder, and rollers 3 are symmetrically arranged on the sleeve 2.

[0028] When the surgical incision is created, a force is applied to the drive end 1 of the scalpel, and the blade 5 penetrates the skin of the surgical subject from shallow to deep and moves along the planned trajectory. During this process, the sleeve 2 moves in the opposite direction to the blade 5 and compresses the compression spring 4. The compression spring 4 generates a thrust on the drive end 1 of the scalpel, and the roller 3 is always in contact with the skin of the surgical subject.

[0029] It should be noted that by setting symmetrical rollers 3, as the blade 5 penetrates deeper, the rollers 3 can always adapt to the skin of the surgical subject. At the same time, the compression spring 4 is compressed, generating a thrust on the drive end 1 of the blade holder. The pressure sensor is used for mechanical monitoring to control the cutting force of the blade. If the threshold is exceeded, the operation will automatically stop, improving safety. The rollers 3 on both sides will squeeze the skin on both sides of the surgical incision during the penetration of the blade 5, which will help to open the surgical incision.

[0030] In the surgical incision creation device of this embodiment, please refer to Figures 1 to 2 The sleeve 2 has an elongated hole 7 extending along its axial direction on its cylindrical wall, and the tool bar has a pin 8 that is embedded in the elongated hole 7 and can slide along the elongated hole 7.

[0031] It should be noted that in the initial state, the elastic force of the compression spring 4 pushes the pin 8 to the top of the elongated hole 7. At this time, the tip of the blade is aligned with the lower edge of the roller 3. In the working state, as the blade 5 gradually penetrates the skin of the surgical subject, while the roller 3 remains in contact with the skin of the surgical subject, the push cylinder 2 rises, and the pin 8 slides to the bottom of the elongated hole 7. At this time, the compression spring 4 is compressed.

[0032] In the surgical incision creation device of this embodiment, please refer to Figures 1 to 2 The length of the elongated hole 7 is not greater than the maximum compression of the compression spring 4. That is, when the pin 8 slides from the top of the elongated hole 7 to the bottom of the elongated hole 7, the compression spring 4 will not be in a state of extreme compression. At the same time, the length of the elongated hole 7 is not less than the planned incision depth to ensure that the surgical incision is created smoothly.

[0033] In the surgical incision creation device of this embodiment, please refer to Figures 1 to 2 The blade holder and the sleeve 2 are arranged coaxially, and the rollers 3 are symmetrically arranged with respect to the axis. The symmetrically arranged rollers 3 contact the skin of the surgical object to prevent the surgical incision device from tilting and improve the stability of the entire device.

[0034] In the surgical incision creation device of this embodiment, please refer to Figures 1 to 2 The roller 3 is rotatably mounted on the base 6, and the base 6 is connected to the sleeve 2.

[0035] Specifically, the base 6 is provided with a mounting hole, the sleeve 2 is embedded inside the mounting hole and fixedly connected to the mounting hole, and the mounting hole is located at the center of the base 6.

[0036] It should be noted that the roller 3 has an anti-slip structure on its surface (the part that contacts the skin of the surgical subject). During the robot's movement along the planned trajectory, the anti-slip structure ensures close contact between the roller surface and the skin of the surgical subject, increasing friction and preventing slippage. The anti-slip structure is preferably toothed, dot-matrix, or similar.

[0037] In the surgical incision creation device of this embodiment, the number of rollers 3 can be adjusted according to different patient conditions. For details, please refer to [link / reference needed]. Figure 1 Two rollers 3 are symmetrically arranged, and each roller 3 is rotatably connected to the base 6 via an axle. This structure is suitable for surgical incisions that are small. Please refer to [link to relevant documentation]. Figure 2 The rollers 3 are symmetrically arranged in four positions. The two rollers 3 located on the same side of the base 6 are rotatably mounted on the same side plate 9 via axles. The side plate 9 is connected to the base 6 by connecting pins. Specifically, the bottom of the side plate 9 is recessed towards its top to form a notch, which allows the operator to easily observe the position and status of the blade 5.

[0038] It should be noted that the larger the diameter of roller 3, the larger its contact area with the skin of the surgical subject. Therefore, when a single roller is installed on one side of the base 6, the diameter of roller 3 can be increased to increase the contact area between roller 3 and the skin of the surgical subject, thereby improving the stability of the entire device. In addition, as the diameter of roller 3 increases, its weight will also increase accordingly. To reduce the weight of the entire device, several weight-reducing holes can be made on roller 3.

[0039] According to an embodiment of this utility model, a surgical robot is provided; please refer to... Figures 1 to 3 The device includes a robotic arm 100 and a surgical incision creation device 200. The surgical incision creation device 200 is connected to the robotic arm 100 via a connecting seat 300. The pressure sensor is located at the connection between the surgical incision creation device 200 and the connecting seat 300.

[0040] Specifically, the connection angle between the surgical incision creation device 200 and the robotic arm 100 can be adjusted via the connector 300, offering high flexibility. The robotic arm 100 includes optical markers for navigation, which can identify the blade position through calibration or verification, and display the relative position of the blade to the surgical subject's skin. The surgical incision creation device 200 needs to operate in conjunction with preoperative or intraoperative planning. The planning results indicate the cutting area and plan the blade's movement trajectory. After activation, the surgical incision creation device 200 will cut along the planned trajectory without exceeding the planned cutting area. If it exceeds the planned area, an alarm will be triggered, and the robotic arm 100 will stop operating. This robot is particularly suitable for performing automated surgical incisions during spinal, joint, and trauma surgeries.

[0041] It should be noted that by setting symmetrical rollers 3, as the blade 5 penetrates deeper, the rollers 3 can always adapt to the skin of the surgical subject. At the same time, the compression spring 4 is compressed, generating a thrust on the connecting seat 300. The pressure sensor records and displays this force for mechanical monitoring, controlling the cutting force of the blade. If the threshold is exceeded, the operation will automatically stop, improving safety. The rollers 3 on both sides will squeeze the skin on both sides of the surgical incision as the blade 5 penetrates deeper, which will help to open the surgical incision.

[0042] In the surgical robot of this embodiment, please refer to Figures 1 to 3 The connector 300 is provided with a marker element 400 for emitting a marker beam. The marker beam is used to display the surgical incision location, helping to understand and determine the surgical incision location during the operation. The marker center of the marker beam coincides with the blade tip, and the marker beam has a straight beam aligned with the side of the blade 5.

[0043] Preferably, the marking element 400 is a laser, and the marking beam is a cross-shaped beam. The center point of the cross-shaped beam coincides with the tip of the blade, and a straight line in the cross-shaped beam is aligned with the side of the blade 5 to indicate the cutting direction on the skin of the surgical subject.

[0044] In use, select the appropriate blade 5 as needed and install it onto the blade holder; install the surgical incision creation device 200 onto the connector 300, turn on the laser, and adjust the laser direction so that the center point of the cross-shaped beam coincides with the tip of the blade, and align a straight line parallel to the side of the blade 5; confirm the position and depth of the surgical incision through preoperative or intraoperative planning, and confirm the safety boundaries through planning; the robotic arm 100 executes the plan into position, and the laser forms a cross-shaped beam on the skin of the surgical subject, which can be monitored and confirmed by the operator; perform the incision operation according to the plan, during which the compression spring 4 will compress or extend, and the actual situation is monitored by the pressure sensor, and the display will show the shape of the blade head and the relative position of the blade 5 and the skin of the surgical subject in real time; when the blade 5 is inserted, the roller 3 also supports the skin of the surgical subject, which can better expose the surgical incision; after completion, the robotic arm 100 returns to its position, the surgical incision creation device 200 is disassembled, and subsequent operations can be performed.

[0045] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of this application should still fall within the scope of the present invention.

Claims

1. A device for creating a surgical incision, characterized in that, include: The tool holder has one end as the driving end, with a pressure sensor installed above the driving end, and the other end as the free end, with a blade connected to the free end. A sleeve is fitted around the periphery of the scalpel, and a compression spring is provided between the sleeve and the drive end of the scalpel. The sleeve can move along the central axis of the scalpel. Rollers are symmetrically arranged on the sleeve, and the rollers are in contact with the skin of the surgical subject.

2. The surgical incision creation device according to claim 1, characterized in that, The sleeve has an elongated hole extending along its axial direction on its cylindrical wall, and the tool holder has a pin that is embedded in the elongated hole and can slide along the elongated hole.

3. The surgical incision creation device according to claim 2, characterized in that, The length of the oblong hole is not greater than the maximum compression of the compression spring, and the length of the oblong hole is not less than the planned cut depth.

4. The surgical incision creation device according to claim 1, characterized in that, The cutter bar and the sleeve are arranged coaxially, and the rollers are arranged symmetrically with respect to the axis.

5. The surgical incision creation device according to claim 4, characterized in that, The roller is rotatably mounted on the base, which is connected to the sleeve. The roller surface is provided with an anti-slip structure.

6. The surgical incision creation device according to claim 5, characterized in that, The base is provided with a mounting hole, and the sleeve is embedded inside the mounting hole and fixedly connected to the mounting hole.

7. The surgical incision creation device according to claim 5 or 6, characterized in that, The rollers are arranged symmetrically in two positions, and each roller is rotatably connected to the base via an axle.

8. The surgical incision creation device according to claim 5 or 6, characterized in that, The rollers are arranged symmetrically in a 4-roller configuration. Two rollers located on the same side of the base are rotatably mounted on the same side plate via axles. The side plate is connected to the base via pins.

9. A surgical robot, characterized in that, The device includes a robotic arm and a surgical incision creation device as described in any one of claims 1-8, wherein the surgical incision creation device is connected to the robotic arm via a connector, and the pressure sensor is located at the connection between the surgical incision creation device and the connector.

10. The surgical robot according to claim 9, characterized in that, The connector is provided with a marking element for emitting a marking beam. The marking center of the marking beam coincides with the tip of the blade, and the marking beam has a straight beam aligned with the side of the blade.

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