Spinal canal puncture robot

Abstract

The utility model discloses a kind of spinal canal puncture operation robots, comprising: carrier trolley, is provided with anti-overturning base, the bottom of anti-overturning base is provided with pulley;Moving arm, set on carrier trolley, moving arm is used to provide the movement on three-dimensional space for end, the end of moving arm is provided with chuck;Needle assembly, including needle seat and needle head, needle head is fixed on needle seat, needle seat is fixed in the end of moving arm by chuck, six-dimensional force sensor is arranged on needle seat, electric push rod is also arranged in needle seat, the movable end of electric push rod is fixedly connected with the end of needle head, electric push rod is used to push out or pull back needle head inwards outward;Control module, moving arm, electric push rod and six-dimensional force sensor are electrically connected with control module respectively;According to the spinal canal puncture operation robot proposed in the utility model, the stability of spinal canal puncture operation can be improved, and the efficiency of medical team to perform operation is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a spinal canal puncture surgery robot. Background Technology

[0002] With the continuous advancement of medical technology, surgical robots are playing an increasingly important role in various surgical fields. With their high precision, stability, and repeatability, surgical robots provide doctors with more reliable surgical aids, significantly improving the success rate and safety of surgeries.

[0003] While existing surgical robot technology meets clinical needs to some extent, several problems and challenges remain to be solved in the specific field of spinal canal puncture surgery. Traditional spinal canal puncture surgery typically relies on the surgeon's experience and skills, requiring precise positioning and manipulation to avoid damaging surrounding nerve tissue and blood vessels. The application of existing surgical robots in spinal canal puncture surgery is relatively limited, and they still have shortcomings in terms of operational flexibility, real-time feedback, and degree of automation. Utility Model Content

[0004] The following is an overview of the subject matter described in detail herein, and this overview is not intended to limit the scope of the claims.

[0005] This invention proposes a spinal canal puncture surgical robot, which can improve the stability of spinal canal puncture surgery and increase the efficiency of the medical team in performing the surgery.

[0006] This utility model provides a spinal canal puncture surgical robot, comprising: a carrier cart with an anti-tipping base, the bottom of which is provided with pulleys; a motion arm mounted on the carrier cart, the motion arm being used to provide three-dimensional movement for the end effector, the end effector of which is provided with a clamp; a needle assembly including a needle holder and a needle tip, the needle tip being fixed on the needle holder, the needle holder being fixed to the end effector of the motion arm via the clamp, the needle holder being provided with a six-dimensional force sensor, and an electric push rod being provided inside the needle holder, the movable end of which is fixedly connected to the end effector of the needle tip, the electric push rod being used to push the needle tip outward or pull it back inward; and a control module, the motion arm, the electric push rod, and the six-dimensional force sensor being electrically connected to the control module.

[0007] In some embodiments, the motion arm includes a first link, a second link, a third link, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, and a sixth motor. The fixed end of the first motor is fixed to the carrier trolley. The fixed end of the second motor is fixedly connected to the movable end of the first motor. One end of the first link is connected to the movable end of the second motor, and the other end of the first link is connected to the fixed end of the third motor. The fixed end of the fourth motor is connected to the movable end of the third motor. One end of the second link is connected to the movable end of the fourth motor, and the other end of the second link is connected to the fixed end of the fifth motor. The movable end of the fifth motor is connected to the fixed end of the sixth motor, and the movable end of the sixth motor is connected to the third link. The rotational surface of the first motor is perpendicular to the rotational surface of the second motor, the rotational surface of the third motor is perpendicular to the rotational surface of the fourth motor, and the rotational surface of the fifth motor is perpendicular to the rotational surface of the sixth motor.

[0008] In some embodiments, a pressure sensor is provided at the end of the third link, the pressure sensor is in contact with the needle seat, and the pressure sensor is used to detect the pressure between the needle seat and the third link.

[0009] In some embodiments, the carrier trolley is equipped with an emergency stop switch, which is electrically connected to the control module.

[0010] In some embodiments, the carrier trolley is provided with a fixed bracket, and a display is fixed on the fixed bracket. The display is electrically connected to the control module.

[0011] In some embodiments, a camera module is provided on the needle holder, the camera module is used to capture the direction of the needle tip, the camera module is electrically connected to the display, and the display is used to display the image captured by the camera module.

[0012] In some embodiments, the carrier trolley is provided with a heat dissipation hole group and a cooling fan.

[0013] In some embodiments, the carrier trolley is also provided with an indicator light, which is electrically connected to the control module and is used to indicate the power-on status of the motion arm.

[0014] The embodiments of this application include at least the following beneficial effects: The spinal canal puncture surgical robot relies on a carrier cart, the bottom of which is equipped with pulleys. The carrier cart can drive the surgical robot to move. The bottom of the carrier cart is also equipped with an anti-tipping base to prevent the surgical robot from tipping over during movement, ensuring the safety of medical staff and patients. In addition, a motion arm is provided on the carrier cart, which can drive the needle assembly to move in three-dimensional space. Medical staff and the control module can control the direction of the needle assembly by manipulating the motion arm, controlling the needle to point at the patient's affected area, and controlling the needle to pierce the affected area through the continuous movement of the motion arm. A clamp is provided at the end of the motion arm, which is used to clamp the needle assembly. By adjusting the tightness of the clamp, medical staff can change different needle assemblies on the clamp to meet different surgical needs. The needle holder is equipped with an electric push rod, the movable end of which is fixedly connected to the end of the needle. Before the operation begins, the electric push rod controls the needle to retract, preventing the needle from pricking medical staff or patients and reducing the risk of needle contamination. After the needle holder is fixed to the clamp, the electric push rod pushes the needle out for the operation.

[0015] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solution of this utility model and constitute a part of the specification. They are used together with the embodiments of this utility model to explain the technical solution of this utility model, and do not constitute a limitation on the technical solution of this utility model.

[0017] Figure 1 A schematic diagram of an optional structure of the spinal canal puncture surgical robot provided in this embodiment of the utility model;

[0018] Figure 2 A schematic diagram of another optional structure of the spinal canal puncture surgical robot provided in this embodiment of the utility model;

[0019] Figure 3 A schematic diagram of an optional structure of the needle assembly provided in an embodiment of this utility model;

[0020] Figure 4 A schematic diagram of an optional structure of the robotic arm provided in an embodiment of this utility model;

[0021] Figure 5 A schematic diagram of another optional structure of the robotic arm provided in this embodiment of the utility model;

[0022] Figure 6 An optional schematic diagram of a display screen provided for an embodiment of this utility model;

[0023] Figure 7 An optional system block diagram of the spinal canal puncture surgical robot provided in an embodiment of this utility model. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0028] Currently, although existing surgical robot technology meets clinical needs to a certain extent, there are still some problems and challenges to be solved in the specific field of spinal canal puncture surgery. Traditional spinal canal puncture surgery usually relies on the experience and skills of the surgeon, requiring precise positioning and manipulation during the procedure to avoid damage to surrounding nerve tissue and blood vessels. The application of existing surgical robots in spinal canal puncture surgery is relatively limited, and there are still shortcomings in terms of operational flexibility, real-time feedback, and degree of automation.

[0029] In response to the relatively limited application of surgical robots in spinal canal puncture surgery, this invention provides a spinal canal puncture surgical robot that can improve the stability of spinal canal puncture surgery and increase the efficiency of the medical team in performing the surgery.

[0030] The embodiments of this utility model will be further described below with reference to the accompanying drawings.

[0031] Reference Figures 1 to 7 This utility model provides a spinal canal puncture surgical robot, comprising:

[0032] The carrier trolley 100 is equipped with an anti-tipping base 110, and the bottom of the anti-tipping base 110 is equipped with pulleys 111;

[0033] The motion arm 200 is mounted on the carrier trolley 100. The motion arm 200 is used to provide three-dimensional movement for the end effector. The end effector of the motion arm 200 is provided with a clamp 231.

[0034] The needle assembly 300 includes a needle holder 310 and a needle 320. The needle 320 is fixed on the needle holder 310. The needle holder 310 is fixed to the end of the motion arm 200 by a clamp 231. A six-dimensional force sensor is provided on the needle holder 310. An electric push rod is also provided inside the needle holder 310. The movable end of the electric push rod is fixedly connected to the end of the needle 320. The electric push rod is used to push the needle 320 outward or pull it back inward.

[0035] The control module 400, motion arm 200, electric push rod and six-dimensional force sensor are electrically connected to the control module 400.

[0036] Understandably, the spinal canal puncture surgical robot relies on a carrier cart 100. The bottom of the carrier cart 100 is equipped with pulleys 111, which enable the carrier cart 100 to move the surgical robot. The bottom of the carrier cart 100 is also equipped with an anti-tipping base 110, which can prevent the surgical robot from tipping over during movement and ensure the safety of medical staff and patients. In addition, a motion arm 200 is installed on the carrier cart 100. The motion arm 200 can drive the needle assembly 300 to move in three-dimensional space. Medical staff and the control module 400 can control the direction of the needle assembly 300 by manipulating the motion arm 200, controlling the needle 320 to point at the patient's affected area, and controlling the needle 320 to pierce the affected area through the continuous movement of the motion arm 200.

[0037] The needle assembly 300 is equipped with a six-dimensional force sensor, which sends force and torque data in three axial directions to the control module 400 for data processing and adjustment. The end of the motion arm 200 is equipped with a clamp 231, which is used to hold the needle assembly 300. By adjusting the tightness of the clamp 231, medical staff can change different needle assemblies 300 on the clamp 231 to meet different surgical needs.

[0038] The needle holder 310 is equipped with an electric push rod, the movable end of which is fixedly connected to the end of the needle 320. Before the operation begins, the electric push rod controls the needle 320 to retract, preventing the needle 320 from pricking medical staff or patients and reducing the risk of the needle 320 being contaminated. After the needle holder 310 is fixed on the clamp 231, the electric push rod pushes the needle 320 out to perform the operation.

[0039] Optionally, the needle holder 310 and the carrier trolley 100 are respectively provided with multiple aviation plugs. After the needle holder 310 is fixed on the clamp 231, the needle holder 310 is electrically connected to the control module 400 through a signal line. Alternatively, the control module 400 and the needle holder 310 are respectively provided with a remote communication module. The remote communication module can be a Wi-Fi component, a Bluetooth component, or a 4G / 5G communication component. The control module 400 can also send control commands to various components on the needle holder 310 or receive feedback data through the remote communication module.

[0040] In some embodiments of this utility model, such as Figure 4 and Figure 5 As shown, the motion arm 200 includes a first link 210, a second link 220, a third link 230, a first motor 240, a second motor 250, a third motor 260, a fourth motor 270, a fifth motor 280, and a sixth motor 290. The fixed end of the first motor 240 is fixed to the carrier trolley 100. The fixed end of the second motor 250 is fixedly connected to the movable end of the first motor 240. One end of the first link 210 is connected to the movable end of the second motor 250, and the other end of the first link 210 is connected to the fixed end of the third motor 260. The fixed end of the fourth motor 270 is connected to the movable end of the third motor 260. One end of the second link 220 is connected to the movable end of the fourth motor 270, and the other end of the second link 220 is connected to the fixed end of the fifth motor 280. The movable end of the fifth motor 280 is connected to the fixed end of the sixth motor 290, and the movable end of the sixth motor 290 is connected to the third link 230.

[0041] The axes of the first motor 240 and the second motor 250 are perpendicular to each other, the axes of the third motor 260 and the fourth motor 270 are perpendicular to each other, the axes of the fifth motor 280 and the sixth motor 290 are perpendicular to each other, the rotation surface of the first motor 240 is perpendicular to the rotation surface of the second motor 250, the rotation surface of the third motor 260 is perpendicular to the rotation surface of the fourth motor 270, and the rotation surface of the fifth motor 280 is perpendicular to the rotation surface of the sixth motor 290.

[0042] The first motor 240 can drive the second motor 250 to rotate 360 ​​degrees on the plane. Similarly, the movable ends of the second motor 250, the third motor 260, the fourth motor 270, the fifth motor 280, and the sixth motor 290 can all rotate 360 ​​degrees on their own rotation surfaces, thereby realizing the movement of the end of the motion arm 200 in three-dimensional space.

[0043] The first motor 240, the second motor 250, the third motor 260, the fourth motor 270, the fifth motor 280, and the sixth motor 290 all support high dynamic compliant control. They achieve millimeter-level displacement accuracy through joint torque closed-loop control, adapting to the minute movement requirements of biological tissue puncture. The motors collect signals through their own central control chip and connect to the control module 400 to execute low-level motion control, receive control commands from the control module 400, and provide feedback on the joint status.

[0044] In addition, in some embodiments of this utility model, a pressure sensor (not shown in the figure) is provided at the end of the third link 230. The pressure sensor is in contact with the needle seat 310 and is used to detect the pressure between the needle seat 310 and the third link 230.

[0045] The pressure sensor is electrically connected to the control module 400. The control module 400 obtains the pressure between the needle hub 310 and the third link 230, analyzes the puncture situation between the end of the needle 320 and the patient's affected area, and infers the position of the end of the needle 320 by the movement of the moving arm 200, thereby adjusting the advancement of the needle 320.

[0046] Optionally, the carrier trolley 100 is equipped with an emergency stop switch 101, which is electrically connected to the control module 400.

[0047] Specifically, when medical staff determine that an abnormality has occurred during the surgical procedure, they can click the emergency stop switch 101 on the carrier trolley 100. The control module 400 receives the emergency stop signal from the medical staff and sends an instruction to the motion arm 200 to stop moving and maintain the current state, thus controlling the motion arm 200 to remain in a static state.

[0048] In addition, such as Figure 1 and Figure 2 As shown, in some embodiments of this utility model, a fixed bracket 510 is provided on the carrier trolley 100, and a display 520 is fixed on the fixed bracket 510. The display 520 is electrically connected to the control module 400.

[0049] like Figure 6 As shown, in one feasible embodiment, the display 520 displays various feedback data of the motion arm 200 and the pressure sensor. In addition, the display 520 also displays buttons for controlling the movement state of the motion arm 200. Medical staff can perform minor operations on specific motors by touching the buttons.

[0050] In another feasible implementation, the control module 400 collects various feedback data from the motion arm 200 and the pressure sensor, arranges the feedback data according to time, and plots it into a data chart on the display 520 for medical staff to view. The control module 400 also identifies various puncture events from the feedback data and marks them in the data chart.

[0051] In addition, in some embodiments of this utility model, a camera module (not shown in the figure) is provided on the needle holder 310. The camera module is used to capture the direction of the needle tip 320. The camera module is electrically connected to the display 520, and the display 520 is used to display the image captured by the camera module.

[0052] On the display 520, medical staff can also adjust the shooting angle of the camera module. By clicking on the shooting screen, the display 520 will magnify the clicked position. When the control module 400 detects a puncture or abnormality from the feedback data of the motion arm 200 and the pressure sensor, the control module 400 will automatically capture and store the real-time image.

[0053] Optionally, the carrier trolley 100 is provided with a heat dissipation hole group 102 and a cooling fan 103 to facilitate heat dissipation inside the carrier trolley 100, thereby ensuring the stable operation of the control module 400 and the motion arm 200.

[0054] The carrier trolley 100 may also be equipped with an indicator light 104, which is electrically connected to the control module 400. The indicator light 104 is used to indicate the power-on status of the motion arm 200. When the control module 400 controls any one of the motors on the motion arm 200 to move, the indicator light 104 lights up with a preset first color, and when all the motors of the motion arm 200 stop, the indicator light 104 lights up with another preset second color.

[0055] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A spinal canal puncture surgical robot, characterized in that, include: The carrier trolley is equipped with an anti-tipping base, and the bottom of the anti-tipping base is equipped with pulleys; A motion arm is mounted on the carrier trolley. The motion arm is used to provide three-dimensional movement for the end effector. The end effector of the motion arm is equipped with a clamp. The needle assembly includes a needle holder and a needle tip. The needle tip is fixed on the needle holder. The needle holder is fixed to the end of the moving arm by the clamp. A six-dimensional force sensor is provided on the needle holder. An electric push rod is also provided inside the needle holder. The movable end of the electric push rod is fixedly connected to the end of the needle tip. The electric push rod is used to push the needle tip outward or pull it back inward. The control module is electrically connected to the motion arm, the electric push rod, and the six-dimensional force sensor.

2. The spinal canal puncture surgical robot according to claim 1, characterized in that, The motion arm includes a first link, a second link, a third link, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, and a sixth motor. The fixed end of the first motor is fixed to the carrier trolley. The fixed end of the second motor is fixedly connected to the movable end of the first motor. One end of the first link is connected to the movable end of the second motor, and the other end of the first link is connected to the fixed end of the third motor. The fixed end of the fourth motor is connected to the movable end of the third motor. One end of the second link is connected to the movable end of the fourth motor, and the other end of the second link is connected to the fixed end of the fifth motor. The movable end of the fifth motor is connected to the fixed end of the sixth motor, and the movable end of the sixth motor is connected to the third link. The rotational surface of the first motor is perpendicular to the rotational surface of the second motor, the rotational surface of the third motor is perpendicular to the rotational surface of the fourth motor, and the rotational surface of the fifth motor is perpendicular to the rotational surface of the sixth motor.

3. The spinal canal puncture surgical robot according to claim 2, characterized in that, A pressure sensor is provided at the end of the third link, and the pressure sensor is in contact with the needle seat. The pressure sensor is used to detect the pressure between the needle seat and the third link.

4. The spinal canal puncture surgical robot according to claim 1, characterized in that, The carrier trolley is equipped with an emergency stop switch, which is electrically connected to the control module.

5. The spinal canal puncture surgical robot according to claim 1, characterized in that, The carrier trolley is equipped with a fixed bracket, and a display is fixed on the fixed bracket. The display is electrically connected to the control module.

6. The spinal canal puncture surgical robot according to claim 5, characterized in that, The needle holder is equipped with a camera module, which is used to capture the direction of the needle tip. The camera module is electrically connected to the display, which is used to display the image captured by the camera module.

7. The spinal canal puncture surgical robot according to claim 1, characterized in that, The carrier trolley is equipped with a heat dissipation hole group and a cooling fan.

8. The spinal canal puncture surgical robot according to claim 1, characterized in that, The carrier trolley is also equipped with an indicator light, which is electrically connected to the control module and is used to indicate the power-on status of the motion arm.

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