Anti-slip bone milling cutter structure and orthopedic surgery robot

Abstract

The utility model discloses a kind of anti-skid bone milling cutter structure and orthopedic surgery robot, including sleeve, the end of sleeve is provided with first positioning part, the inside of sleeve is provided with through-hole for installing milling cutter body, the end of milling cutter body is provided with second positioning part, milling cutter body is accurately positioned by second positioning part and first positioning part cooperation to realize milling position;First positioning part is embedded bone surface to realize the preliminary fixation of sleeve by applying pressure to bone surface when sleeve is guided to target bone surface by mechanical arm, fundamentally prevent the whole instrument from sliding on inclined or uneven bone surface, provide stable reference and channel for subsequent accurate milling, milling cutter body is inserted into sleeve close to bone surface can form accurate positioning point on bone surface in advance, to guide subsequent milling action, further improve positioning accuracy.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an anti-slip bone milling cutter structure and an orthopedic surgical robot. Background Technology

[0002] Robot-assisted surgical systems offer precise positioning and are crucial technologies and equipment for achieving minimally invasive surgery. By using a robotic arm to define the surgical path and a telescope to guide the surgeon in inserting a guide pin, percutaneous minimally invasive surgery can be performed. However, due to the complex structure of the spine and the uneven bone surface around the screw insertion point, there is a risk that the guide pin may slip on the bone surface and deviate from the correct insertion point during insertion.

[0003] In current orthopedic surgeries, when inserting needles into bone surfaces, especially oblique bone surfaces, slippage can easily occur when drilling. This hinders surgical manipulation, leads to inaccuracies, causes numerous inconveniences, and in severe cases, can result in surgical failure. Utility Model Content

[0004] To address the shortcomings of existing technologies, a non-slip bone milling cutter structure and orthopedic surgical robot are proposed, which solves the problem in the background technology that the needle tends to slip on the bone surface and deviate from the correct insertion point when injecting.

[0005] To achieve the above objectives, the present invention proposes the following technologies: A non-slip bone milling cutter structure includes a sleeve, a first positioning part at the end of the sleeve, a through hole for mounting the milling cutter body inside the sleeve, and a second positioning part at the end of the milling cutter body. The milling cutter body achieves precise positioning of the milling position by cooperating with the first positioning part through the second positioning part.

[0006] Furthermore, the first positioning part is specifically a positioning tooth disposed at the end of the sleeve, the positioning tooth having a tip to facilitate insertion with the bone surface and thus realize the positioning of the sleeve.

[0007] Furthermore, a positioning cylinder is provided at the end of the sleeve, the end diameter of the positioning cylinder is smaller than the diameter of the sleeve, and the positioning teeth are evenly distributed circumferentially on the end face of the positioning cylinder.

[0008] Furthermore, the second positioning part is specifically a positioning tip disposed at the end of the milling cutter body. The positioning tip is inserted into the bone surface to position the milling cutter body and thus prevent slippage.

[0009] Furthermore, the milling cutter body is provided with helical milling cutter teeth, which are located at the end of the milling cutter body where the positioning tip is provided, so as to cooperate with the positioning tip to mill the bone surface and form a positioning platform.

[0010] Furthermore, the sleeve is also provided with a chip removal groove that connects to the through hole. The chip removal groove is located at the junction of the positioning cylinder and the sleeve, and a number of chip removal grooves are evenly provided along the circumference of the sleeve.

[0011] Furthermore, a gripping part is provided at the other end of the sleeve opposite to the first positioning part. The gripping part is perpendicular to the sleeve, and a concave surface is provided on the outer wall of the gripping part to facilitate gripping.

[0012] Furthermore, a connecting part is provided at the other end of the milling cutter body opposite to the second positioning part. The connecting part is used to connect with the driving structure, so that the milling cutter body can be rotated by the driving structure to realize milling.

[0013] Furthermore, a limiting block is provided on the side of the connecting part near the second positioning part. The limiting block is sleeved on the periphery of the milling cutter body and is used to abut against the holding part to limit the position of the milling cutter body.

[0014] On the other hand, this application also proposes an orthopedic surgical robot, including the anti-slip bone milling cutter structure described in any of the above claims, wherein the sleeve is disposed on the guide of the orthopedic surgical robot.

[0015] Compared with the prior art, the comprehensive effects brought about by this utility model include: This application provides a first positioning part at the distal end of the sleeve (i.e., the end closest to the bone surface). When the sleeve is guided to the target bone surface by the robotic arm, pressure is applied to the bone surface, and the first positioning part is embedded in the bone surface to achieve initial fixation of the sleeve. This fundamentally prevents the entire instrument from sliding on inclined or uneven bone surfaces, providing a stable reference and channel for subsequent precise milling. The milling cutter body is inserted into the sleeve near the bone surface to pre-form a precise positioning point on the bone surface, thereby guiding the subsequent milling action and further improving the positioning accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model; Figure 2 This is a schematic diagram of the exploded structure of an embodiment of the present utility model; Figure 3 for Figure 2 A schematic diagram of a local part of the structure.

[0017] Legend: 1. Sleeve; 2. Milling cutter body; 3. Positioning tooth; 4. Positioning cylinder; 5. Positioning tip; 6. Helical milling cutter tooth; 7. Chip removal groove; 8. Grip part; 9. Connecting part; 10. Limiting block; 11. Guide. Detailed Implementation

[0018] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] In this document, terms such as “up,” “down,” “left,” “right,” and “top” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and are not intended to 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.

[0020] like Figures 1 to 3 As shown, an anti-slip bone milling cutter structure includes a sleeve 1. The end of the sleeve 1 is provided with a first positioning part. The inside of the sleeve 1 is provided with a through hole for installing the milling cutter body 2. The end of the milling cutter body 2 is provided with a second positioning part. The milling cutter body 2 achieves precise positioning of the milling position by cooperating with the first positioning part through the second positioning part.

[0021] This embodiment provides an anti-slip bone milling cutter structure for robot-assisted orthopedic surgery, aiming to solve the technical problem of guide pins or milling cutters slipping on the bone surface and improve the accuracy and stability of the surgery.

[0022] By setting a first positioning part at the distal end of the sleeve 1 (i.e. the end close to the bone surface), when the sleeve 1 is guided to the target bone surface by the robotic arm, the first positioning part is embedded into the bone surface by applying pressure to the bone surface to achieve the initial fixation of the sleeve 1. This fundamentally prevents the entire instrument from sliding on the inclined or uneven bone surface, providing a stable reference and channel for subsequent precise milling. The milling cutter body 2 is inserted into the sleeve 1 close to the bone surface to pre-form a precise positioning point on the bone surface, thereby guiding the subsequent milling action and further improving the positioning accuracy.

[0023] The anti-slip bone milling cutter structure in this embodiment mainly includes a sleeve 1 and a milling cutter body 2 that can be coaxially arranged inside it. A through hole is opened inside the sleeve 1 to accommodate and guide the milling cutter body 2.

[0024] In the anti-slip bone milling cutter structure of this embodiment, the first positioning part is specifically a positioning tooth 3 provided at the end of the sleeve 1. The positioning tooth 3 has a tip so as to be inserted into the bone surface and thus realize the positioning of the sleeve 1.

[0025] A positioning tooth 3 with a pointed tip is set as the first positioning part and is located at one end of the sleeve 1 near the bone surface. During the operation, when the sleeve 1 is guided to the target bone surface by the robotic arm, the tip of the positioning tooth 3 can penetrate and firmly embed into the bone surface by applying pressure to the bone surface, thereby achieving the initial fixation of the sleeve 1.

[0026] By setting the positioning teeth 3 with pointed tips, the sleeve 1 is stably anchored on the bone surface before the milling operation begins, which fundamentally prevents the entire instrument from sliding on inclined or uneven bone surfaces, providing a stable reference and channel for subsequent precise milling.

[0027] In the anti-slip bone milling cutter structure of this embodiment, a positioning cylinder 4 is provided at the end of the sleeve 1. The end diameter of the positioning cylinder 4 is smaller than the diameter of the sleeve 1, and the positioning teeth 3 are evenly distributed circumferentially on the end face of the positioning cylinder 4.

[0028] Specifically, the diameter of the positioning cylinder 4 gradually decreases along the direction close to the bone surface, and the positioning teeth 3 are evenly distributed circumferentially along the outer end face of the positioning cylinder 4 with the smaller diameter.

[0029] The gradually decreasing diameter positioning cylinder 4 forms an inclined surface on its surface, which serves as a guide, making it easier for the sleeve 1 to be inserted into the lesion so that the positioning teeth 3 can contact the uneven bone surface. The circumferentially evenly distributed positioning teeth 3 ensure that a uniform and stable anchoring force can be obtained regardless of the angle at which they contact the bone surface, preventing the sleeve 1 from tilting and slipping.

[0030] In the anti-slip bone milling cutter structure of this embodiment, the second positioning part is specifically a positioning tip 5 provided at the end of the milling cutter body 2. The positioning tip 5 is inserted into the bone surface to position the milling cutter body 2 and thus avoid slippage.

[0031] The distal end of the milling cutter body 2 is provided with a positioning tip 5, which serves as a second positioning part. When the milling cutter body 2 reaches the bone surface through the through hole of the sleeve 1, the positioning tip 5 first contacts the bone surface and drills into it to a certain depth. The positioning tip 5 acts as a "centering drill," pre-forming a precise positioning point on the bone surface to guide subsequent milling operations. This ensures that even with minor errors, the milling cutter body 2 can start milling from the correct center point, avoiding slippage or "deviation" of the milling cutter teeth on the bone surface, and further improving positioning accuracy.

[0032] In the anti-slip bone milling cutter structure of this embodiment, the milling cutter body 2 is provided with helical milling cutter teeth 6. The helical milling cutter teeth 6 are located at one end of the milling cutter body 2 where the positioning tip 5 is provided, so as to cooperate with the positioning tip 5 to mill the bone surface and form a positioning platform.

[0033] At the proximal end of the positioning tip 5, the milling cutter body 2 is provided with helical milling cutter teeth 6. The helical structure makes the milling process more stable and efficient, and can continuously discharge bone chips from the milling area upwards, avoiding the accumulation of bone chips near the cutting edge, which would affect milling efficiency and tool life.

[0034] Preferably, the end face of the spiral milling cutter tooth 6 is flat. The above structure can be milled on the bone surface to form a platform structure, which facilitates the positioning and drilling of the surgical guide needle. The platform structure formed by milling avoids slippage and displacement of the guide needle during insertion.

[0035] In the anti-slip bone milling cutter structure of this embodiment, the sleeve 1 is also provided with a chip removal groove 7 with a through hole. The chip removal groove 7 is located at the connection between the positioning cylinder 4 and the sleeve 1, and a plurality of chip removal grooves 7 are evenly provided along the circumference of the sleeve 1.

[0036] At the junction of the positioning cylinder 4 and the main body of the sleeve 1, several circumferentially evenly distributed chip removal grooves 7 are provided. The upper and lower parts of the chip removal grooves 7 are located on the sleeve 1 and the positioning cylinder 4, respectively. The chip removal grooves 7 are connected to the through holes inside the sleeve 1.

[0037] During milling by the milling cutter body 2, the generated bone chips first move upwards from the milling area along the helical milling cutter teeth 6 and are then promptly discharged outside the sleeve 1 through the chip removal groove 7. This prevents bone chips from clogging inside the sleeve 1 and affecting the normal rotation and feed of the milling cutter body 2; on the other hand, the unobstructed chip removal channel also avoids secondary friction and heat accumulation caused by bone chip accumulation, thus improving the safety and efficiency of the operation.

[0038] In the anti-slip bone milling cutter structure of this embodiment, a gripping part 8 is provided on the other end of the sleeve 1 opposite to the first positioning part. The gripping part 8 is arranged perpendicular to the sleeve 1, and a concave surface is provided on the outer wall of the gripping part 8 to facilitate gripping.

[0039] A gripping part 8 is provided at the proximal end of the sleeve 1 (i.e. the end operated by the doctor). The gripping part 8 extends perpendicularly to the sleeve 1 and its outer wall is designed with an ergonomic concave surface, which makes it easier for the surgical robot or doctor to stably hold and operate the sleeve 1 during installation and initial positioning, thereby increasing the convenience and stability of operation.

[0040] In the anti-slip bone milling cutter structure of this embodiment, a connecting part 9 is provided on the other end of the milling cutter body 2 opposite to the second positioning part. The connecting part 9 is used to connect with the driving structure, so that the milling cutter body 2 can be rotated by the driving structure to realize milling.

[0041] Specifically, the connecting part 9 is located outside the sleeve 1 and is used to connect with a drive structure such as an electric drill, so that the milling cutter body 2 is driven by the electric drill to perform milling operations on the bone surface, thereby improving milling efficiency.

[0042] In the anti-slip bone milling cutter structure of this embodiment, a limiting block 10 is provided on the side of the connecting part 9 near the second positioning part. The limiting block 10 is sleeved on the periphery of the milling cutter body 2. The limiting block 10 is used to abut against the holding part 8 and thus limit the milling cutter body 2.

[0043] A limiting block 10 is provided to engage with the upper end face of the gripping part 8. When the milling cutter body 2 is inserted into the sleeve 1 and pushed forward, the limiting block 10 will abut against the gripping part 8 at the proximal end of the sleeve 1, which will play a mechanical limiting role. This can precisely control the length of the milling cutter body 2 extending, thereby controlling the milling depth, preventing excessive milling and damage to deep tissues, and ensuring the controllability and safety of the operation.

[0044] With the aforementioned anti-slip bone milling cutter structure, during orthopedic surgery, the surgical path is predetermined, sleeve 1 is placed, and sleeve 1 is pressed towards the opening of the lesion until the positioning tooth 3 reaches and inserts into the bone surface, thus forming a channel. The milling cutter body 2 is then inserted into sleeve 1 to reach the bone surface. An electric drill is attached to the tail end of the milling cutter body 2, and the positioning tip 5 first drills into the bone surface. The bottom teeth of the bone milling cutter then mill the bone surface until a small platform is formed at the bone surface. Sleeve 1 and the milling cutter are then removed, and the subsequent surgery can proceed.

[0045] On the other hand, this application also proposes an orthopedic surgical robot, including the anti-slip bone milling cutter structure described in any of the above claims, wherein the sleeve 1 is disposed on the guide 11 of the orthopedic surgical robot.

[0046] Specifically, the orthopedic surgical robot system includes a computer navigation system, a robotic arm, and a guide 11 mounted at the end of the robotic arm. A sleeve 1 is detachably mounted within the guide tube of the guide 11. During surgery, the computer navigation system controls the movement of the robotic arm according to the pre-planned surgical path, precisely moving the guide 11 and its sleeve 1 above the target bone surface.

[0047] The specific intraoperative procedure is as follows: I. During the operation, under the guidance and positioning of the robotic arm and guide 11, the sleeve 1 is passed through the guide tube of the guide 11 to touch the patient's skin, the position of the implanted screw is determined on the patient's skin, and a 2cm incision is made to cut the skin and deep fascia.

[0048] II. Press the sleeve 1 towards the opening of the lesion until the sharp teeth reach and insert into the bone surface, thus forming a channel. The bone milling cutter is then inserted into the sleeve 1 to reach the bone surface.

[0049] III. Attach the electric drill to the end of the milling cutter, and first drive the positioning tip 5 into the bone surface. Then, the bottom teeth of the bone milling cutter mill the bone surface until a small platform is formed on the bone surface. Remove the sleeve 1 and the milling cutter to perform the subsequent screw implantation surgery.

[0050] By combining an anti-slip bone milling cutter structure with an advanced orthopedic surgical robot, the advantages of both are fully utilized. The robot's high-precision positioning and the stable anchoring of the anti-slip sleeve complement each other, enabling extremely high needle entry point positioning and platform milling accuracy during percutaneous minimally invasive surgery on complex areas such as the spine. The entire system effectively overcomes the risk of decreased accuracy caused by bone surface slippage in traditional robotic surgery, significantly improving the success rate and safety of the surgery.

[0051] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "rotation", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0052] Although embodiments of the present invention have been shown and described in detail, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A structure for preventing slippage in a bone end mill, characterized in that, The device includes a sleeve, with a first positioning part at one end of the sleeve and a through hole for mounting a milling cutter body inside the sleeve. The end of the milling cutter body is provided with a second positioning part, and the milling cutter body achieves precise positioning of the milling position through the cooperation of the second positioning part and the first positioning part.

2. The anti-slip bone end mill structure according to claim 1, characterized in that, The first positioning part is specifically a positioning tooth provided at the end of the sleeve. The positioning tooth has a tip to facilitate insertion with the bone surface and thus realize the positioning of the sleeve.

3. The anti-slip bone end mill structure according to claim 2, characterized in that, The end of the sleeve is provided with a positioning cylinder, the end diameter of which is smaller than the diameter of the sleeve, and the positioning teeth are evenly distributed circumferentially on the end face of the positioning cylinder.

4. The anti-slip bone end mill structure according to claim 1, characterized in that, The second positioning part is specifically a positioning tip set at the end of the milling cutter body. The positioning tip is inserted into the bone surface to position the milling cutter body and thus prevent slippage.

5. The anti-slip bone end mill structure according to claim 3, characterized in that, The milling cutter body is provided with helical milling cutter teeth, which are located at the end of the milling cutter body where the positioning tip is provided, so as to cooperate with the positioning tip to mill the bone surface and form a positioning platform.

6. The anti-slip bone end mill structure according to claim 3, characterized in that, The sleeve is also provided with a chip removal groove that connects to the through hole. The chip removal groove is located at the junction of the positioning cylinder and the sleeve. Several chip removal grooves are evenly provided along the circumference of the sleeve.

7. The anti-slip bone end mill structure according to claim 1, characterized in that, A gripping part is provided at the other end of the sleeve opposite to the first positioning part. The gripping part is perpendicular to the sleeve, and a concave surface is provided on the outer wall of the gripping part to facilitate gripping.

8. The anti-slip bone end mill structure according to claim 7, characterized in that, A connecting part is provided at the other end of the milling cutter body opposite to the second positioning part. The connecting part is used to connect with the driving structure, so that the milling cutter body can be rotated by the driving structure to realize milling.

9. The anti-slip bone end mill structure according to claim 8, characterized in that, A limiting block is provided on the side of the connecting part near the second positioning part. The limiting block is sleeved on the periphery of the milling cutter body and is used to abut against the holding part to limit the position of the milling cutter body.

10. An orthopedic surgical robot, characterized in that, The invention includes the anti-slip bone milling cutter structure according to any one of claims 1 to 9, wherein the sleeve is disposed on the guide of the orthopedic surgical robot.

Images