98 results about "Craniotomy" patented technology

The invention is applicable to the technical field of medical instruments, and provides a subskull epidural micro-invasive flexible brain-computer interface electrode, which comprises a plurality of electrode branches, each electrode branch comprises a linear flexible main body, and the flexible main body comprises a micro power supply circuit and a signal circuit which are solidified. A plurality of electrode units are arranged on the micro power supply circuit and the signal circuit at intervals, and the electrode units are electrically connected with the micro power supply circuit and the signal circuit. The brain-computer interface electrode is in a flexible line type, can be implanted into the middle artery of the meninx, does not need craniotomy, is a micro-invasive brain-computer interface, has data monitoring accuracy close to that of an invasive brain-computer interface, does not need to worry about inflammatory response, immunostimulation, biocompatibility, brain tissue damage and other adverse factors after long-term implantation, and is suitable for popularization and application. And the thrombogenic risk of a vein stent brain-computer interface does not exist.

The invention provides auxiliary equipment for clinical postoperative skull breaking and repairing in the neurosurgery department, and belongs to the auxiliary field of postoperative skull breaking and repairing. Comprising a U-shaped plate, a plurality of limiting grooves penetrating to the inner side of the U-shaped plate are formed in the U-shaped plate, an arc-shaped frame is installed above the U-shaped plate, two protective covers are installed at the top of the arc-shaped frame, and a plurality of circular plates are installed in the U-shaped plate; the clamping mechanism is located in the U-shaped plate and used for fixing the U-shaped plate to the head of a craniotomy patient; the switching assistors are located on the two sides of the protective cover, so that when the patient needs to apply medicine, medical staff can conveniently open the protective cover to apply medicine to the craniotomy position; according to the craniotomy device, by arranging the clamping mechanism and the switching assistor, the fixing position of the U-shaped plate can be flexibly adjusted according to the craniotomy part of a patient, medical staff can conveniently apply medicine to the head of the patient, and the working efficiency of the medical staff is improved.

A system of robotic surgery includes components capable of drilling a bore in the cranium of a patient in connection with craniotomy and other cranial surgeries. A perforator associated with such system is controlled by suitable computer-implemented instructions to maintain the perforator tip along a desired trajectory line while moving the perforator bit at locations proximal to such perforator tip in a circular motion, thereby imparting a conical oscillation to the perforator bit relative to the trajectory line. The angle at which the perforator bit is oscillated relative to such trajectory line results in the bore formed in the cranium having a diameter larger than the bit diameter, and the larger diameter and related conical oscillation is selected so as to reduce frictional force opposing withdrawal of the bit from the situs of the bore, thereby reducing the risk of jamming of the bit during its associated operations.

The invention relates to a brain wave signal acquisition device, belongs to the technical field of medical instruments, and solves the problems that in the prior art, a brain wave signal acquisition device is implanted into the cerebral cortex of a human body through craniotomy, the trauma of a patient is large, the surgical risk is high, and various complications can be caused. The brain wave signal acquisition device comprises a bracket main body, an electrode plate and a conductive wire; the stent body is of an open curled cylindrical structure composed of a plurality of grid units, openings are formed in the two axial ends of the stent body, and gaps are formed in the curled butt joint positions on the side wall face of the stent body. The electrode plates are arranged on the grid units; the conductive wire is wound on the stent main body, one end of the conductive wire is connected with the electrode plate, and the other end of the conductive wire is wound to the near end of the stent main body. The brain wave signal acquisition can be realized without a craniotomy operation, so that the trauma to a patient is small, and the operation risk is obviously reduced.

The invention discloses a near-infrared two-region dual-channel fluorescent nanoprobe as well as a preparation method and application thereof, and relates to the technical field of biomedical imaging. A nano probe A and a nano probe B included in the near-infrared two-region dual-channel fluorescent nano probe are both of a core-shell structure, two NIR-IIb fluorescent nano probes adaptive to different excitation wavelengths (808 nm and 980 nm) are constructed by precisely regulating and controlling the types and proportions of lanthanide elements, dual-channel imaging is achieved, limitation of a single excitation wavelength is broken through, spectral crosstalk is eliminated, and the near-infrared two-region dual-channel fluorescent nano probe has the advantages of high sensitivity, high sensitivity, high sensitivity and the like. The method has the characteristics of material uniformity and biological safety. The near-infrared IIb region dual-channel imaging system has the characteristics of high temporal-spatial resolution and signal separation, and has significant application value in the field of living body multi-target synchronous observation. Compared with a traditional two-photon microscope technology, the imaging method has a wider observation view field, a local craniotomy operation does not need to be carried out on an experimental mouse, and physiological trauma is remarkably reduced.

The utility model relates to a safer medical craniotomy automatic stop drill bit, and belongs to the technical field of medical instruments. Comprising a connecting sleeve assembly and a drill bit assembly, one end of the connecting sleeve assembly is assembled with the end of an output shaft of an electric drill in an inserted mode, the other end of the connecting sleeve assembly is assembled with the drill bit assembly in a sleeved mode, and the connecting sleeve assembly comprises a connecting sleeve, a locking ejector pin, a spring and a spring seat; a spring seat is slidably inserted into the connecting sleeve close to the drill bit assembly, and the locking ejector pin and the spring seat are connected through a spring. The drill bit assembly comprises an inner drill bit, an outer drill bit and a shell, the shell sleeves the connecting sleeve and the outer drill bit, the outer drill bit sleeves the inner drill bit, internal threads are arranged on the circumferential wall, making contact with the outer drill bit, of the shell, external threads are arranged on the outer circumferential wall of the outer drill bit, and the shell is connected with the outer drill bit through the threads. The drill bit can stop automatically, and meanwhile the outer drill bit is prevented from disengaging.

The invention relates to a brain-computer interface system which comprises a flexible electrode array, a receiving device, a flexible connecting wire and external equipment, wherein the flexible electrode array is implanted into a meninx middle artery in a minimally invasive manner through a superficial temporal artery puncture and a vascular intervention procedure; the receiving device is embedded under the skin of a head and is provided with a signal transmitter; the external equipment is provided with a signal receiver. A flexible electrode array is implanted in an anterior branch or posterior branch of a main branch of a middle meninx artery through a superficial temporal artery intravascular minimally invasive technology, the number of electrodes and the array are arranged according to needs, and a receiving device buried in the subcutaneous part of the head is electrically connected with the flexible electrode array implanted in the middle meninx artery. Craniotomy is not needed, operative complications are avoided, minimally invasive implantation reaches the surface of the cerebral cortex, operation of a doctor is easier, the operation time is shortened, and the comfort level of a patient is improved.

The present invention discloses a pressure relief device implantation kit and a method for using the same. The pressure relief device implantation kit comprises: a cannula, wherein the interior of the cannula is a hollow structure, and a cannula seat is provided at the proximal end of the cannula, a positioning sheath is provided on the inner wall of the cannula seat, and the distal end of the cannula is open; a puncture needle, wherein the puncture needle is sharp at the distal end and can extend further distally from the distal end of the cannula; a solid needle, wherein the distal end of the solid needle is smooth and blunt; a delivery needle, and a pressure relief device. The proximal ends of the puncture needle, the solid needle, and the delivery needle all have needle seats, and each needle seat is provided with a positioning groove that cooperates with the positioning sheath. The puncture needle, the solid needle, and the delivery needle are all configured to be inserted into the cannula. According to the present invention, craniotomy is not required for the patient during treatment, which reduces the difficulty of the operation, the labor intensity of the operator, and the time of the operation. The incision is small, which reduces the burden and pain of the patient, and the pressure relief device can be accurately delivered to the target site.

The present invention relates to a novel intracranial aneurysm occlusion device and a manufacturing method thereof. The occlusion device includes an occlusion device body, a radiopaque marker, a delivery guide wire, a separation point, a delivery tube, and a separator. The radiopaque markers are respectively fixed to the distal end and the proximal end of the occlusion device body. The occlusion device is woven into a net shape by 24 - 72 strands of nitinol shape memory alloy wire. After the occlusion device is fully expanded, radiopaque markers are provided at both the distal end and the proximal end, and the radiopaque markers respectively bundle and fix the nitinol shape memory alloy wires at the distal end and the proximal end of the occlusion device. The delivery guide wire is located inside the delivery tube. A separation point is provided between the radiopaque marker at the proximal end of the occlusion device and the distal end of the delivery guide wire. The proximal end of the delivery guide wire is connected to the separator. The manufacturing method of the occlusion device is shaped by an occlusion device mold. Without craniotomy, for intracranial aneurysms with a narrow upper part and a wide lower part, giant aneurysms, and bifurcation aneurysms, by implanting the occlusion device body, the occlusion device has a stable structure, can quickly and densely fill the aneurysm cavity after deployment, thereby slowing down the blood flow in the aneurysm cavity, reducing the impact pressure of the blood on the aneurysm cavity, enhancing the repair ability, and achieving the purpose of treating aneurysms.

The present invention relates to the field of medical care appliances, and provides a craniotomy postoperative care device, comprising: a soft cushion, a base, a pillow piece, a fixed telescopic rod, a fixing piece, and a lifting and lowering structure. The device is fixed to a bed by the fixed telescopic rod and the fixing piece. The lifting and lowering structure in the base can realize the lifting and lowering of the soft cushion, and the pillow piece can be rotated up, down, left, and right by rotating a No. 1 rotating ball inside the base. The present invention rotates the pillow piece around by the No. 1 rotating ball, and then lifts and lowers the soft cushion by the lifting and lowering structure, thereby solving the problem in the prior art that the patient's head is hit by agitation or convulsions after waking up, causing secondary damage to the head.

The invention provides a pressure injury preventing air bag body position cushion based on a multi-mode perception algorithm, which comprises a head air bag group, a back air bag group, a sacrococcygeal region air bag group, a lower limb air bag group and an upper limb air bag group, and further comprises an air bag unit connected with the head air bag group, the back air bag group, the sacrococcygeal region air bag group, the lower limb air bag group and the upper limb air bag group, the head air bag set, the back air bag set, the sacrococcygeal portion air bag set, the lower limb air bag set and the upper limb air bag set are all connected with the intelligent inflation control system, and through the air bag structure design and functional modules, diversified body position changes are achieved, pressure injuries of a patient are reduced, and the safety of the patient is improved. Meanwhile, the special nursing requirements of different patients, such as a patient with a rear pillow craniotomy, a patient needing prone position treatment and a patient with quadriplegia, are met, the nursing effect of the patient in the intensive care unit is improved, and the rehabilitation speed of the patient in the intensive care unit is increased.

This invention relates to the field of medical control technology, specifically to a glioma ECoG electrode localization system based on the fusion of multimodal MRI and intraoperative photographs. It includes a brain imaging data acquisition module for preoperative acquisition of multimodal brain imaging data and an acquisition module for acquiring intraoperative craniotomy photographs for ECoG electrode placement. The system further aligns the multimodal brain imaging data to the same three-dimensional spatial coordinate system; then segments and corrects the multimodal brain imaging data into different regions; and establishes an individualized brain region atlas based on a healthy brain tissue texture model and segmented brain regions. Vascular structures are extracted, and a three-dimensional spatial coordinate system for vascular feature points and electrode contacts is established and transformed. The minimum Euclidean distance is calculated based on the electrode contacts, and the individualized brain region atlas is labeled. This invention addresses the problems of insufficient spatial positioning accuracy of electrode contacts and difficulty in quantifying tumor-electrode distance during surgery for glioma patients, facilitating intraoperative determination of the anatomical location of the epileptogenic focus by surgeons.

A guidewire driven brain-computer interface system for minimally invasive implantation is provided that includes a flexible electrode array and a plurality of flexible guidewires attached to the flexible electrode array. The flexible electrode array comprises a plurality of insulated poly-p-xylylene-C layers, metal interconnection lines and electrodes. The plurality of flexible guidewires are configured to be guided by an external mechanical force such that the flexible electrode array passes through a craniotomy field and is deployed by tracking the plurality of flexible guidewires. The flexible guidewires each include a manipulation tip and a pull wire.

The utility model relates to a skull craniotomy operation negative pressure suction device, including the flexible cover made of transparent material, the flexible cover one end big, one end small arrangement and small scale end cover set in one end of milling cutter, the cutter head of milling cutter is located in the chamber of flexible cover, flushes the head and is along the cover mouth circumference direction interval arrangement many groups of flexible cover, flushes the head with the liquid guide export of flush equipment and passes through the pipeline intercommunication, one end of suction pipe stretches into the chamber of flexible cover, the other end of suction pipe and the suction mouth of negative pressure suction device are connected through the pipeline, adopts transparent flexible cover to form the physical barrier, will the milling cutter head completely wrap up in the chamber, breaks out the bone splinter to the surrounding environment, and the flush head of circumference even distribution sprays physiological saline to the center, forms the spiral water flow in the chamber, can ensure the light transmittance of flexible cover, can clearly milling cutter head and the contact state of bone window, cooperation suction operation of suction pipe, can suck out the bone splinter that splashes out of flexible cover, and further can effectively prevent the bone splinter splashing problem.

A non-fixed implant is proposed, which is made of raw materials including a biomaterial, a ceramic matrix composite with excellent osteoconductivity, and a polymer. The non-fixed implant can be precisely fixed to the gap between the skull and the bone flap and can be conveniently used. A method for manufacturing the non-fixed implant is also proposed. The non-fixed implant includes a flexible wedge that can be deformed to conform to the outer contour of the bone flap, and a plurality of wings connected to the upper or lower part of the flexible wedge and extending to both sides of the flexible wedge. The wings have a porous structure. The wings on one side will be located on the bone flap, while the wings on the other side will be located on the skull. The non-fixed implant has the following advantages: it can precisely fill the defect formed by craniotomy, has improved biocompatibility and osteointegration ability, and allows tissue invasion.

The utility model discloses a drainage tube placement height measuring device after craniotomy, which comprises a sliding plate and a graduated scale, the inner end of the graduated scale is rotatably arranged at the left end of the sliding plate, and the graduated scale is provided with scales for measuring distance. The sliding plate is arranged to be aligned with the reference object, the calibrated scale is arranged to measure the distance relative to the sliding plate, and therefore the placement position of the drainage tube after craniotomy can be determined, alignment through visual inspection is avoided due to the fact that the sliding plate is used for alignment, and distance measurement is conducted through the calibrated scale; the accuracy of distance measurement and the convenience and efficiency of determining the placement position of the drainage tube can be effectively improved, and the working pressure of clinical nurses in related departments is relieved. Besides, the graduated scale can rotate relative to the sliding plate, so that the relative position between the graduated scale and the sliding plate can be adjusted, various measurement modes can be met, the positions of various drainage tubes can be determined, and the practicability is very high.

To provide a skull model facilitating the understanding of an operation including a brain stem, a skull base, a posterior fossa, and a craniocervical spinal cord transition part since there is no suitable model corresponding to the examination of the operation including the brain stem, the skull base, the posterior fossa, and the craniocervical spinal cord transition part such as an approach to an important part, for example, an ExtremeLateralApproach and a TranscondylarApproach in the operation including the skull base part.SOLUTION: A head model for training or teaching craniotomy of disease in the skull, comprising at least a portion of the temporal bone, the posterior fossa, and the atlanto-occipital joint.SELECTED DRAWING: Figure 1

A cranial fixation device for decompression / expandability craniotomy is described, the device comprising a lid and a plurality of brackets (3A, 3B, 3C, 3D, 3E, 3F), designed to treat a pathology causing a herniation accompanied by an increase in intracranial pressure, and is of the type comprising forming an opening in the skull by milling along the craniotomy edge to be suitable for allowing expansion of the brain, and applying the lid having a protective and accommodating function for the brain at a certain distance perpendicular from the craniotomy edge, and the lid is connected to the craniotomy edge by a plurality of brackets (3A, 3B, 3C, 3D, 3E, 3F) that are simultaneously fixed to the lid and the craniotomy edge.

The invention relates to the technical field of medical instruments, and discloses a severe craniocerebral postoperative self-adaptive incision zero-compression temperature-adjustable ice pillow system, a temperature sensing unit of the system collects incision and ice pillow temperature data, and an initial temperature regulation threshold is determined through a self-adaptive algorithm; the pressure monitoring unit respectively determines initial zero compression parameters in the double monitoring periods and dynamically corrects the parameters according to body position changes; the regulation and control execution unit determines a temperature correction coefficient by calculating the comprehensive matching degree of the incision contact pressure and historical body position data and combining a matching degree threshold value and an intelligent learning algorithm; and the control center completes temperature regulation and control based on the corrected zero compression parameter. The system can realize accurate self-adaptive temperature adjustment in a zero-compression state of the incision according to individual physiological characteristics, operation types and body position changes of patients, effectively improves the safety and effectiveness of intensive craniocerebral postoperative incision nursing, reduces the risk of complications, and is suitable for clinical postoperative nursing scenes.

The cerebral hemorrhage craniotomy auxiliary positioning device comprises a position adjusting mechanism, and the position adjusting mechanism comprises a mounting structure, a height adjusting structure and an adjusting arm structure; the rear side bearing structure is arranged on the headstock mechanism, bearing force is formed from the rear side of the head through added head nails, and the fixing effect is guaranteed; the positions of the first clamping arm and the second clamping arm of the headstock mechanism can be adjusted, so that the middle position between the first clamping arm and the second clamping arm cannot be changed, and the horizontal position of the headstock mechanism does not need to be additionally adjusted; the height of the lower transverse column carrying the adjusting arm structure can be adjusted, and the height of the headstock mechanism is finely adjusted by adjusting the height position of the lower transverse column through the height adjusting structure; when the head frame mechanism needs to be rotated to adjust the angle, the first hand wheel is screwed firstly to loosen the stud, the pull ring is pulled to enable the clamping teeth to leave the occlusion tooth groove, then the head frame mechanism can be rotated to adjust the angle, and the head frame mechanism does not need to be pushed towards the patient to rotate.

The application relates to the technical field of medical devices, in particular to a craniotomy device for neurosurgery, which comprises a surgical bed, an adjusting part and a craniotomy part, the bottom surface of the surgical bed is provided with a base, the top surface of the surgical bed is symmetrically provided with bases, the adjusting part is slidingly installed on the bases, the craniotomy part is slidingly connected with the adjusting part, the end surface of the craniotomy part is arranged towards the surgical bed, the surface of the craniotomy part is provided with a positioning part, and the positioning part can be in contact with the head of a patient; the craniotomy direction can be adjusted to meet the operation requirements of different directions, and the craniotomy equipment can be positioned to improve the drilling precision.

The invention relates to the technical field of neuroscience, in particular to a craniotomy method for obtaining complete rat brain tissue, which comprises two parts of early-stage preparation and skull opening. The early-stage preparation comprises anesthesia, scalp incision and fascia cleaning. The skull opening sequence is sagittal seam cracking, top seam cracking and partial skull opening in sequence. Refined operation design is performed according to skull anatomy, so that the method is remarkably superior to the prior art in the aspects of integrity, operation efficiency and applicability of obtained brain tissues, and reliable technical support is provided for neuroscience research.

The carotid artery compressor comprises a lower neck ring and an upper neck ring, the top of one end of the lower neck ring is fixedly provided with a first rubber block, the top of the first rubber block is fixedly connected with one end of the upper neck ring, and the end, away from the first rubber block, of the lower neck ring is fixedly connected with a third rubber block; air is supplied to the interior of the main compression bag through the air delivery pipe, so that the main compression bag is expanded, accurate and moderate compression is performed on the carotid artery of a patient, the bleeding risk is reduced, a powerful guarantee is provided for smooth operation, in addition, air can be supplied to the three auxiliary compression bags through the lower neck ring and the second air delivery pipe according to requirements, and the operation efficiency is improved. According to the technical scheme, the three auxiliary compression bags are made to expand, so that the three auxiliary compression bags conduct three-point compression on the carotid artery of a patient, the compression effect is enhanced, the compression stability and safety are improved, and the carotid artery of the patient is more comprehensively protected in the operation process.

The utility model discloses a scalp draw hook, fixer and craniocerebral retractor, scalp draw hook comprises elastic connecting piece, one end of elastic connecting piece is connected with fixing clamp, the other end of elastic connecting piece is connected with claw-shaped hook, the fixing clamp is provided with clamp arms, the number of the clamp arms is two, the two clamp arms are crossed, one end of each clamp arm is hinged through a rotating part, and the other end of each clamp arm is connected with the claw-shaped hook. One ends of the two clamp arms are integrally provided with the clamp mouths, the other ends of the two clamp arms are provided with the clamping plates, one sides of the two clamping plates are provided with the anti-skid toothed plates, and the two anti-skid toothed plates are engaged and locked.

The utility model discloses a multi-channel traction device which comprises a tubular part, at least three channels which are independent of one another and not communicated with one another are arranged in the tubular part, and the channels in the tubular part at least comprise an endoscope cavity allowing an endoscope to penetrate through, an injection cavity allowing liquid medicine or cleaning water to penetrate through and an operation cavity allowing surgical instruments to penetrate through. The sizes of the injection cavity and the sight glass cavity are fixed, and the size of the cross section of the operation cavity is adjustable. The three-cavity channel is arranged, namely the endoscope cavity, the injection cavity and the operation cavity which are used for allowing an endoscope, liquid medicine or clean water and surgical instruments to penetrate through respectively, mutual interference of all the components is avoided, and operation with the two hands of an operator is facilitated; the endoscope cavity is independently arranged, the visual range is wide, the craniotomy range is reduced, lesion positions are quickly found, and meanwhile lesion omission is avoided; the injection cavity is independently arranged, so that a clearer operation field can be provided. The section size of the operation cavity is adjustable, traction devices of different sizes do not need to be replaced in the operation, the operation cavity can be evenly expanded after a lesion position is punctured, and damage to human tissue is reduced.

The utility model relates to the technical field of medical instruments, in particular to a neurosurgical craniocerebral postoperative nursing headgear which is characterized in that the head of a patient is worn by the headgear, a drainage tube on the head can penetrate through an opening seam to be placed in a fixing seat, and then a sealing gasket can be adhered to a surface layer through an adhesive layer. By rotating the threaded rod, the threaded rod can rotate and move in the threaded pipe, and the threaded rod can synchronously drive the clamping plates to move, so that the two clamping plates can make contact with the two sides of the drainage pipe for clamping and fixing. The head sleeve can be stably worn on the head of a patient through mutual adhesion of the hook-and-loop fastener loop surface on the first fixing band and the hook-and-loop fastener hook surface on the second fixing band, so that the head sleeve can fix the drainage tube while protecting the wound surface of the head of the patient, and the drainage tube is prevented from moving and falling off. And functionality can be improved.

The invention discloses a surgical robot collaborative navigation method and system, and the method comprises the steps: S1, carrying out the three-dimensional reconstruction of a surgical site of a patient, so as to obtain a planned surgical path; s2, predicting a shielding track point of the surgical instrument on the surgical path when the surgical instrument moves on the planned surgical path and any marking ball on the first positioning tool is shielded and cannot pass through to cause tracking and positioning of the optical tracking system; s3, shielding the trajectory points, and planning to obtain an optimal collaborative navigation trajectory of the optical tracking system; the surgical robot collaborative navigation system comprises a surgical robot module, a navigation robot module and a collaborative navigation control module composed of a preoperative preparation module, a preoperative shielding prediction module and a collaborative navigation path planning module. The collaborative navigation method and system for the craniotomy operation robot can adapt to the complex operation environment, the planned path has optimality and smoothness, and the adjustment time is short.

The invention relates to the field of medical apparatus and instruments, and discloses a knife-breaking-preventing mechanism which comprises a limiting sleeve and a top sleeve, the limiting sleeve is detachably connected with a skull milling cutter, and when the knife-breaking-preventing mechanism is connected with the skull milling cutter, the top sleeve is matched with a milling cutter hook to clamp the two sides of a skull; the end, abutting against the skull, of the ejector sleeve is perpendicular to the axis of the skull milling cutter, so that the axis of the skull milling cutter can be always kept to be approximately perpendicular to the skull, the cutter breaking phenomenon is prevented to the maximum extent, the problem that the dura mater is damaged is effectively avoided, and the safety coefficient of the skull milling cutter is improved. The top sleeve can slide relative to the limiting sleeve, so that it is ensured that the top sleeve can abut against the outer wall of the head, and the reliability of the knife breaking prevention mechanism is improved. The invention further provides a craniotomy milling cutter assembly which comprises the skull milling cutter, the milling cutter hook and the cutter breaking prevention mechanism, and the operation safety coefficient of the craniotomy milling cutter assembly can be effectively improved through the cutter breaking prevention mechanism.

The present application discloses a craniotomy device for animals, comprising a moving module, a drill bit assembly, a detection component, a load-bearing module and a control module; the moving module is used to drive the drill bit assembly to move along a first horizontal direction, a second horizontal direction and a vertical direction, wherein the first horizontal direction is perpendicular to the second horizontal direction; the drill bit assembly includes a drill body, a rotating shaft and a drill bit, the rotating shaft is rotatably installed on the drill body, the drill bit is installed on the rotating shaft, and the rotation center line of the rotating shaft is parallel to the vertical direction; the detection component is used to detect the pressure information received by the drill bit assembly; one end of the load-bearing module is fixedly connected to the drill body, and the other end is fixedly connected to the moving module, and the load-bearing module can float in the vertical direction to bear at least part of the weight of the drill bit assembly; the control module is communicatively connected to the moving module, the drill bit assembly and the detection component. This craniotomy device can relatively accurately judge the degree of craniotomy, which is beneficial to improving the success rate of craniotomy.

This invention discloses an integrated device for quick-change of end-effector instruments in a craniotomy robot, comprising a support platform with a sliding mechanism and a force sensor on each side; the sliding mechanism includes a sliding frame comprising two sleeves connected by a connecting beam, with two linear slide rods passing through the two sleeves and slidably connected to the sleeves via linear bearings; the bottom ends of the linear slide rods are fixed to the support platform, and springs are fitted on their outer sides, respectively abutting between the sliding frame and the support platform; limiting strips are fitted on the top sides of the two linear slide rods and fastening nuts are threaded onto them to limit the distance between the sleeves and the support platform; a clamping mechanism consisting of two movable grippers is provided on the outer surface of the sliding mechanism, the clamping mechanism consisting of a detachable retaining ring, a locking mechanism, and a latch; this device achieves integrated drilling and milling functions, and can perform flexible bone milling based on real-time force sensing, and has the advantages of easy instrument replacement, disassembly, and high positioning in its structural design.