CN109106471B - Cartilage Rotation Removal Equipment System for Bone Implant Materials - Google Patents

Abstract

The invention relates to a cartilage rotary removal equipment system for bone implant materials. A rotary planing and cutting device is erected on an intermediate frame of a base. The rotary planing and cutting device is composed of a six-axis joint mechanical arm and a rotary cutting knife. On the six-axis joint mechanical arm, the rotary cutting knife is adjusted forward and backward through the six-axis joint mechanical arm. The rotary cutting knife is composed of an outer knife shell and an inner knife. The distal ellipsoid area of the outer knife shell is provided with a cutting window, and the outer knife A hollow inner knife is nested in the shell, and the inner knife can rotate at high speed around the central axis of the outer knife shell; the inner knife is also provided with an opening matched with the cutting window of the outer knife shell. When the cartilage removal operation is performed, the edge of the cartilage material is close to the cutting window. The high-speed rotating internal knife quickly cuts the cartilage and tissue to be removed into small pieces and removes them. Minced bones and meat cause contamination and equipment failure.

Description

Cartilage rotary removing equipment system for bone implant materials

Technical Field

The invention relates to cartilage rotary removing equipment for a bone implant material, in particular to a cartilage rotary removing equipment system for the bone implant material.

Background

The preparation process of the bone implant material is complicated, particularly the cartilage removal degree on the surface of the bone implant material is very important, the common bone implant materials in the bone transplantation clinical operation at present comprise autologous bones, allogeneic bones, synthetic materials and biological products with osteogenesis, the cartilage removal mode of the common allogeneic bone materials at present is manual removal and semi-automatic removal, and the bone implant materials meeting the requirements are widely applied in many fields of medical treatment, scientific research industrial production and the like.

Because the bone is a porous material and has good biocompatibility, the bone can be well integrated with the bone tissue of the body after being transplanted, and the bone material to be transplanted can be transplanted only by carrying out related processing, such as cartilage removal, cutting, immunogenic removal, sterilization and the like. This requires cutting and removing cartilage tissue attached to the ends, faces, etc. of the bone to obtain a relatively clean and smooth osteogenic bone. Related equipment and technologies are still in research and exploration in the aspect of human cartilage removal.

The invention is developed aiming at the removal technology of articular cartilage attached to human allogeneic bones and animal-derived bones, and aims to obtain relatively clean and smooth bone bones for bone transplantation operations, medical research, clinical drug tests and the like. On the other hand, currently, cartilage removal is mainly performed manually, however, cartilage (articular cartilage) attached to the surface of bone has the characteristics of viscoelasticity, biomechanics and other living biological tissues, which are different from common materials, the lubricity of the cartilage is very good, which is a great challenge for operators, the raw bone specimen is very expensive in source, the operators often wear several layers of gloves to cut, the hands of the operators are prevented from being injured, and meanwhile, the operators carefully operate the cartilage to prevent the specimen from being damaged.

Disclosure of Invention

The present invention is directed to solving the above problems and providing a cartilage rotational removal device system for bone implant materials.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an equipment system is rejected in cartilage rotation of bone implant material, includes base, infrared scanning distancer, snatchs fixing device, rotatory planing cutting device, control circuit, computer, its characterized in that: the rotary planing and cutting device is erected on the middle frame of the base and consists of a six-axis joint mechanical arm and a rotary cutting knife, the rotary cutting knife is installed on the six-axis joint mechanical arm, the rotary cutting knife is adjusted in a front-back telescopic mode through the six-axis joint mechanical arm, and the rotary cutting knife is matched with the grabbing and fixing device to cut and remove cartilage tissues on the bone implant material at different angles; the rotary cutting knife comprises an outer knife shell and an inner knife, a cutting window is arranged in the far-end ellipsoid region of the outer knife shell, a hollow inner knife is nested in the outer knife shell, and the inner knife can rotate around the central shaft of the outer knife shell at a high speed; the inner cutter is also provided with an opening matched with the cutting window of the outer cutter shell, the central shaft is a hollow shaft, so that broken cartilage can be sucked out of the cutting cutter after cutting, and the broken cartilage is temporarily stored in an aggregate collecting box, so that the cutter is prevented from being blocked and breaking down; when the cartilage removing operation is carried out, the edge of a cartilage material is close to the cutting window, the cartilage and tissues to be removed are quickly cut into small pieces by the inner cutter rotating at a high speed and removed, broken bone and broken meat are sucked out by the vacuum source, and pollution and equipment failure caused by the broken bone and broken meat caused by cutting of equipment are avoided.

Further, the grabbing and fixing device consists of an automatic grabbing manipulator and an eight-jaw chuck, and the automatic grabbing manipulator and the eight-jaw chuck are respectively arranged at the left end and the right end of the base; the infrared scanning range finder is arranged on a range finder sliding groove on the front side surface of the base and provides a traveling path for clamping of the automatic grasping manipulator; the fingertip inner sides of the claws of the eight-claw chuck are provided with a displacement sensor and a pressure sensor, and the computer is connected with an infrared scanning distance meter, the displacement sensor and the pressure sensor and is connected with an automatic grasping manipulator and a rotary planing and cutting device through a control circuit.

Furthermore, the main motor in the control circuit controls forward and reverse rotation through KM1 and KM 2 main contacts so as to drive the rotary cutting knife to rotate and feed and realize the two-pole starting control of the double-speed motor; and a mechanical braking electromagnet coil in the control circuit is controlled by the KM 5 and KM6 contacts to realize main electric braking.

Further, the center pin position of eight claw chucks fixes aggregate one end, and after the starting device, the aggregate length that infrared scanning distancer will measure is introduced into the computer, and the computer is held the manipulator through control circuit control automation and is reachd the assigned position, and when distance sensor numerical value was zero and pressure sensor pressure numerical value reachd the assigned value, the finger driving motor stall of holding in the manipulator is held in automation, and the rotating electrical machines that holds the manipulator automatically drives and holds manipulator rotation 360, is held in automation by infrared scanning distancer measurement aggregate interface length, tissue and cartilage thickness, the position of hard bone place, and calculate feed mode and cutting thickness by the computer to servo motor on the six axis joint arms works of control, and control rotary cutter contact aggregate and cut, until the aggregate processing to accord with required requirement.

The invention has the beneficial effects that:

1) adopt novel cartilage rotary cutter technique, the meticulous degree of cutting increases greatly after improving to the cartilage or the tissue that contact cutter edge will be cut into the fritter to rotatory cutting edge, are sucked out the garrulous meat of garrulous bone by the vacuum source, have avoided equipment because of cutting the pollution and the equipment trouble that arrive.

2) The six-axis joint coordinate mechanical arm is used as a moving carrier of the cutting knife, the moving mode is stable, safe and reliable, and the multi-degree-of-freedom flexible moving mode and the multi-angle feeding route provide more cutting choices for the cutting knife.

3) Whole base provides installation space for each part, and the position of screw is accurate provides the mounted position. The left T-shaped sliding groove provides a larger movable range for the automatic gripper and also provides a moving path for the infrared scanning distance measuring device.

4) Grabbing a fixing device: adopt the double-jaw mode of holding in the left and right sides, the right side uses eight claw single action chucks to the fixing base is fixed in and does not remove the design on the bottom plate, does not do the power design as rotary mechanism with footstep bearing, has avoided because of the aggregate damage or the aggregate slippage that the clamping device motor rotational speed of both sides is different leads to, and its eight jack catchs evenly distributed has increaseed the stability of centre gripping with the quotation. The left clamping device adopts an automatic gripper form, a push rod motor is used as an arm for moving the automatic gripper left and right, and a rotating motor is used as a rotating motion mode of a wrist. The axes of the two grippers are at the same height, and the infrared distance measuring device is controlled by the computer to obtain the gripping distance, so that the clamping is more stable. The claw points of the eight-claw chuck are provided with a pressure sensor and a distance sensor, and the claw points are covered with medical silica gel, so that the force applied by the automatic gripper to the aggregate is monitored in real time, and the aggregate is prevented from being damaged during automatic clamping.

5) Infrared scanning range unit: the main function is to provide a travel path for the clamping of the automatic gripper after the aggregate is clamped by the eight-claw chuck in advance. And when the two clamping devices reach the working surface, scanning the aggregate for a circle, and calculating important information such as the thickness, the section length, the distance between the hard bones and the like of the cartilage, so that the computer can calculate the optimal feed path of the cutting device.

Drawings

FIG. 1 is a schematic view of the overall structure of a cartilage rotary removal device system for bone implant material according to the present invention;

FIG. 2 is a left side view of a cartilage rotational removal device system for bone implant material of the present invention;

FIG. 3 is a schematic view of a shear cutter of the cartilage rotary removal device system for bone implant material of the present invention;

FIG. 4 is a flow chart of the operation of the cartilage rotational removal device system for bone implant material of the present invention;

fig. 5 is a circuit control diagram of a cartilage rotation removal device system for bone implant material of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the invention is not limited to the specific embodiments.

As shown in fig. 1, 2, 3 and 5, a cartilage rotary removing equipment system for bone implant materials comprises a base 1, an infrared scanning range finder 10, a grabbing and fixing device, a rotary planing and cutting device, an aggregate collecting box 7, a safety protection device, a control circuit and a computer. Rotatory planing cutting device erects the intermediate frame in base 1, and rotatory planing cutting device comprises six joint arms 6 and rotary cutter 8, and rotary cutter 8 installs on six joint arms 6, and rotary cutter 8 carries out the front and back telescopic adjustment through six joint arms 6, realizes carrying out the cutting rejection of different angles with the cooperation of snatching fixing device to the cartilage tissue on the bone implant material. The grabbing and fixing device consists of an automatic grabbing manipulator 5 and an eight-jaw chuck 9, and the automatic grabbing manipulator 5 and the eight-jaw chuck 9 are respectively arranged at the left end and the right end of the base 1. The aggregate collecting box 7 is arranged behind the rotary cutting knife 8. The infrared scanning distance measuring instrument 10 is installed on a distance measuring instrument sliding groove 11 on the front side surface of the base 1, and provides a traveling path for clamping the automatic grasping manipulator 5. Eight claws of the eight-claw chuck 9 are uniformly and symmetrically distributed on the chuck, medical silicon rubber elastic sheaths are respectively sleeved on the eight claws to prevent the clamping bone block from being damaged and the cutting process from sliding, and a displacement sensor and a pressure sensor are arranged on the inner side of the fingertip of each claw. The computer is connected with the infrared scanning range finder 10, the displacement sensor and the pressure sensor, and is connected with the automatic grasping manipulator and the rotary planing cutting device through the control circuit.

The six-axis joint mechanical arm is divided into a base assembly, a shoulder assembly, a large arm assembly, an elbow assembly, a small arm assembly, a wrist assembly, a hand assembly and a finger assembly, and aims to provide the cutting knife with the capability of realizing six-axis motion.

The base assembly includes: first servo motor, first harmonic reduction gear. The shoulder assembly includes: the device comprises a shoulder cavity, a second servo motor, a second harmonic reducer and a first eccentric wheel braking mechanism. The big arm component comprises: the left arm and the right arm are arranged oppositely, and a third servo motor is arranged in the left arm. The third harmonic reducer and the power output component, and the right arm is provided with a second eccentric wheel braking mechanism. The elbow assembly includes: elbow cavity, fourth servo motor, fourth harmonic reduction gear. The forearm subassembly includes: the left small arm and the right small arm are arranged oppositely, and a fifth servo motor, a fifth harmonic reducer and a power output assembly are arranged in the left small arm. A third eccentric wheel braking mechanism is arranged in the right small arm. The wrist assembly includes: wrist cavity, sixth servo motor and sixth harmonic speed reducer ware. The hand assembly includes: the left hand body and the right hand body are arranged just opposite to each other, a seventh servo motor, a seventh harmonic reducer and a power output assembly are arranged in the left hand body, and a fourth eccentric wheel braking mechanism is arranged in the right hand body. The finger assembly includes: finger cavity, high-speed cutting motor.

As shown in fig. 3, the shear cutter 8 of the present invention is designed with a 0.5-1cm cutting window in the distal ellipsoidal region of the outer cutter housing 8-1, and a hollow inner cutter 8-2 is nested in the outer cutter housing 8-1, and the inner cutter can rotate around the central axis 8-3 of the outer cutter housing 8-1 at a high speed. The inner knife 8-2 is also provided with an opening matched with the window of the outer knife shell, and the inner knife is rotated under the drive of the high-speed cutting motor to complete the cutting action. The window of the outer blade shell provides a cutting advancement window when performing a cutting operation, and the cartilage and tissue to be resected can be cut into small pieces by rotating the cutting edge with the rotatable inner blade. The high-speed cutting motor provides the high-speed rotatory cutting force of interior sword, and its compact structure, easily balanced, characteristics that transmission efficiency is high have given the reliable cutting power of rotary cutter, use pneumatic principle, and the cavity pattern can be made completely to the central axis portion, is convenient for in the cutting with garrulous bone and garrulous meat suction cutting knife after the cutting.

The rear end of the automatic grasping manipulator is sequentially connected with a rotating motor 4 and a push rod motor 3, the push rod motor 3 is arranged on a T-shaped sliding groove 2 through a support, and the push rod motor 3 can drive the manipulator to do linear motion along the T-shaped sliding groove. The push rod motor 3 is transversely arranged on the bracket and drives the manipulator to do linear motion; the rotating motor 4 is arranged at the front end of the push rod motor 3 and drives the mechanical arm to rotate; the manipulator is fixedly connected with a rotating shaft of the rotating motor 4. The automatic grasping manipulator comprises a mechanical palm, a finger driving motor and mechanical fingers, the mechanical palm is fixedly connected with a rotating shaft of a rotating motor, the mechanical palm is a disc-shaped structural member, four finger driving motors are arranged on the back of the mechanical palm, four mechanical fingers are arranged on the front of the mechanical palm, and the four mechanical fingers penetrate through the mechanical palm respectively and are connected with the corresponding finger driving motors in a transmission mode.

Eight claws of the eight-claw chuck clamping mechanism are uniformly and symmetrically distributed on the chuck, medical silicon rubber elastic sheaths are respectively sleeved on the eight claws to prevent the clamping bone block from being damaged and sliding in the cutting process, and a displacement sensor and a pressure sensor are arranged on the inner sides of the fingertips of the claws.

The safety protection device covers the base, the rotary planing and cutting device and the grabbing and fixing device together, and ensures that aggregate does not splash in the cartilage cutting process. The safety protection device is made of epoxy resin materials and is formed by combining the upper protection cover and the lower protection cover, the side baffles of the upper protection cover and the lower protection cover can be pushed towards two ends respectively, and corresponding manual operation can be conveniently carried out on the rotary planing and cutting device.

The aggregate collecting box in the invention adopts an open-close box type structure.

The cartilage rotary removing equipment system for the bone implant material can realize the functions of clamping and fixing irregular human fresh bone tissues, accurately scanning, finely removing cartilage and the like, so that the whole processing process is simpler and more automatic, the human injury brought by workers in the labor process is avoided, the manpower is reduced, the production is more effective and sanitary, the human cartilage tissues as the cutting objects of the cutting device are more scientifically and reasonably cut, the human implant bone material in accordance with the standard is obtained, and meanwhile, the requirements of quality management specifications of medical instrument processing and production are met.

As shown in figure 4, the device needs to place human aggregate at the central axis of an eight-claw chuck and fix bone tissue at one end, then roughly adjust an automatic gripper, start the device, measure the length of the aggregate by an infrared scanning distance meter and transmit the length to a computer, the computer calculates the advancing distance of a push rod motor according to the measured value, the push rod motor reaches a designated position, four finger driving motors start to work, mechanical fingers slowly descend and transmit the distance to the computer and the value of a pressure sensor in real time. When the numerical value of the distance sensor is zero and the pressure numerical value of the corresponding pressure sensor reaches a standard value, the computer controls the finger driving motor to stop rotating, the automatic gripper rotates for 360 degrees, meanwhile, the infrared scanning distance meter measures the interface length of the aggregate, the thickness of the tissue and cartilage, the position of the hard bone and the like, a reasonable feeding mode and a cutting thickness are calculated, the computer controls a servo motor on the mechanical arm to work, the driving motor and the brake motor to work alternately, the rotary cutting knife is controlled to contact the aggregate to cut in the most reasonable mode, after the cutting operation of the equipment to be cut is completed, the automatic gripper loosens the aggregate, returns to the initial position, and takes out the finished aggregate.

As shown in figure 5, the main circuit has two motors, M2 is the main motor, and the main contacts of KM1 and KM 2 control the forward and reverse rotation of the main motor to drive the rotary cutter to rotate and feed. The M2 is required to move forward and backward, be electrically driven forward and backward, brake and regulate high and low speed, and is started and controlled by two poles of a double-speed motor, so that the rotation and the feeding amount of the rotary cutting knife can be ensured to have enough regulation range. M1 is a push rod motor, the positive and negative rotation of the push rod motor is controlled by main contacts of KM 3 and KM 4, and the movement of the motion direction of the automatic grasping manipulator is realized through different connections of different gears, racks and lead screws. QS is a main power switch, fuses FU 1 and FU 2 play a main circuit short-circuit protection role, and the thermal relay FR plays an overload protection role of the main motor M2. The cartilage rotation removing equipment system for the bone implant materials adopts a mechanical braking device controlled by an electromagnet, and YB in a circuit is a mechanical braking electromagnet coil controlled by contacts of KM 5 and KM 6. No matter M2 rotates positively and negatively, YB is electrified and attracted, so that a brake wheel on a motor shaft is loosened, the motor can rotate freely, when M2 and YB are powered off simultaneously, a brake belt is tightly hooped on the brake wheel by a lever to brake under the action of a spring, and the motor stops rotating.

This rotatory equipment system of rejecting of cartilage of bone implantation material is fixed through the centre gripping to the fresh bone tissue of anomalous human body, accurate scanning, and then realize the meticulous function of rejecting to cartilage, make whole course of working more simplistic, automatic, avoid manual cartilage to strip the in-process and bring the personal injury, reduce the manpower, make production more effective, sanitary, excise the cartilage tissue as this cutting device cutting object scientifically and reasonably more in order to ask, obtain the human bone implantation material that accords with the standard, accord with the requirement of the quality management standard of medical instrument processing production simultaneously.

The above disclosure is only one specific embodiment of the present invention, however, the present invention is not limited thereto, and any variations that can be considered by those skilled in the art are intended to fall within the scope of the present invention.

Claims (4)

1. a cartilage rotation removal equipment system of bone implant material, comprising base, infrared scanning range finder, grasping fixture, rotary planing cutting device, control circuit, computer, it is characterized in that: described rotary planing cutting The device is erected on the intermediate frame of the base. The rotary planing and cutting device is composed of a six-axis joint mechanical arm and a rotating cutting knife. The rotating cutting knife is installed on the six-axis joint mechanical arm, and the rotating cutting knife is moved forward and backward through the six-axis joint mechanical arm. Telescopic adjustment; the rotary cutting knife is composed of an outer knife shell and an inner knife, the distal ellipsoid region of the outer knife shell is provided with a cutting window, and a hollow inner knife is nested in the outer knife shell, and the inner knife can surround the outer knife shell. The central axis of the knife shell rotates at high speed; the inner knife is also provided with an opening that matches the cutting window of the outer knife shell, and the central axis is a hollow shaft, which is convenient for sucking the broken cartilage out of the cutting knife after cutting and temporarily storing it in the aggregate collection box. Prevent the cutter from clogging and malfunction; when the cartilage removal operation is performed, the edge of the cartilage material is close to the cutting window, and the high-speed rotating inner knife will quickly cut the cartilage and tissue to be removed into small pieces to remove, and the broken bone and meat will be sucked out by the vacuum source. 2. The cartilage rotation removal equipment system for bone implant materials according to claim 1, wherein the grasping and fixing device is composed of an automatic grasping manipulator and an eight-claw chuck, and the automatic grasping manipulator and the eight-claw chuck The discs are respectively installed on the left and right ends of the base; the infrared scanning rangefinder is installed on the rangefinder chute on the front side of the base to provide a travel distance for the clamping of the automatic gripping manipulator; A displacement sensor and a pressure sensor are arranged inside the fingertip of the claw, and the computer is connected to an infrared scanning range finder, a displacement sensor and a pressure sensor, and is connected to an automatic grasping manipulator and a rotary planing and cutting device through a control circuit. 3. The cartilage rotation rejecting equipment system of bone implant material according to claim 1, is characterized in that: the main motor in the control circuit is controlled by KM1 and KM 2 main contacts to control the forward and reverse rotation, to drive the rotary cutter Rotation and feeding of the motor, and realizes the two-pole start control of the two-speed motor; the mechanical brake electromagnet coil in the control circuit is controlled by the KM 5 and KM6 contacts to realize the main electric braking. 4 . The cartilage rotary removal device system for bone implant materials according to claim 2 , wherein the central axis of the eight-jaw chuck is positioned to fix one end of the aggregate, and when the device is started, the infrared scanning distance measurement is performed. 5 . The instrument transmits the measured aggregate length to the computer, and the computer controls the automatic gripping manipulator to reach the designated position through the control circuit. When the value of the distance sensor is zero and the pressure value of the pressure sensor reaches the designated value, the automatic gripping manipulator will automatically grasp the fingers of the manipulator. The drive motor stops rotating, the rotating motor of the automatic gripping manipulator drives the automatic gripping manipulator to rotate 360°, the length of the aggregate interface, the thickness of the tissue and cartilage, and the position of the hard bone are measured by the infrared scanning range finder, and the computer calculates the cutting method and The thickness is cut, and the servo motor on the six-axis joint robotic arm is controlled to work, and the rotary cutter is controlled to contact the aggregate for cutting until the aggregate is processed to meet the required requirements.

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