CN118402865B - A collaborative orthopedic surgery tool auxiliary device and a collaborative method - Google Patents
A collaborative orthopedic surgery tool auxiliary device and a collaborative method Download PDFInfo
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- CN118402865B CN118402865B CN202410620128.1A CN202410620128A CN118402865B CN 118402865 B CN118402865 B CN 118402865B CN 202410620128 A CN202410620128 A CN 202410620128A CN 118402865 B CN118402865 B CN 118402865B
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- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title abstract description 17
- 238000001356 surgical procedure Methods 0.000 title abstract 2
- 239000007788 liquid Substances 0.000 claims description 47
- 230000000087 stabilizing effect Effects 0.000 claims description 22
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 10
- 239000007924 injection Substances 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 11
- 238000011982 device technology Methods 0.000 abstract 1
- 210000003491 skin Anatomy 0.000 description 6
- 210000004197 pelvis Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 206010002091 Anaesthesia Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000037005 anaesthesia Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 230000007170 pathology Effects 0.000 description 2
- 238000000053 physical method Methods 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 210000002027 skeletal muscle Anatomy 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010056367 Joint tuberculosis Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 208000009360 Osteoarticular Tuberculosis Diseases 0.000 description 1
- 206010031252 Osteomyelitis Diseases 0.000 description 1
- 208000000474 Poliomyelitis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 230000003000 nontoxic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Neurosurgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
本发明涉及医疗器械技术领域，具体为一种协作式骨科手术工具辅助装置及协作方法，包括辅助机器人、安装在辅助机器人上的机械臂和安装在机械臂末端的定位套管，所述定位套管用于对手术工具进行定位；此协作式骨科手术工具辅助装置及协作方法，医生对患者进行骨科手术时，可以预先将支撑套筒安装在定位套管外侧，并通过辅助机器人的机械臂的运行，将定位套管对患者手术的位置进行定位后，支撑套筒上的推动组件运行，从而实现对患者手术位置进行精准定位标记的作用，使医生在将手术工具通过定位套管打入患者手术位置的时，患者皮肤被标记的位置，对医生在打入手术工具进行二次定位的作用，防止出现手术工具打入时的偏离。
The present invention relates to the field of medical device technology, and specifically to a collaborative orthopedic surgical tool auxiliary device and a collaborative method, comprising an auxiliary robot, a mechanical arm installed on the auxiliary robot, and a positioning sleeve installed at the end of the mechanical arm, wherein the positioning sleeve is used to position the surgical tool; with this collaborative orthopedic surgical tool auxiliary device and a collaborative method, when a doctor performs orthopedic surgery on a patient, the doctor can pre-install a support sleeve on the outside of the positioning sleeve, and after the positioning sleeve is used to position the surgical position of the patient through the operation of the mechanical arm of the auxiliary robot, the pushing component on the support sleeve is operated, thereby achieving the effect of accurately positioning and marking the surgical position of the patient, so that when the doctor inserts the surgical tool into the surgical position of the patient through the positioning sleeve, the marked position of the patient's skin can be used for secondary positioning of the doctor when the surgical tool is inserted, thereby preventing deviation of the surgical tool when it is inserted.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a cooperative type orthopaedic surgical tool auxiliary device and a cooperative method.
Background
Orthopedics is one of the most common departments in various hospitals, and mainly researches the anatomy, physiology and pathology of the skeletal muscle system, and maintains and develops the normal form and function of the system by using medicines, operations and physical methods. With the change of the times and society, the orthopaedics trauma spectrum has obvious change, for example, the diseases such as bone joint tuberculosis, osteomyelitis, poliomyelitis and the like are obviously reduced, and the trauma caused by traffic accidents is obviously increased. The orthopaedics is required to change the spectrum of the orthopaedics. Orthopedics is also known as orthopedics. Is a specialty or discipline of medicine, specifically studies the anatomy, physiology and pathology of the skeletal muscle system, uses pharmaceutical, surgical and physical methods to maintain and develop the normal morphology and function of the system, and treats injuries to the system.
In the existing orthopedic operation process, an operation robot is often used for cooperation and assistance of a doctor of a main knife of the orthopedic operation, such as a patent application number CN202311073132.2, which discloses an operation robot for the orthopedic operation;
although the existing operation robot ensures the positioning accuracy through strict test and ensures the robot to accurately position the part of the patient to be operated, such as the existing pelvis fixing operation, the auxiliary robot accurately positions the operation tool to the operation position and drives the operation tool to the operation preset position according to a preset angle, the patient can shake the body of the patient even in the state of deep anesthesia during the operation, and the doctor can strictly monitor the movement of the patient during the whole operation;
in the process, when a doctor slightly distracts the attention, the patient moves and is not found, particularly after the positioning sleeve of the auxiliary robot is positioned, as a certain distance exists between the positioning sleeve and the actual operation position, when the doctor of the main knife drives the operation tool into the operation position of the patient through the positioning sleeve, the movement of the patient is quite easy to occur and is not observed, the deviation of the operation tool is caused, and the operation accuracy of the patient is influenced.
Disclosure of Invention
The invention aims to provide a cooperative type orthopaedic surgical tool auxiliary device and a cooperative method, which are used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the technical scheme that the cooperative orthopedic operation tool auxiliary device comprises an auxiliary robot, a mechanical arm arranged on the auxiliary robot and a positioning sleeve arranged at the tail end of the mechanical arm, wherein the positioning sleeve is used for positioning an operation tool and further comprises:
the support sleeve is detachably arranged on the outer side of the positioning sleeve, a hollow cavity is arranged in the support sleeve, and the hollow cavity extends to the bottom of the support sleeve;
the pushing component is arranged at the bottom of the hollow cavity;
the marking assembly is connected with the pushing assembly, and the auxiliary robot is used for further marking the skin of the patient through the marking assembly after positioning the surgical position of the patient through controlling the positioning sleeve on the mechanical arm;
And the pushing component synchronously drives the stabilizing component, so that the positioning sleeve is fixed with the operation position of the patient, and the patient is prevented from moving to cause the deviation of the operation position.
The pushing assembly comprises a pushing ring which is sleeved at the hollow cavity in a sliding manner, and a driving piece for driving the pushing ring is arranged at the hollow cavity;
the pushing rods are provided with a plurality of pushing rods, and one ends of the pushing rods are fixedly connected with the pushing ring;
The pushing sleeve is sleeved at the hollow cavity in a sliding manner, and one ends of the pushing rods are fixedly connected with the pushing sleeve;
The outside equidistance of promotion sleeve pipe is equipped with a plurality of annular recess, stable subassembly is connected with annular recess, and mark the subassembly and promote the sleeve pipe and be connected.
The driving piece comprises a rotating sleeve rotationally connected with the inner wall of the hollow cavity, an internal thread is arranged on the inner side of the rotating sleeve, a moving sleeve is connected with the rotating sleeve through the internal thread on the inner side of the rotating sleeve in a threaded manner, the moving sleeve is slidingly connected with the hollow cavity, and one end of the moving sleeve is fixedly connected with the pushing ring;
the support sleeve is provided with a rotating piece for rotating the rotating sleeve, and the pushing ring is driven by the driving piece.
The support sleeve is provided with an opening at a position corresponding to the rotating piece, and the opening is communicated with the hollow cavity;
The rotating piece comprises a rotating gear penetrating through the opening, an external gear ring is connected to the outer side of the rotating gear in a meshed mode, and the external gear ring is fixedly sleeved on the outer side of a bulge at one end of the rotating sleeve;
The support sleeve outside fixed mounting has the protecting crust, and the inside fixed mounting of protecting crust has the rotating electrical machines, rotating electrical machines output and rotary gear fixed connection are through the rotating member that is equipped with to realize carrying out driven effect to the rotating sleeve.
The marking assembly comprises two extension pipes penetrating through the pushing sleeve, the two extension pipes are in sliding connection with the pushing sleeve, one ends of the two extension pipes are respectively connected with a liquid storage pipe in a matched mode, an annular liquid storage shell is communicated between the two liquid storage pipes, and the annular liquid storage shell is fixedly installed in the hollow cavity and located at one end of the rotating sleeve;
one end of each of the two extending pipes is connected with a marking shell in a ring shape, and marking blocks are arranged at the marking shells;
The pushing sleeve is provided with an adjusting piece for adjusting the extending position of the extending pipe, and the marking assembly is arranged on the pushing sleeve, so that the effect of marking the operation position of a patient is achieved.
The adjusting piece comprises an adjusting rod penetrating through the pushing sleeve, the adjusting rod is connected with the pushing sleeve in a sliding mode, and one end of the adjusting rod is fixedly connected with the marking shell;
A fixed plate is fixedly arranged at one end of the pushing sleeve, which is positioned in the hollow cavity, a fixed motor is arranged on the fixed plate, and an adjusting gear is fixedly connected with the output end of the fixed motor;
the adjusting rod is provided with a plurality of tooth grooves in an equidistant way, the adjusting gears are connected with the tooth grooves in a meshed mode, and the adjusting piece is arranged to adjust the extending pipe.
The stabilizing assemblies are arranged in a plurality, the stabilizing assemblies are distributed outside the supporting sleeve at equal intervals, the positions of the supporting sleeve corresponding to the stabilizing assemblies are provided with moving ports, and the positioning sleeve and the operation position of a patient are relatively fixed through the stabilizing assemblies.
The liquid injection pipe is arranged on the annular liquid storage shell and penetrates through the supporting sleeve, the joint is fixedly arranged at one end of the liquid injection pipe, which is located outside the supporting sleeve, and the sealing plug is arranged at the joint, so that the liquid injection pipe can be arranged to realize the effect of adding liquid into the annular liquid storage shell.
The stabilizing assembly comprises two connecting plates fixedly arranged on the outer side of the moving port, a connecting shaft is rotatably connected between the two connecting plates, a connecting gear is fixedly sleeved on the outer side of the connecting shaft, and the connecting gear is meshed with the annular groove;
The connecting gear is fixedly provided with a contact claw, one end of the contact claw is provided with a contact pad, and the patient and the positioning sleeve are relatively fixed through the stabilizing component.
A collaboration method of a collaborative orthopaedic surgical tool assistance device, comprising the steps of:
firstly, when a pelvis fixing operation is performed on a patient, firstly, the patient is anesthetized, and the position of an auxiliary robot is adjusted while the patient is anesthetized, and the auxiliary robot is moved to the position of the patient required by the operation through a base;
Step two, after the patient enters an anesthesia state, the auxiliary robot penetrates through the epidermis tissues at the pelvis through an optical tracking camera on the auxiliary robot to identify the position of the operation required, and at the moment, the controller controls the mechanical arm to operate so as to move the positioning sleeve to the position of the operation required;
Step three, the pushing assembly operates, the marking block is pushed to the operation position of the patient while the pushing assembly operates, the marking block is contacted with the skin of the patient and marked, and meanwhile, the plurality of contact claws fix the periphery of the operation position of the patient through the contact pads;
And fourthly, accurately driving the surgical tool into the surgical position by a doctor of the main knife through the positioning sleeve and the marked position, and performing the operation.
Compared with the prior art, the invention has the beneficial effects that:
When the orthopedic operation device is used, the supporting sleeve is arranged on the outer side of the positioning sleeve, so that when a doctor performs orthopedic operation on a patient, the supporting sleeve can be arranged on the outer side of the positioning sleeve in advance, after the positioning sleeve is used for positioning the operation position of the patient through the operation of the mechanical arm of the auxiliary robot, the pushing component on the supporting sleeve is operated, thereby realizing the function of accurately positioning and marking the operation position of the patient, ensuring that when the doctor drives an operation tool into the operation position of the patient through the positioning sleeve, the skin of the patient is marked, and performing the function of secondary positioning on the driven operation tool, and preventing deviation when the operation tool is driven.
When the device is used, the pushing assembly drives the stabilizing assembly to open while running, so that the effect of repositioning the periphery of the operation position of a patient is realized, the fixing effect of the positioning sleeve at the mechanical arm of the auxiliary robot relative to the operation position of the patient is realized, the auxiliary fixing effect of the patient relative to the operation bed is realized, and the phenomenon of patient movement caused by the breathing, heartbeat and operation of doctors of the patient is prevented.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a positioning sleeve according to the present invention;
FIG. 3 is a schematic view of the internal structure of the support sleeve of the present invention;
FIG. 4 is a schematic diagram of a second embodiment of the present invention;
FIG. 5 is an enlarged schematic view of the area A of FIG. 4 according to the present invention;
FIG. 6 is a schematic side cross-sectional view of a support sleeve of the present invention;
FIG. 7 is a schematic view of an exploded view of a support sleeve according to the present invention;
FIG. 8 is a schematic view of a traveling sleeve according to the present invention;
FIG. 9 is an enlarged view of area B of FIG. 8 according to the present invention;
FIG. 10 is a schematic view of the structure of the adjusting member of the present invention;
FIG. 11 is a schematic view of a third embodiment of the present invention;
fig. 12 is a schematic diagram of a fourth embodiment of the present invention.
The device comprises a 1-auxiliary robot, a 11-mechanical arm, a 2-positioning sleeve, a 3-supporting sleeve, a 31-hollow cavity, a 32-positioning bolt, a 4-pushing component, a 41-pushing ring, a 42-driving piece, a 421-rotating sleeve, a 422-moving sleeve, a 43-pushing rod, a 44-pushing sleeve, a 441-annular groove, a 45-positioning plate, a 46-electric push rod, a 5-marking component, a 51-extending pipe, a 52-liquid storage pipe, a 53-annular liquid storage shell, a 531-liquid injection pipe, a 532-joint, a 533-sealing plug, a 54-marking shell, a 541-sealing sterilizing cover, a 55-adjusting piece, a 551-adjusting rod, a 5511-tooth socket, a 552-fixing plate, a 553-fixing motor, a 554-adjusting gear, a 6-stabilizing component, a 61-connecting plate, a 62-connecting shaft, a 63-connecting gear, a 64-contact, a 65-contact pad, a 7-rotating piece, a 71-rotating gear, a 72-outer gear ring, a 73-protecting shell and a 74-rotating motor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to FIGS. 1-10, embodiment one
The invention relates to a cooperative orthopedic operation tool auxiliary device and a cooperative method, comprising an auxiliary robot 1, a mechanical arm 11 arranged on the auxiliary robot 1 and a positioning sleeve 2 arranged at the tail end of the mechanical arm 11, wherein the positioning sleeve 2 is used for positioning an operation tool, the auxiliary robot 1 is an existing robot, and an optical tracking camera is also arranged on the auxiliary robot for identifying the position of a patient operation, and the cooperative method further comprises the following steps:
The support sleeve 3 is detachably arranged on the outer side of the positioning sleeve 2, a hollow cavity 31 is arranged in the support sleeve 3, and the hollow cavity 31 extends to the bottom of the support sleeve 3;
the pushing assembly 4 is arranged at the bottom of the hollow cavity 31, the pushing assembly 4 comprises a pushing ring 41 which is sleeved at the hollow cavity 31 in a sliding manner, and a driving piece 42 for driving the pushing ring 41 is arranged at the hollow cavity 31;
The pushing rods 43 are arranged, a plurality of pushing rods 43 are arranged, and one ends of the pushing rods 43 are fixedly connected with the pushing ring 41;
The pushing sleeve 44 is sleeved at the hollow cavity 31 in a sliding manner, and one ends of the pushing rods 43 are fixedly connected with the pushing sleeve 44;
a plurality of annular grooves 441 are equidistantly arranged on the outer side of the pushing sleeve 44, the stabilizing component 6 is connected with the annular grooves 441, and the marking component 5 is connected with the pushing sleeve 44.
The driving piece 42 comprises a rotary sleeve 421 rotationally connected with the inner wall of the hollow cavity 31, an internal thread is arranged on the inner side of the rotary sleeve 421, a movable sleeve 422 is connected with the rotary sleeve 421 through the internal thread on the inner side of the rotary sleeve 421 in a threaded manner, the movable sleeve 422 is slidingly connected with the hollow cavity 31, and one end of the movable sleeve 422 is fixedly connected with the push ring 41;
the support sleeve 3 is mounted with a rotary member 7 for rotating the rotary sleeve 421.
The support sleeve 3 is provided with an opening corresponding to the rotary piece 7, and the opening is communicated with the hollow cavity 31;
The rotating piece 7 comprises a rotating gear 71 penetrating through the opening, an external gear ring 72 is connected to the outer side of the rotating gear 71 in a meshed mode, and the external gear ring 72 is fixedly sleeved on the outer side of a boss at one end of the rotating sleeve 421;
The outer side of the supporting sleeve 3 is fixedly provided with a protective shell 73, a rotating motor 74 is fixedly arranged in the protective shell 73, the output end of the rotating motor 74 is fixedly connected with the rotating gear 71, the protective shell 73 synchronously plays a role in protecting the rotating gear 71, and meanwhile the protective shell 73 protects an opening;
The marking assembly 5 is connected with the pushing assembly 4, and the auxiliary robot 1 is used for further marking the skin of the patient through the marking assembly 5 after the surgical position of the patient is positioned by controlling the positioning sleeve 2 on the mechanical arm 11;
the stabilizing component 6, the pushing component 4 synchronously drives the stabilizing component 6, so that the positioning sleeve 2 is fixed with the operation position of the patient, and the deviation of the operation position caused by the movement of the patient is prevented.
The marking assembly 5 comprises two extending pipes 51 penetrating through the pushing sleeve 44, the two extending pipes 51 are in sliding connection with the pushing sleeve 44, one ends of the two extending pipes 51 are respectively connected with a liquid storage pipe 52 in a matched mode, liquid storage sponge is arranged in the liquid storage pipes 52, the extending pipes 51 and the liquid storage pipes 52 are connected in a matched mode, so that the connection part between the extending pipes 51 and the liquid storage pipes 52 keeps a relatively sealed effect, the phenomenon that marking liquid is omitted from the connection part between the extending pipes 51 and the liquid storage pipes 52 is prevented, an annular liquid storage shell 53 is communicated between the two liquid storage pipes 52, the annular liquid storage shell 53 is fixedly arranged in the hollow cavity 31 and is positioned at one end of the rotating sleeve 421, and the marking liquid which is safe and nontoxic to human bodies is stored in the annular liquid storage shell 53, so that the effect of supplementing liquid to the marking block can be performed in time;
The annular liquid storage shell 53 is provided with the liquid injection pipe 531, the liquid injection pipe 531 penetrates through the support sleeve 3, a joint 532 is fixedly arranged at one end of the liquid injection pipe 531, which is positioned outside the support sleeve 3, and a sealing plug 533 is arranged at the joint 532, so that when the annular liquid storage shell 53 is filled with liquid, the sealing plug 533 is opened, and the marking liquid can be injected into the annular liquid storage shell 53;
One end of each of the two extending pipes 51 is connected with a ring-shaped marking shell 54, a marking block is arranged at the marking shell 54, the marking block is of a soft structure and is detachably arranged on the marking shell 54, and when a patient is marked for use, the marking block can be taken out and replaced when the patient is used for the next patient, so that the cross infection of the patient is prevented;
An adjusting member 55 for adjusting the extended position of the extension tube 51 is mounted on the push sleeve 44.
The adjusting piece 55 comprises an adjusting rod 551 penetrating through the pushing sleeve 44, the adjusting rod 551 is in sliding connection with the pushing sleeve 44, and one end of the adjusting rod 551 is fixedly connected with the marking shell 54;
a fixed plate 552 is fixedly arranged at one end of the pushing sleeve 44 positioned in the hollow cavity 31, a fixed motor 553 is arranged on the fixed plate 552, and an adjusting gear 554 is fixedly connected with the output end of the fixed motor 553;
a plurality of tooth sockets 5511 are arranged on the adjusting rod 551 at equal intervals, and the adjusting gear 554 is in meshed connection with the tooth sockets 5511.
The stabilizing assemblies 6 are provided with a plurality of stabilizing assemblies 6, the stabilizing assemblies 6 are equidistantly distributed outside the supporting sleeve 3, and the positions of the supporting sleeve 3 corresponding to the stabilizing assemblies 6 are provided with moving ports.
The stabilizing assembly 6 comprises two connecting plates 61 fixedly arranged at the outer side of the moving port, a connecting shaft 62 is rotatably connected between the two connecting plates 61, a connecting gear 63 is fixedly sleeved at the outer side of the connecting shaft 62, and the connecting gear 63 is in meshed connection with the annular groove 441;
The connecting gear 63 is fixedly provided with a contact claw 64, and one end of the contact claw 64 is provided with a contact pad 65, and the contact claw 64 can be arranged in a telescopic mode or in an elastic mode, so that the outer periphery of a surgical position of a patient can be fixed.
The specific implementation process is that after the positioning sleeve 2 is positioned by the mechanical arm 11 on the auxiliary robot 1, the positioning sleeve 2 moves to a set distance from the operation, wherein the set distance is just that the marking block on the marking shell 54 moves to the position of the operation of the patient;
namely, the rotating motor 74 operates so as to drive the external gear ring 72 to rotate through the rotating gear 71, while the external gear ring 72 rotates, it synchronously drives the rotating sleeve 421 to rotate, while the rotating sleeve 421 rotates, the moving sleeve 422 provides driving force for the moving sleeve 422, the moving sleeve 422 further moves along the inside of the hollow cavity 31 under the limiting action of the pushing sleeve 44, while it moves, it synchronously drives the pushing sleeve 44 to move, the pushing sleeve 44 synchronously extends the extension tube 51 with it on the one hand, while the extension tube 51 extends, the marking block at the marking shell 54 synchronously moves until the rotating motor 74 stops moving, the marking block moves to the patient operation site, and makes a circular mark for the skin position outside the patient operation site, after the marking is completed, the marking shell 54 can stay to the patient operation site, a channel is formed between the marking shell 54 and the positioning sleeve 2, and the doctor is assisted in driving the operation tool into the patient operation site;
When the marking is completed, the marking shell 54 is not needed to assist, namely, the fixed motor 553 at the sleeve 44 is pushed to operate, the adjusting gear 554 is further operated, the adjusting gear 554 rotates and drives one end of the extension tube 51 to move along the inside of the liquid storage tube 52 through the adjusting rod 551, the effect of retracting the marking shell 54 is realized, the operation is not influenced, and the extension tube 51 synchronously compresses the liquid storage sponge in the liquid storage tube 52 while retracting, so that marking liquid is led into the extension tube;
On the other hand, when the push sleeve 44 moves, the outer annular groove 441 moves synchronously, thereby driving the outer plurality of connecting gears 63 to rotate, and the plurality of connecting gears 63 rotate and simultaneously driving the contact claw 64 to rotate, thereby fixing the outer periphery of the operation of the patient by the plurality of contact claws 64, further preventing the movement of the patient and simultaneously preventing the movement of the patient relative to the positioning sleeve 2.
A collaboration method of a collaborative orthopaedic surgical tool assistance device, comprising the steps of:
Firstly, when a pelvis fixing operation is performed on a patient, firstly, the patient is anesthetized, and the position of the auxiliary robot 1 is adjusted while the patient is anesthetized, and the auxiliary robot is moved to the position of the patient required by the operation through a base;
step two, after the patient enters an anesthesia state, the auxiliary robot 1 penetrates through the epidermis tissue at the pelvis through an optical tracking camera on the auxiliary robot to identify the position of the operation required, and at the moment, the controller controls the mechanical arm 11 to operate so as to move the positioning sleeve 2 to the position of the operation required;
Step three, at this time, the pushing component 4 operates, while the pushing component 4 operates, the marking block is pushed to the operation position of the patient, and is contacted with the skin of the patient and marked, and at the same time, the plurality of contact claws 64 fix the periphery of the operation position of the patient through the contact pads 65;
And fourthly, accurately driving the surgical tool into the surgical position by a doctor of the main knife through the positioning sleeve 2 and the marked position, and performing the operation.
Referring to fig.4, embodiment two
Unlike the first embodiment, the support sleeve 3 is slidably sleeved on the outer side of the positioning sleeve 2, two threaded holes are formed in the support sleeve 3, positioning bolts 32 are connected to the two threaded holes in a threaded mode, and the support sleeve 3 is detachably mounted on the outer side of the positioning sleeve 2 through the positioning bolts 32, so that when the support sleeve is used, the support sleeve 3 is sleeved on the bottom of the positioning sleeve 2, and after the top of the support sleeve 3 is contacted with the positioning sleeve 2, the locking and fixing effects between the support sleeve 3 and the positioning sleeve 2 can be achieved only by rotating the positioning bolts 32.
Referring to fig. 11, embodiment three
Unlike the first embodiment, the driving member 42 includes two positioning plates 45 fixedly installed inside the hollow cavity 31, one end of each positioning plate 45 is fixedly connected with an electric push rod 46, and one ends of the two electric push rods 46 are fixedly connected with the push ring 41, so that when the push sleeve 44 is pushed, the two electric push rods 46 operate, at this time, one end of the push sleeve 44 moves to the outer side of the positioning sleeve 2 along the hollow cavity 31, and thus the push sleeve 44 can be pushed more conveniently and rapidly in the form of the electric push rods 46.
Referring to fig. 12, embodiment four
The first embodiment is further supplemented that the sealing disinfection cover 541 is clamped on the outer side of the marking shell 54, and when the auxiliary robot 1 is not in use, the sealing disinfection cover 541 is manually installed on the outer side of the marking shell 54, so that the marking shell 54 is sealed, and the marking liquid in the marking block inside the marking shell 54 is prevented from volatilizing.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a cooperation type orthopedic operation instrument auxiliary device, includes auxiliary robot (1), installs arm (11) on auxiliary robot (1) and installs at terminal positioning sleeve (2) of arm (11), positioning sleeve (2) are used for carrying out location to the operation instrument, and its characterized in that still includes:
The support sleeve (3) is detachably arranged on the outer side of the positioning sleeve (2), a hollow cavity (31) is formed in the support sleeve (3), and the hollow cavity (31) extends to the bottom of the support sleeve (3);
The pushing assembly (4) is arranged at the bottom of the hollow cavity (31);
The marking assembly (5), the marking assembly (5) is connected with the pushing assembly (4), and the auxiliary robot (1) is used for further marking the skin of the patient through the marking assembly (5) after the surgical position of the patient is positioned by controlling the positioning sleeve (2) on the mechanical arm (11);
The pushing component (4) synchronously drives the stabilizing component (6) to fix the positioning sleeve (2) and the operation position of the patient, so that the deviation of the operation position caused by the movement of the patient is prevented;
the pushing assembly (4) comprises a pushing ring (41) which is sleeved at the hollow cavity (31) in a sliding manner, and a driving piece (42) for driving the pushing ring (41) is arranged at the hollow cavity (31);
the pushing rods (43) are arranged, one ends of the pushing rods (43) are fixedly connected with the pushing ring (41);
The pushing sleeve (44) is sleeved at the hollow cavity (31) in a sliding manner, and one ends of the pushing rods (43) are fixedly connected with the pushing sleeve (44);
A plurality of annular grooves (441) are equidistantly arranged on the outer side of the pushing sleeve (44), the stabilizing component (6) is connected with the annular grooves (441), and the marking component (5) is connected with the pushing sleeve (44);
The plurality of the stabilizing assemblies (6) are arranged, the plurality of the stabilizing assemblies (6) are equidistantly distributed outside the supporting sleeve (3), and the positions of the supporting sleeve (3) corresponding to the stabilizing assemblies (6) are provided with moving ports;
The stabilizing assembly (6) comprises two connecting plates (61) fixedly arranged at the outer side of the moving port, a connecting shaft (62) is rotatably connected between the two connecting plates (61), a connecting gear (63) is fixedly sleeved at the outer side of the connecting shaft (62), and the connecting gear (63) is meshed and connected with the annular groove (441);
a contact claw (64) is fixedly arranged on the connecting gear (63), and a contact pad (65) is arranged at one end of the contact claw (64).
2. The cooperative orthopedic surgical tool auxiliary device according to claim 1, wherein the driving member (42) comprises a rotating sleeve (421) rotatably connected with the inner wall of the hollow cavity (31), the inner side of the rotating sleeve (421) is provided with internal threads, the rotating sleeve (421) is in threaded connection with a moving sleeve (422) through the internal threads on the inner side of the rotating sleeve (421), the moving sleeve (422) is slidably connected with the hollow cavity (31), and one end of the moving sleeve (422) is fixedly connected with the pushing ring (41);
the support sleeve (3) is provided with a rotating member (7) for rotating the rotating sleeve (421).
3. The cooperative orthopedic surgical tool auxiliary device according to claim 2, wherein an opening is formed in the support sleeve (3) corresponding to the rotary member (7), and the opening is communicated with the hollow cavity (31);
The rotating piece (7) comprises a rotating gear (71) penetrating through the opening, an external gear ring (72) is connected to the outer side of the rotating gear (71) in a meshed mode, and the external gear ring (72) is fixedly sleeved on the outer side of a bulge at one end of the rotating sleeve (421);
the outer side of the supporting sleeve (3) is fixedly provided with a protective shell (73), the inside of the protective shell (73) is fixedly provided with a rotating motor (74), and the output end of the rotating motor (74) is fixedly connected with the rotating gear (71).
4. The cooperative orthopedic surgical tool auxiliary device according to claim 1, wherein the marking assembly (5) comprises two extending pipes (51) penetrating through the pushing sleeve (44), the two extending pipes (51) are slidably connected with the pushing sleeve (44), one ends of the two extending pipes (51) are respectively connected with a liquid storage pipe (52) in a matched mode, an annular liquid storage shell (53) is communicated between the two liquid storage pipes (52), and the annular liquid storage shell (53) is fixedly installed inside the hollow cavity (31) and is located at one end of the rotating sleeve (421);
One end of each of the two extending pipes (51) is connected with a ring-shaped marking shell (54), and marking blocks are arranged at the marking shells (54);
an adjusting member (55) for adjusting the projecting position of the projecting pipe (51) is mounted on the push sleeve (44).
5. The cooperative orthopedic surgical tool assist device as set forth in claim 4, characterized in that the adjustment member (55) comprises an adjustment rod (551) penetrating through the pushing sleeve (44), the adjustment rod (551) being slidably connected to the pushing sleeve (44), one end of the adjustment rod (551) being fixedly connected to the marking shell (54);
One end of the pushing sleeve (44) positioned in the hollow cavity (31) is fixedly provided with a fixed plate (552), the fixed plate (552) is provided with a fixed motor (553), and the output end of the fixed motor (553) is fixedly connected with an adjusting gear (554);
A plurality of tooth grooves (5511) are formed in the adjusting rod (551) in an equidistant mode, and the adjusting gears (554) are connected with the tooth grooves (5511) in a meshed mode.
6. The cooperative orthopedic surgical tool auxiliary device according to claim 4, wherein the annular liquid storage shell (53) is provided with a liquid injection pipe (531), the liquid injection pipe (531) penetrates through the supporting sleeve (3), one end of the liquid injection pipe (531) located outside the supporting sleeve (3) is fixedly provided with a joint (532), and the joint (532) is provided with a sealing plug (533).
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| CN202410620128.1A CN118402865B (en) | 2024-05-20 | 2024-05-20 | A collaborative orthopedic surgery tool auxiliary device and a collaborative method |
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| CN118402865B true CN118402865B (en) | 2025-03-11 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833456A (en) * | 2019-12-13 | 2020-02-25 | 杭州三坛医疗科技有限公司 | Surgical robot and terminal surgical instrument, registration method, system and storage medium |
| CN116893114A (en) * | 2023-07-14 | 2023-10-17 | 青海省药品检验检测院 | Fatigue testing device based on mechanical arm |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10154882B2 (en) * | 2014-03-24 | 2018-12-18 | University Of Houston System | Global laparoscopy positioning systems and methods |
| CN209153772U (en) * | 2018-03-27 | 2019-07-26 | 上海术凯机器人有限公司 | A kind of guide sleeve |
| AU2019256613B2 (en) * | 2018-04-19 | 2025-02-06 | Mobius Imaging, Llc | Methods and systems for controlling a surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833456A (en) * | 2019-12-13 | 2020-02-25 | 杭州三坛医疗科技有限公司 | Surgical robot and terminal surgical instrument, registration method, system and storage medium |
| CN116893114A (en) * | 2023-07-14 | 2023-10-17 | 青海省药品检验检测院 | Fatigue testing device based on mechanical arm |
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