WO2018126607A1

WO2018126607A1 - Craniotomy robot

Info

Publication number: WO2018126607A1
Application number: PCT/CN2017/087160
Authority: WO
Inventors: 包磊
Original assignee: 深圳市善行医疗科技有限公司
Priority date: 2017-01-09
Filing date: 2017-06-05
Publication date: 2018-07-12

Abstract

A craniotomy robot (100), comprising a mounting base (10), a moving mechanism (20), a skull drill (30), and a control device (40). The moving mechanism (20) is movably mounted on the mounting base (10). The skull drill (30) is disposed at the moving mechanism (20). The control device (40) is disposed at the skull drill (30) and is electrically connected to the moving mechanism (20) and the skull drill (30). The craniotomy robot (100) is fixedly disposed on an operating table via the mounting base (10), such that when a patient undergoes a craniotomy operation, medical staff can lay the patient on the operating table. When the craniotomy operation is performed on the patient, the control device (40) controls the moving mechanism (20) to move the skull drill (30) to a required location. Then, the control device (40) controls the skull drill (30) to perform a craniotomy on the patient. The entire operation is easy and can ensure a steady drilling speed, significantly improving the reliability and precision of drilling. Further, a micro drill hole with a diameter of less than 2.5 mm can be drilled according to the situation, broadening the range of application of an apparatus.

Description

Craniotomy robot

Technical field

The utility model relates to the technical field of medical equipment, in particular to a craniotomy robot.

Background technique

At present, when medical personnel need to perform craniotomy on patients, most of them use manual craniotomy tools, and such tools require medical personnel to hold holes for drilling, which undoubtedly increases the working intensity of medical personnel; During the hole process, the tool is easily oscillated, resulting in a positioning deviation. In addition, it is necessary to drill three layers of bone when drilling the patient's skull. It is difficult to ensure uniform drilling speed by manual craniotomy tool. It can only be manually adjusted by the experience of medical personnel, thus making the drilling reliable. Not enough degree and precision.

In addition, some craniotomy tools are equipped with a clutch device to allow self-stopping, and the clutch device is disposed in the drill bit portion. However, such a structure causes a large diameter of the drill bit, so that the drill bit of such a structure cannot drill a diameter of 2.5. Miniature bone holes below mm. At the same time, the implementation of the self-stopping of the clutch device is not high in accuracy, and even in the case of spring aging, the clutch failure may occur.

Therefore, it is necessary to provide a technical means to solve the above drawbacks.

Utility model content

The purpose of the utility model is to overcome the defects of the prior art and provide a craniotomy robot to solve the problem that the craniotomy tool in the prior art has difficulty in ensuring uniform drilling speed, poor reliability and precision of drilling, and difficulty in drilling. Take the microbone hole with a diameter of 2.5mm or less and the problem of poor overall reliability and stability.

The utility model is realized in this way, the craniotomy robot comprises:

Mounting seat for positioning and installation at the desired location;

a moving mechanism, the movable mechanism being movably connected to the mount for relative to the Mounting for relative movement;

a cranial drill connected to the moving mechanism for performing a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism;

a control device, the control device is disposed on the cranial drill and electrically connected to the moving mechanism and the cranial drill respectively for controlling the moving mechanism to move the cranial drill to the preset position And performing the craniotomy on the craniotomy object by controlling the cranial drill.

Specifically, the moving mechanism includes a rotating module rotatable around a center line of the mounting seat and connected to the mounting seat, and a rotating arm disposed on the rotating module; the cranial drilling is set on On the robot arm.

Further, the mechanical arm includes a first connecting member that is disposed on the rotating module, a second connecting member that is disposed on the first connecting member, and is rotatably disposed on the second connecting member The third connecting member is provided on the third connecting member.

Further, the first connecting member includes a first connecting rod rotatably connected to the rotating module, is disposed on the rotating module and is connected to the first connecting rod to drive the first connection The first drive source for the rotation of the rod.

Preferably, the second connecting member includes a second connecting rod rotatably coupled to the first connecting member, disposed on the first connecting member and coupled to the second connecting rod to drive the a second driving source for rotating the second connecting rod.

Preferably, the third connecting member includes a third connecting rod member rotatably coupled to the second connecting member, disposed on the second connecting member and coupled to the third connecting rod member to drive the A third driving source for rotating the third connecting rod.

Preferably, the rotary module includes a rotary cylinder, and a rotary end of the rotary cylinder is coupled to the mount.

Preferably, the cranial drill includes a box that is rotated on the robot arm, a drill fixed to the box, and is fixed to the box for cooling and cooling the bit. The spray gun head.

Specifically, the mounting base includes a base and a pillar connected to the base, and the moving mechanism is disposed on the pillar.

Specifically, the diameter of the drill bit is less than 2.5 mm.

The technical effect of the craniotomy robot of the present invention is that since the cranial robot is fixedly disposed on the operating table through the mounting seat, when the patient needs to perform a craniotomy, the medical staff can lay the patient lying on the operation. On the stage. When the patient performs a craniotomy operation, the movement mechanism can be controlled by the control device to move the cranial drill to a desired position, and then the cranial drill is controlled by the control device to perform a craniotomy operation on the patient, the entire operation, not only It is simple and convenient, and it is beneficial to ensure the uniform drilling speed and greatly improve the reliability and precision of the drilling. At the same time, according to the actual situation, the micro-bone hole with the diameter of 2.5mm or less can be drilled to improve the use range of the instrument. Moreover, since the cranial robot is automated, it is beneficial to ensure its overall reliability and stability.

DRAWINGS

Figure 1 is a schematic view of a craniotomy robot of the present invention;

2 is a schematic structural view of a rotary module, a first connecting member and a second connecting member of the cranial robot of the present invention;

3 is a schematic structural view of a third connecting member and a cranial drill of the craniotomy robot of the present invention.

detailed description

In order to make the objects, technical solutions and advantages of the present invention more comprehensible, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1, an embodiment of the cranial robot of the present invention will be described below.

In the craniotomy robot 100 of the embodiment, the craniotomy object to be applied is mainly a patient, and of course, it can also be applied to an animal craniotomy. The cranial robot 100 includes a mount 10, a moving mechanism 20, a cranial drill 30, and a control device 40. The components of the cranial robot 100 are further described below:

The mounting seat 10 is used for positioning and mounting at a desired position, and the positioning mounting is to fix the mounting seat at a corresponding desired position. Generally, the mount 10 is mainly installed beside the operating table;

The movable mechanism 20 is movably coupled to the mount 10 for relative movement relative to the mount 10; that is, the move mechanism is coupled to the mount and is movable relative to the mount, the movement including both rotation and Includes translational motion and compound motion with rotation and peace. It can be understood that the moving mechanism 20 has a fixed end and a moving end, wherein the fixed end is fixedly disposed on the mounting seat 10 to position the entire moving mechanism 20, and the moving end is used for moving work, and the cranial drill is set on On the mobile side;

The cranial drill 30 is disposed on the moving mechanism 20 to perform a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism 20, and specifically, the cranial drill 30 is disposed on the moving end of the moving mechanism 20; The position is set in advance according to the craniotomy position of the craniotomy object.

The control device 40 is disposed on the cranial drill 30 and electrically connected to the moving mechanism 20 and the cranial drill 30, respectively, for controlling the moving mechanism 20 to move the cranial drill 30 to a preset position and controlling the cranial drill 30 to perform the craniotomy object. The craniotomy operation, wherein the preset position can be input into the control device in advance, and the cranial drill is moved to the preset position by the control movement mechanism corresponding to the control device.

Since the cranial robot 100 is fixedly disposed on the operating table through the mount 10, the medical staff can lie on the operating table when the patient needs to perform a craniotomy. When the patient performs a craniotomy operation, the movement mechanism 20 can be manipulated by the control device 40 to move the cranial drill 30 to a desired position, and then the cranial drill 30 is manipulated by the control device 40 to perform a craniotomy operation on the patient. The whole operation is not only simple and convenient, but also helps to ensure uniform drilling speed, greatly improve the reliability and precision of the drilling. At the same time, according to the actual situation, the micro-bone hole with a diameter of 2.5mm or less can be drilled to improve the instrument. The scope of use. Moreover, since the cranial robot 100 is automated, it is advantageous to ensure its overall reliability and stability.

Referring to FIG. 1 , a preferred embodiment of the moving mechanism 20 of the present embodiment includes a rotating module 21 that is rotatably mounted on the mounting base 10 about a center line of the mounting base 10 and is rotatably disposed on the rotating module 21 . The arm 22; generally speaking, the mount is a cylinder or a rectangular parallelepiped, and the center line is the above rule The axis of symmetry of the body, the rotation module 21 is rotatable about the mount 10, and the arm 22 is rotatable about the rotation module 21. The cranial drill 30 is rotated on the robot arm 22. The rotation is set to mean that the cranial drill can be rotated and connected to the robot arm. Wherein, by the arrangement of the rotating module 21 and the mechanical arm 22, the cranial drill 30 can easily and effectively realize the positioning setting of the XYZ three-axis coordinate system.

Specifically, the mechanical arm 22 includes a first connecting member 221 that is rotatably disposed on the rotating module 21, a second connecting member 222 that is disposed on the first connecting member 221, and is rotatably disposed on the second connecting member 222. The third connecting member 223 is configured to rotate on the third connecting member 223. Due to the arrangement of the first connecting member 221, the second connecting member 222, and the third connecting member 223, the cranial drill 30 can be positioned more accurately at a desired position. Of course, one connecting member, two connecting members or three or more connecting members may be provided according to actual conditions, and such an embodiment also belongs to the protection scope of the present embodiment.

Referring to FIG. 2 , the first connecting member 221 is configured to include a first connecting rod 2211 that is rotatably coupled to the rotating module 21 , and is disposed on the rotating module 21 and connected to the first connecting rod 2211 for driving. The first connecting rod 2211 rotates the first driving source 2212, wherein, specifically, one end of the first connecting rod 2211 is provided with a first rotating shaft 2213, the axis of the first rotating shaft 2213 and the first connecting rod The axis of the 2211 intersects perpendicularly, and the first connecting rod 2211 is rotatably coupled to the rotating module 21 through the first rotating shaft 2213. Then, the first connecting rod 2211 is rotated about the axis of the first rotating shaft 2213.

Preferably, the first driving source 2212 can be a micro motor, and the micro motor is connected to the first rotating shaft 2213 through the first transmission gear train 2214.

Referring to FIG. 2 , the second connecting member 222 is preferably configured to include a second connecting rod member 2221 rotatably coupled to the first connecting member 221 , and disposed on the first connecting member 221 and coupled to the second connecting rod The second driving source 2222 is connected to the second connecting rod 2221, wherein the second connecting rod 2221 is provided with a second rotating shaft 2223, and the axis of the second rotating shaft 2223 is The axis of the second connecting rod member 2221 is perpendicularly intersected, and the second connecting rod member 2221 is rotatably connected to the first connecting member 221 through the second rotating shaft 2223. Then, the second connecting rod The piece 2221 is rotated about the axis of the second rotating shaft 2223.

Preferably, the second driving source 2222 can be a micro motor, and the micro motor is connected to the second rotating shaft 2223 via the second transmission gear train 2224.

Referring to FIG. 3 , the third connecting member 223 is preferably configured to include a third connecting rod member 2231 rotatably coupled to the second connecting member 222 , and is disposed on the second connecting member 222 and connected to the third connecting rod member 2231 . a third driving source 2232 for driving the third connecting rod member 2231, wherein, specifically, one end of the third connecting rod member 2231 is provided with a third rotating shaft 2233, and the axis of the third rotating shaft 2233 is connected with the third The axis of the rod 2231 is perpendicularly intersected, and the third connecting rod 2231 is rotatably connected to the second connecting member 222 through the third rotating shaft 2233. Then, the third connecting rod 2231 is an axis about the third rotating shaft 2233. Turn.

Preferably, the third driving source 2232 can be a micro motor, and the micro motor is connected to the third rotating shaft 2233 through the third transmission gear train 2234.

As another preferred embodiment of the present invention, in combination with the embodiment of the above embodiment, and in the embodiment, the rotating module 21 includes a rotating cylinder 211, and the rotating end of the rotating cylinder 211 is connected to the mounting base 10, In this way, the rotation of the rotary module 21 is simply and efficiently performed, and the drawing and mounting of the rotary cylinder 211 are also convenient.

Referring to FIG. 1 and in conjunction with FIG. 3, as another preferred embodiment of the present invention, in combination with the embodiment of the above embodiment, and in the present embodiment, the cranial drill 30 includes a rotation provided on the robot arm 22. a casing 31, a drill bit 32 fixed to the casing 31, and a spray gun head 33 fixed to the casing 31 for cooling and cooling the drill 32, wherein the drill bit and the spray gun head can be set to Removable. Specifically, a fourth rotating shaft 34 is disposed on one end of the casing 31, the axis of the fourth rotating shaft 34 intersects the axis of the casing 31, and the casing 31 is connected to the third through the fourth rotating shaft 34. The member 223 is rotatably connected, and then the case 31 is rotated about the axis of the fourth rotating shaft 34. Simultaneously, a fourth driving source 35 for driving the rotation of the casing 31 is disposed on the third connecting member 223. The fourth driving source 35 is a micro motor that passes through the fourth transmission gear train 36 and the casing 31. The fourth rotating shaft 34 is connected.

In addition, the mounting base 10 includes a base 11 and a strut 12 vertically connected to the base 11, and the moving mechanism 20 is moved on the strut 12.

Referring to FIG. 1 , as another preferred embodiment of the present invention, in combination with the embodiments of the foregoing embodiments, in addition, in the embodiment, the cranial robot 100 further includes a side end disposed on the moving mechanism 20 for use. The display screen 50 is electrically coupled to the control device 40 for display screen 50 showing the operational data of the moving mechanism 20 and the cranial drill 30 so that the medical personnel can observe the actual situation.

Referring to FIG. 1, as another preferred embodiment of the present invention, in combination with the embodiment of the above embodiment, the diameter of the drill bit is less than 2.5 mm. Since the control device 40 is disposed in the casing 31, the self-stop control is not through the mechanical mechanism. The spring return mechanism is completed so that the drill diameter can be set small so as to be suitable for the opening of the micro hole.

The working principle of the cranial robot 100 of the present invention will be further described below in conjunction with the various drawings:

Preparation process

Initially, the cranial drill 30 of the cranial robot 100 on the operating table is located outside of the operating table to avoid obstructing the patient from using the operating table. When the medical staff needs to use the cranial robot 100 to perform a craniotomy operation on the patient's head, the patient is first placed on the operating table. At this time, the cranial drill 30 of the cranial robot 100 is located above the patient.

Positioning process

The craniotomy robot 100 is powered on. At this time, the medical staff can control the rotation of the rotation module 21 by the control device 40 to rotate the cranial drill 30 along the axis of the rotation module 21 to the position above the craniotomy position of the patient; The person can control the first connecting member 221, the second connecting member 222, and/or the third connecting member 223 of the robot arm 22 to rotate by the control device 40 to urge the drill bit 32 toward the patient craniotomy position.

Craniotomy

The medical staff can control the operation of the drill bit 32 and the spray gun head 33 by the control die device 40 to perform a craniotomy operation on the patient. Specifically, the drill bit 32 will be drilled along its axial direction and gradually lean toward the patient. The skull, while the drill bit 32 is drilled into the patient's skull, the spray gun head 33 will simultaneously spray physiological saline to cool the lubrication bit 32, and when the drill bit 32 drills the desired hole in the patient's skull, the drill bit 32 will The patient is retracted away from the patient's head, and the spray gun head 33 simultaneously stops the discharge of physiological saline.

Reset process

After the patient's skull is drilled with the required holes, the medical staff can control the first connecting member 221, the second connecting member 222, and/or the third connecting member 223 of the robot arm 22 to rotate by the control device 40 to keep the drill bit 32 away. The patient is switched to the cranial position; then, the medical staff can control the rotation of the rotary module 21 by the control device 40 to rotate the cranial drill 30 in the axial direction of the rotary module 21 to the outside of the operating table.

The above is only the preferred embodiment of the present invention, and the configuration is not limited to the above-listed shapes, and any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention should be included. Within the scope of protection of the present invention.

Claims

A craniotomy robot characterized by comprising:

Mounting seat for positioning and installation at the desired location;

a moving mechanism, the movable mechanism is movably connected to the mount for relative movement with respect to the mount;

a cranial drill connected to the moving mechanism for performing a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism;

a control device, the control device is disposed on the cranial drill and electrically connected to the moving mechanism and the cranial drill respectively for controlling the moving mechanism to move the cranial drill to the preset position And performing the craniotomy on the craniotomy object by controlling the cranial drill.
A craniotomy robot according to claim 1, wherein said moving mechanism comprises a rotary module rotatable about a center line of said mount and connected to said mount, and a rotation is provided on said rotary die The upper arm is assembled; the cranial drill is rotated on the mechanical arm.
The craniotomy robot according to claim 2, wherein the mechanical arm includes a first connecting member rotatably disposed on the rotating module, and a second connecting member rotatably disposed on the first connecting member And rotating the third connecting member disposed on the second connecting member, the cranial drill rotating on the third connecting member.
The craniotomy robot according to claim 3, wherein the first connecting member comprises a first connecting rod member rotatably coupled to the rotating module, disposed on the rotating module, and the first connecting member A connecting rod is coupled to drive the first driving source of the first connecting rod to rotate.
The craniotomy robot according to claim 3, wherein said second connecting member comprises a second connecting rod member rotatably coupled to said first connecting member, disposed on said first connecting member and The second connecting rod is connected to drive the second driving source of the second connecting rod to rotate.
The craniotomy robot according to claim 3, wherein said third connecting member comprises a third connecting rod member rotatably coupled to said second connecting member, disposed on said second connecting member and The third connecting rod member is coupled to drive a third driving source for rotating the third connecting rod member.
A craniotomy robot according to claim 2, wherein said rotary module comprises a rotary cylinder, and a rotary end of said rotary cylinder is coupled to said mount.
A craniotomy robot according to claim 2, wherein said cranial drill includes a housing that is pivotally mounted on said robot arm, a drill fixed to said housing, and is fixed to said housing A spray gun head for cooling and cooling the working of the drill bit.
The craniotomy robot according to any one of claims 1 to 8, wherein the mounting base comprises a base and a post connected to the base, and the moving mechanism is moved on the post.
A craniotomy robot according to claim 8, wherein said drill has a diameter of less than 2.5 mm.