JP4440491B2 - Bone cutting device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a bone cutting device for shaping a bone into a predetermined shape.
[0002]
[Prior art]
For example, according to the damage of the knee joint, in order to attach the artificial joint, it is necessary to shape the tibial end into a transfer structure with respect to the artificial joint attachment portion. For this bone shaping, a general cutting tool such as a saw or a wire saw is used. Of course, since appropriate cutting cannot be expected as it is, many guides for the cutting tool are used. JP-A 05-277130 “Rotary and angle adjustable tibial cutting guide and method of using the same” and JP 11-113940 “Knee joint resection aid” can be exemplified as such guides. A bone cutting apparatus in which a cutting tool and a guide tool are integrated has also been proposed. Examples of this bone cutting device include Japanese translations of Japanese Translation of PCT Application No. 08-502681, “Orthopedic Cutting Device and Artificial Prosthesis”, and Japanese Patent Publication No. 10-507107, “Feb and Tibial Resection Method and Device”. .
[0003]
Japanese Patent Application Laid-Open No. 05-277130 proposes a cutting guide (guide tool) comprising a guide block including an axial opening defined along the longitudinal axis of the tibial canal. This guide block aligns the tibial trial base with a moderate rotational alignment with respect to the longitudinal axis of the tibia to ensure proper varus-valgus orientation and anterior-posterior inclination of the resected tibia plane with respect to the femur Attach to the tibial trial base containing the hole. Specifically, it uses a pair of blade slots to guide the cutting tool for wedge-resection of the tibia, which blade slots are angularly aligned with respect to the outer-inner axis perpendicular to the longitudinal axis of the tibia Pivot to selectively adjust.
[0004]
Japanese Patent Application Laid-Open No. 11-113940 describes an alignment bar that is inserted into a femoral condyle perforation, a guide body that supports the alignment bar and determines a resection surface before and after the femoral condyle, a saw blade formed on the guide body, or a cutting aid A knee slit resection assisting tool (guide tool) comprising a guide slit for guiding a steel wire (cutting tool) and a depth gauge supported by the guide main body and brought into contact with the bone front surface of the distal end of the femoral shaft. Specifically, the alignment bar is supported on the guide body via a support member. This support member is supported by the guide body so that it can move on a plane that crosses the alignment bar. Further, the abutment surface of the depth gauge extends flatly in the direction of the inner and outer surfaces of the femur, and substantially rotates in line with the bone surface at the distal end of the femur to rotate the guide body toward the front of the femur. It is configured to keep it almost parallel.
[0005]
Japanese National Publication No. 08-502681 is a surgical device (bone cutting device) having a cutting body with a cylindrical opening and having a central long axis in which each of the openings forms an acute angle with each other. Specifically, during cutting, an annular bushing is placed in a selected one of the openings, a bone cutting reamer is attached to the cylindrical central opening of the bushing, and the cutting depth is defined by contacting the top of the bushing. Use. The surgeon sequentially places the bushing and reamer in one of the selected openings to form two overlapping circular cuts. By this cutting, an elongated elliptical convex surface for receiving the single joint prosthesis is obtained.
[0006]
No. 10-507107 is a femur and tibial resection device (bone cutting device) comprising a positioning device and a pattern device. The positioning device comprises a positioning block attached to the femur, an alignment block having an intramedullary rod extending to the femur, and a rotation adjustment device for attaching the pattern device to the positioning device. The patterning device has separate or paired plates positioned on the inside and outside with a cutting path described by the plates. The tibial resection device has an ankle clamp, an alignment rod, a fixation head, a cutting guide clamp with a cutting guide slot therein, and a milling bit.
[0007]
[Problems to be solved by the invention]
A bone cutting device that can mechanically move the cutting tool is preferable from the viewpoint of not depending on the ability and skill of the operator. Here, in order to move the cutting tool mechanically, the accuracy of (a) alignment (positioning and posture determination) and (b) cutting path (movement of the cutting tool according to the alignment) with respect to the bone to be cut is important. Become. The guide tool has an action and an effect of eliminating variations in the ability and skill of the operator in determining (a) alignment and (b) cutting path. It is necessary to ensure the accuracy of (a) alignment and (b) cutting path of the mechanically moving cutting tool even in automation, and a dedicated guide tool or a mechanism that leads to the same action and effect as the guide tool is required. It becomes.
[0008]
As a device for moving the cutting tool mechanically, there is a cutting device for machining, in which the cutting tool is mounted on a robot arm capable of numerical control. The numerical control is a mechanism that induces the same operation and effect as the guide tool that ensures the accuracy of the above (a) alignment and (b) cutting path. However, the cutting device for machining which can fix the workpiece (workpiece) to be cut in an arbitrary posture and (c) the posture stability of the cutting tool attached to the robot arm cannot be used as a bone cutting device as it is. . Since the human body has the bone to be cut and the human body cannot be fixed in an arbitrary posture, a relatively high degree of freedom of the robot arm is required. However, the robot arm tends to be cantilevered because of the arrangement of the apparatus in the operating room or the position of the operator, and (c) posture stability of the cutting tool is impaired (the posture of the cutting tool changes during cutting). Because.
[0009]
Therefore, in order to realize bone shaping that eliminates variations due to the ability and skill of the surgeon, a robot arm configuration suitable for the bone cutting device was studied with the goal of moving the cutting tool using the robot arm. In particular, (a) alignment of the cutting tool, (b) accuracy of the cutting path, and (c) posture, assuming that the cutting target is a human bone that is difficult to fix and the robot arm is cantilevered. The task was to ensure stability.
[0010]
[Means for Solving the Problems]
What was developed as a result of the study Base From the positioning arm part standing on the stand and the cutting arm part connected to the positioning arm part A robot arm cantilevered on the base Configure and cutting tools The Attached to the cutting arm The Bone cutting device The cutting arm portion is supported by the positioning arm portion, and the vertical rocking angle arm that integrally rocks the roll angle arm and the cutting work arm group is supported by the pitching angle arm, and the cutting work arm group A cutting surface setting arm group consisting of a roll angle arm that horizontally swings, a parallel arm that is supported by the roll angle arm, and that translates the yaw angle arm and the cutting tool mounting unit integrally, and is supported by the parallel arm. And a cutting work arm group including a swing angle arm that swings the cutting tool mounting part and a cutting tool mounting part that detachably mounts the cutting tool, and the cutting surface setting arm group is positioned. Integrated support for cutting arm group to arm Bone cutting device. The movement of each part is preferably a gear drive that transmits the rotational power from the electric motor with a large reduction ratio, and a drive system that is easy to rotate and control even at low speeds is preferable. Although the cutting tool is free, since the robot arm is cantilevered and drilling may be performed when cutting bone, for example, an end mill extending in one direction is suitable.
[0011]
The bone cutting device of the present invention forms a robot arm by combining a positioning arm portion that determines a basic cutting position (particularly height) and a cutting arm portion that determines the posture of the cutting tool at the cutting position. At this time, in order to perform cutting with a higher degree of freedom in the posture of the cutting tool, the cutting arm unit moves the cutting tool with respect to the positioning arm unit in addition to longitudinal movement and lateral movement, as well as longitudinal oscillation (pitching, vertical in the longitudinal direction) In-plane tilt), lateral rocking (rolling, tilt in the horizontal vertical plane) or partial rocking (yawing, tilt in the horizontal rotation direction) can be implemented selectively or in combination.
[0012]
Since the bone to be cut is not greatly different in shape or size due to individual differences, the posture of the cutting tool was diversified, not the amount of movement of the cutting tool, and the practicality was improved. At this time, since the robot arm as the device is only the positioning arm portion and the cutting arm portion, even if it is cantilevered, it is possible to suppress the blur of the cutting tool and maintain a stable posture. In the case where the cutting tool is the above-described end mill, it is preferable that the swing center for longitudinally swinging and partially swinging the end mill is determined in the vicinity of the end mill end, and the swing center for laterally swinging is determined within an axis parallel to the end mill.
[0013]
The positioning arm part consists of a vertical arm and a horizontal arm. The vertical arm is erected on the base, and the horizontal arm is supported by the vertical arm and moves up and down, back and forth, or left and right relative to the vertical arm. Is good. Although it is desirable that the base is movable within the operating room, it is difficult to accurately position the device by moving the base alone. Achieves accurate positioning. As will be described later, the cutting arm portion is composed of a plurality of members in order to realize the forward / backward movement, left / right movement, longitudinal swing, lateral swing and partial swing of the cutting tool. Since the above members are handled together and the basic positioning is performed, it is easy to ensure rigidity for stabilizing the posture of the cutting tool.
[0014]
The cutting arm part swings vertically as well as Rolling Move Bear Vertical Rocking arm And roll angle arm Cutting surface setting arm group consisting of: parallel arm for parallel movement; side Shaking Move Bear side It is divided into cutting work arm groups composed of rocking angle arms, and the cutting surface setting arm group integrally supports the cutting work arm group with respect to the positioning arm portion, and the cutting surface setting arm group determines the inside of the cutting surface. It is preferable that the cutting work arm group moves the cutting tool two-dimensionally. . Vertical The rocking angle arm is supported by the positioning arm, and the rocking angle arm and the cutting work arm group are vertically rocked integrally with the pitching angle arm, and the rolling angle arm is supported by the pitching angle arm. The cutting work arm group is swung horizontally with respect to the roll angle arm, the parallel arm is supported by the roll angle arm, and the yaw angle arm and the cutting tool mounting portion are integrally moved in parallel with the parallel arm. It is preferable that the yaw angle arm is supported by a parallel arm, the cutting tool mounting portion is deviated with respect to the yaw angle arm, and the cutting tool is detachably mounted on the cutting tool mounting portion.
[0015]
Here, the pitch angle arm has an inner surface longitudinally curved track with respect to the roll angle arm, and the roll angle arm moves with respect to the pitch angle arm by moving according to the inner surface longitudinally curved track. In addition, the cutting work arm group is rocked vertically. Thereby, when the pitch angle arm has a curved outer shape that follows the inner surface longitudinally curved trajectory, the rigidity as the structural element can be increased. More preferably, the pitching angle arm further has an outer surface longitudinally curved track with respect to the positioning arm portion, and the cutting surface is set with respect to the positioning arm portion by moving the pitching angle arm according to the outer surface longitudinally curved track. The arm group and the cutting work arm group may be vertically swung together. That is, by forming a longitudinally curved track on the inner and outer surfaces of the pitching angle arm, it is possible to change the posture of the cutting work arm group below the rolling angle arm, that is, the cutting tool, in a range approximately twice as long as the longitudinally curved track. it can. If the vertical bending trajectory is in the range of approximately 90 degrees and the swing center is set near the end mill end, the cutting tool will change the posture of vertical swing in the range of approximately 180 degrees and wrap the bone to be cut up and down. Can do.
[0016]
Similarly, yaw angle arm is cutting Ingredients It has a configuration in which a lower surface curved track is provided with respect to the mounting portion, and the cutting tool mounting portion moves in accordance with the lower surface curved track so that the cutting tool mounting portion swings with respect to the yaw angle arm. Further, the yaw angle arm has an upper surface deflection track with respect to the parallel arm, and the yaw angle arm and the cutting tool mounting portion move relative to the parallel arm by moving the yaw angle arm according to the upper surface deflection track. That swings and swings together Can also be . By constructing the curved track on the upper and lower surfaces of the yaw angle arm, it is possible to change the posture of the cutting tool mounting portion, that is, the cutting tool, in a range approximately twice the curved track. By setting the swing center near the tip of the end mill when the curved trajectory is in the range of approximately 90 degrees, the cutting tool can change the posture of the swing in the range of approximately 180 degrees and wrap the bone to be cut to the left and right. Can do.
[0017]
Here, the parallel movement of the yaw angle arm and the cutting tool mounting part carried by the parallel arm can be divided into forward and backward movement and left and right movement. In this case, if the parallel arm is divided into the front and rear arms and the left and right arms, it is easy to embody. That is, the parallel arm is composed of a front and rear arm and a left and right arm. The arm is supported by the front and rear arms, and the yaw angle arm and cutting tool mounting part are moved to the left and right integrally with respect to the left and right arms. Swing the tool mounting part.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing a use state of a bone cutting device 1 of the present invention, FIG. 2 is a partially enlarged side view showing a longitudinal swing of an end mill (cutting tool) 4 by a pitch angle arm 3 in the cutting arm portion 2, and FIG. 3 is a partially enlarged front view showing the lateral swing of the end mill 4 by the roll angle arm 5 in the cutting arm portion 2.
[0019]
As shown in FIG. 1, the bone cutting device 1 of the present invention includes a control device (controller) 6 and a leg restraining device (leg grasping robot) 7 together with a robotic surgery system that supports artificial knee joint replacement. Constitute. The bone cutting device 1 and the leg restraining device 7 are connected to the control device 6 and operate according to instructions from the control device 6 to assist the operator. The control device 6 determines a cutting path by the end mill 4 of the bone cutting device 1 based on CT scan data and X-ray image data taken before surgery. More specifically, the control device 6 recognizes the current position of the tibia and femur based on the restraint position information of the leg 8 by the leg restraint device 7 during surgery, and obtains an appropriate cutting surface in each surgical process. The bone milling apparatus 1 is commanded to determine the position and posture of the end mill 4. In the bone cutting device 1, based on a command from the control device 6, the movable range of the end mill 4 is constrained within the cutting surface to prevent displacement and deviation by the operator, thereby realizing accurate bone shaping.
[0020]
In the bone cutting apparatus 1 of this example, a positioning arm unit 13 is configured by attaching a horizontal arm 12 to a vertical arm 11 erected on a base 10 that can be moved and fixed in a surgical room by a caster 9 with a stopper. ing. The horizontal arm 12 moves up and down and back and forth (left and right in FIG. 1) with respect to the vertical arm 11 to determine the basic cutting position of the end mill 4. The patient is lying on his back with his knees on the operating table, and the legs 8 are fixed in position by the leg restraining device 7. The bone cutting device 1 moves and moves the base 10 toward the leg 8 having the bone to be cut, and after fixing the position, as described above, the restraint position information of the leg 8 from the leg restraint device 7. Based on the above, the horizontal arm 12 is automatically raised and advanced by the control device 6 to guide the end mill 4 to the cutting position.
[0021]
The cutting arm unit 2 is attached to the front end of the horizontal arm 12. As shown in FIGS. 2 and 3, the cutting arm portion 2 includes a cutting surface determination arm group including a pitch angle arm 3 and a roll angle arm 5, a parallel arm 14, a yaw angle arm 15, and a cutting angle. A cutting work arm group including a tool mounting portion 16 is used. The pitch angle arm 3 is provided with inner and outer surface vertical curved tracks 17 and 18 in a range of about 90 degrees so that the vicinity of the end mill 4 tip is the center of oscillation (so as to surround the end mill 4). In addition to swinging vertically with respect to the front end of the horizontal arm 12, the roll arm 5 attached to the pitch arm 3 can swing vertically. As a result, the cutting arm portion 2 of this example can vertically swing the end mill 4 in the range of about 180 degrees up and down with the vicinity of the tip end of the end mill 4 as the center of swing (shown at 90 degrees above and 45 degrees below in FIG. 2). . Since the end of the end mill 4 moves back and forth according to the parallel arm 14, it does not necessarily coincide with the center of pitching.
[0022]
The roll angle arm 5 is a short arm that protrudes from the inner surface longitudinally curved track 17 of the pitch angle arm 3 and moves along the inner surface longitudinally curved track 17 as described above. 4 vertical swing is possible. In addition, the parallel arm 14 attached to the roll angle arm 5 is rotated clockwise or counterclockwise to swing the end mill 4 sideways. In FIG. 3, since the end mill 4 and the swing center of the lateral swing are made coincident with each other, the end mill 4 does not swing laterally, and only the parallel arm 14 and the yaw angle arm 15 that the end mill 4 follows rolls. Although it seems to move, the end mill 4 swings laterally because the cutting tool mounting portion 16 follows the movement by the parallel arm 14 and the yaw angle arm 15.
[0023]
The parallel arm 14 is substantially T-shaped in plan view (refer to the succeeding FIGS. 5 to 7) that realizes front-rear and left-right parallel movement by combining the front-rear arm 19 and the left-right arm 20. Move back and forth against. The back-and-forth movement by the back-and-forth arm 19 is responsible for the movement of the end mill 4 as a cutting work arm group (see the successor figure 7). In addition, the front / rear position of the end mill 4 is determined in advance by the horizontal arm 12 of the positioning arm portion 13 (see FIG. 1), but the front / rear arm 19 realizes a highly accurate back-and-forth movement of the end mill 4. Further, the left and right arms 20 constitute a horizontal straight track 21 along which the yaw angle arm 15 moves. By moving the yaw angle arm 15 or less along the left and right arms 20, the left and right movement of the end mill 4 in the cutting work is realized.
[0024]
The yaw angle arm 15 has a deviated curved track 22 in the range of about 90 degrees so that the vicinity of the end mill 4 tip is the center of swing (so as to surround the end mill 4) with respect to the cutting tool mounting portion 16. By moving the tool mounting portion 16 along the curved path 22, the end mill 4 can be deflected. The cutting tool mounting part 16 includes a chuck 23 for attaching and detaching the end mill 4 and a driving part 24 incorporating a motor for rotating the end mill 4 and basically has the same configuration as a conventionally known similar mounting part. In this way, in response to a command from the control device 6, first, the pitch angle arm 3 and the roll angle arm 5 which are cutting surface determination arms are moved to determine the cutting surface, and then the parallel arm 14 and the yaw angle arm 15 are determined. And the cutting work of the end mill 4 restrained in the cutting surface is realized by moving the cutting tool mounting portion 16.
[0025]
4 and FIGS. Femur FIG. 4 is a side view for explaining the flow of the operation of shaping 25 and mounting the artificial joint 26. FIG. 4 shows cutting of the upper surface 27, FIG. 8 shows cutting of the oblique upper surface 28, FIG. 9 shows cutting of the front surface 29, and FIG. FIG. 11 shows the cutting of the oblique lower surface 30, and FIG. 12 shows the cutting of the lower surface 31, respectively. 5 to 7 are plan views showing the displacement mode of the end mill 4 by the group of cutting work arms within the same cutting plane. FIG. FIG. 6 shows the case where the cutting tool mounting portion 16 is deviated along the deviated curved path 22 of the yaw angle arm 15 to produce a substantially fan-shaped cutting area. FIG. 7 shows a case where the parallel arm 14 moves back and forth with respect to the roll angle arm 5 to provide a substantially linear cutting area.
[0026]
First, as shown in FIG. 4, the bone cutting device 1 that has determined the cutting position and posture is operated by the operator or the control device 6 while being constrained within a cutting surface (upper surface) 27 determined by the cutting position and posture. While moving the arm group = parallel arm 14, yaw angle arm 15 and cutting tool mounting portion 16 to displace the end mill 4, the bone 25 to be cut is cut. At this time, the displacement mode of the end mill 4 in the cutting surface 27 can be selected in relation to the state of the bone 25 to be cut and other human tissues. For example, when there is no obstacle around the bone 25 to be cut, the left and right arms 20 of the parallel arm 14 in the cutting arm group as shown in FIG. The yaw angle arm 15 and below are moved together to move the end mill 4 left and right. The cutting area at this time is a wide square shape (hatching part in FIG. 5) of the cutting contribution part of the end mill 4 × the lateral movement range.
[0027]
However, depending on the case, other human body tissues may become an obstacle, and the end mill 4 may not be displaced greatly. In this case, for example, as shown in FIG. 6, the end mill 4 causes the cutting tool mounting portion 16 to swing with respect to the yaw angle arm 15 around the vicinity of the tip, thereby providing a substantially fan-shaped cutting area (= the cutting contribution of the end mill). (Site x yaw angle, hatched area in FIG. 6). Further, as seen in FIG. 7, the front and rear arms 19 and below of the parallel arm 14 are moved back and forth integrally with respect to the roll angle arm 5 to displace the end mill 4 in the axial direction to obtain a substantially linear cutting area (= End mill width × longitudinal moving distance, hatched portion in FIG. Here, the yaw angle arm 15 interposed between the parallel arm 14 and the cutting tool mounting portion 16 has a high rigidity because it has a circular arc shape in plan view that follows the deviated curved path 22, and the posture is also caused by the displacement of the end mill 4. There is an advantage that the bone does not collapse, and the bone can be correctly shaped based on the preset cutting surface 27.
[0028]
The displacement mode of the end mill 4 can be selected by the operator or the control device 6 on each cutting surface depending on the combination of the movements of the pitch angle arm 3 and the roll angle arm 5. Thus, the operator or the control device 6 first selects the cutting surface (= displacement mode) of the end mill 4 appropriately using the cutting surface determination arm group from the state of the bone 25 and other human tissue, and then performs cutting. While the amount of displacement of the end mill 4 is adjusted by the working arm group, the bone is shaped on each cutting surface. When the operator or the control device 6 finishes cutting the upper surface 27, the pitch angle arm 3 of the cutting surface determination arm group is lowered with respect to the horizontal arm 12 as shown in FIG. On the other hand, the roll angle arm 5 is lowered, the end mill 4 is set in the upward posture, the oblique upper surface (cutting surface) 28 is set, and the next cutting operation is started.
[0029]
Shown in this example Femur In the cutting of 25, each of the cutting surfaces 27 to 31 has a different inclination angle (pitch angle) in a side view (left and right direction in FIGS. 4 and 8 to 12), but all are planes orthogonal to the same vertical plane. It is. That is, the cutting surfaces 27 to 31 can be basically set without changing the yaw angle and the roll angle while sequentially changing the pitch angle of the end mill 4. Actually, even if the same cutting surface is set based on the state of the bone 25 and other human body tissues, there is a selection of the displacement mode at the time of cutting as described above, and the cutting posture of the end mill 4 is uniform. Not necessarily. Further, for example, as shown in FIG. 9, the end mill 4 can be guided to the front (cutting surface) 29 from above or from below.
[0030]
When the end mill 4 is used as in this example, as shown in FIG. 10, the hole 32 for attaching the artificial joint 26 can also be drilled by inserting the end mill 4 from the front surface 29 after cutting. This drilling operation may be performed after cutting the oblique lower surface 30 (FIG. 11) or the lower surface 31 (FIG. 12), or may be performed prior to cutting the front surface 29, for example. Moreover, although the cutting of each surface was shown in order in this example, it is not always necessary to carry out in order. Such cutting order and drilling work order can be set in advance by the control device 6 (see FIG. 1). If the bone cutting device 1 releases the fixed position of the base 10 and retracts from the operating table after the end of the cutting operation in the operation, it does not interfere with the subsequent operation. It is desirable that the bone cutting device 1 can be installed and retracted as necessary.
[0031]
【The invention's effect】
The bone cutting device of the present invention can ensure the (a) alignment of the cutting tool, (b) the accuracy of the cutting path, and (c) the posture stability while using the cantilevered robot arm. Realize bone shaping with high accuracy by eliminating variations due to skill and skill. Such bone shaping is particularly important in the installation of artificial joints. This is because the degree of bone shaping affects the recovery time after surgery or the quality of recovery. From this, this invention brings about the effect which enables the shaping of the bone required for the early recovery after artificial joint replacement | exchange, or favorable recovery | restoration.
[0032]
In the artificial joint, the balance of the tension between the ligaments on the left and right knees after attachment also determines the quality of the recovery time or the recovery level after the operation. For example, in osteoarthritis, the condition of the ligament varies from patient to patient, and bone shaping suitable for each patient is required even in similar bone shaping surgery. The bone cutting device of the present invention can adjust the fine cutting posture using the vertical rocking, the horizontal rocking and the partial rocking in the cutting arm portion, so that it is easy to shape the bone suitable for each patient. And achieve it accurately. As described above, the bone cutting device of the present invention has an effect of facilitating the shaping of bones that differ from patient to patient, as well as automating the shaping of bones.
[0033]
In addition, as is clear from the example, the bone cutting device of the present invention has a high degree of freedom in posture of the cutting tool, and the requirement is reduced as compared with the conventional case where the posture change of the patient's leg is required during the operation. Or there is an advantage that becomes unnecessary. That is, once the posture of the patient's leg is determined, the femur and tibia can be continuously cut without changing the posture, and the time required for surgery can be shortened. The effect of making each cutting operation easy and accurate also shortens the time in each cutting operation, so in combination with the above effect, it is possible to perform an operation with a much shorter time than before. It is done. This is preferable because it also reduces the burden on the patient.
[Brief description of the drawings]
FIG. 1 is a side view showing a use state of a bone cutting device of the present invention.
FIG. 2 is a partially enlarged side view showing longitudinal oscillation of an end mill by a longitudinal angle arm.
FIG. 3 is a partially enlarged front view showing a partial swing of the end mill by a roll angle arm.
[Fig. 4] Femur It is a side view explaining cutting of the joint upper surface.
FIG. 5 is a plan view showing a displacement mode of an end mill that brings about a substantially rectangular cutting area.
FIG. 6 is a plan view showing a displacement mode of an end mill that provides a substantially fan-shaped cutting area.
FIG. 7 is a plan view showing a displacement mode of an end mill that provides a substantially linear cutting area.
[Fig. 8] Femur It is a side view explaining cutting of the diagonal upper surface of the joint.
FIG. 9 Femur It is a side view explaining cutting of the joint front.
[Figure 10] Femur It is a side view explaining the perforation to the joint front.
[Figure 11] Femur It is a side view explaining cutting of the joint slanting lower surface.
[Figure 12] Femur It is a side view explaining cutting of the lower surface of the joint.
[Explanation of symbols]
1 Bone cutting device
2 Cutting arm
3 Pitch arm
4 End mill (cutting tool)
5 Rolling angle arm
10 base
11 Vertical arm
12 Horizontal arm
13 Positioning arm
14 Parallel arm
15 yaw angle arm
16 Cutting tool mounting part
17 Inner longitudinal curved track
18 External longitudinally curved track
19 Front and rear arms
20 Left and right arms
21 Transverse orbit
22 Bent orbit

Claims (5)

A robot arm that is cantilevered on the base (10) from a positioning arm (13) standing on the base (10) and a cutting arm (2) connected to the positioning arm (13) In the bone cutting device (1) in which the cutting tool (4) is mounted on the cutting arm portion (2) ,
The cutting arm (2)
Supported by the positioning arm (13) and supported by the pitch angle arm (3) for vertically swinging the roll angle arm (5) and the cutting work arm group, and the pitch angle arm (3). A cutting surface setting arm group comprising a roll angle arm (5) for horizontally swinging the cutting work arm group;
A parallel arm (14) supported by the roll angle arm (5), which translates the yaw angle arm (15) and the cutting tool mounting portion (16) integrally, and a parallel arm (14), and the cutting tool A cutting angle arm (15) for swinging the mounting portion (16) and a cutting work arm group including a cutting tool mounting portion (16) for detachably mounting the cutting tool (4);
A bone cutting device, wherein the cutting surface setting arm group integrally supports the cutting work arm group with respect to the positioning arm portion (13) . TateYurakaku arm (3) has an inner longitudinal curved trajectory (17) relative to YokoYurakaku arm (5), moving the horizontal swing angle arm (5) in accordance with the internal surface vertically curved track (17) Accordingly, TateYurakaku arm (3) bone milling device according to claim 1, wherein Ru is TateYurado integrally lateral swing angle arm (5) and the cutting operation the arms against. TateYurakaku arm (3) has an outer surface longitudinally curved trajectory (18) relative to the positioning arm (13), moving the vertical swing angle arm (3) in accordance with the outer surface longitudinal curved trajectory (18) the bone cutting device according to claim 1, wherein Ru is TateYurado integrally a cutting plane setting arms group and cutting operation the arms relative positioning arm (13). HenYurakaku arm (15) has a polarization curved track (22) relative to the cutting tool mounting portion (16), by moving the cutting tool mounting portion (16) according to polarization curved track (22), bone milling device according to claim 1, wherein Ru is HenYurado cutting tool mounting portion (22) relative to HenYurakaku arm (15). The parallel arm (14) consists of front and rear arms (19) and left and right arms (20) .
Longitudinal arm (19) is supported by the YokoYurakaku arm (5), the left and right arms (20), HenYurakaku arm (15) and the cutting tool mounting portion (16) is moved back and forth together,
The left and right arms (20) are supported by the front and rear arms (19), and the yaw angle arm (15) and the cutting tool mounting part (16) are moved side by side integrally.
HenYurakaku arm (15) is supported on the left and right arms (20), the bone cutting device according to claim 1, wherein Ru is HenYurado cutting tool mounting portion (16).

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