KR100421426B1 - A Bone-Mountable Surgical Robot For Total Hip Replacement - Google Patents

Abstract

The present invention relates to a mounting type surgical robot for total hip replacement surgery, in particular the operation of the surgical robot operated by a path planned by the controller in the process of processing the hip joint of the patient, and direct hip joint replacement according to the user's judgment The present invention relates to a mounted surgical robot for surgery. To this end, the fixed support having a fixed clamp to be fixed to the hip joint, spaced apart by a predetermined price by a support coupled to one end of the fixed clamp coupled to the fixed frame and fixed; A plurality of driving parts mounted on the upper end of the fixed frame such that the pair of servomotors and the first actuator maintain a predetermined angle with respect to the vertical direction, the first actuator reciprocating in the longitudinal direction by the servomotor; A triangular pivot frame coupled to one end of the first actuator of each of the driving units; The tool is driven, the processing unit is operated in the vertical axis direction; consisting of a force / torque sensor connected to the connecting rod extending from the processing unit, in accordance with the output signal of the force / torque sensor to operate the drive unit and the processing unit It is characterized by including a master portion for processing the hip joint.

Description

A Bone-Mountable Surgical Robot For Total Hip Replacement}

The present invention relates to a mounting surgical robot for total hip arthroplasty surgery, and more particularly, in the process of processing the hip joint to insert the artificial prosthesis into the patient, it is applied directly to the hip joint of the patient to be processed according to a pre-planned route Or, to maintain the machining precision of the hip joint by the robot to control the master unit according to the user's judgment, and to a surgical robot for the hip joint replacement surgery that can ensure safety with precision machining of the hip joint.

In general, the hip joint is the second largest joint of the human joint, and tissues are damaged by intense movement, trauma, disease, and infection. If the hip joint is severely damaged, total hip arthorplasty (THA) is the only treatment method that removes the damaged femoral head and replaces it with an artificial joint.

The total hip arthroplasty is divided into cement-based replacement surgery and cement-free replacement surgery according to the method of fixing the artificial joint, and these two methods are used simultaneously in the medical field.

Here, the cement-free replacement surgery is a method in which hip tissue grows into an artificial joint and is fixed. In the replacement surgery without cement, the degree of coincidence between the processed hip joint surface and the artificial joint surface is increased. Significantly affect the recovery and life of the artificial joint.

On the other hand, in recent years in the hip joint processing for inserting artificial joints, the research on how to improve the surgical results compared to the direct processing through the surgical tool through the surgical tool has been in progress.

However, such a surgical robot automatically processes the femur according to a predetermined surgical plan like an industrial robot, and thus a problem arises in that a doctor's professional knowledge or experience about surgery cannot be applied to the surgical robot.

In addition, complex processes such as real-time registration of the hip joint and surgical robot of the patient, computerized tomography (CT) imaging, and image processing have occurred.

Therefore, it is possible to maintain the processing precision of the hip joint by processing it according to the planned route with the surgical robot, but there is no room for the user's (doctor's) expertise to intervene in the surgery, so that the doctor processes the hip joint of the patient and replaces it with an artificial joint. It was difficult to achieve total replacement.

The present invention is to solve the above problems, an object of the present invention, in the process of processing the hip joint to insert the artificial prosthesis to the patient, the process according to the pre-planned path by mounting directly on the hip joint of the patient, and While maintaining the precision of the hip joint to control the master according to the user's judgment, to provide a surgical robot for the hip replacement surgery that can ensure the safety and precision of the hip joint.

In order to achieve the above object, having a fixed clamp 120 to be fixed to the hip joint 10, the fixed frame is spaced apart by a predetermined price by a support 140 coupled to one end of the fixed clamp 120 ( A fixed support part 100 fixedly coupled with the 160; The pair of servomotors 220 and the first actuator 240 are mounted on the upper end of the fixed frame 160 so as to maintain a predetermined angle with respect to the vertical direction, so that the first actuator 240 by the servomotor 220. A plurality of driving units 200 reciprocating in the longitudinal direction; A triangular rotating frame (300) coupled to one end of the first actuator (240) of each of the driving units (200); The milling tool 460 is driven by the driving motor 440 mounted to the second actuator 420 and fixed to the center region of the rotation frame 300 and mounted in the vertical direction. And, the processing unit 400 is operated in the vertical axis direction (Z axis); It consists of a force / torque sensor 520 connected to the connecting rod 480 extending from the processing unit 400 in accordance with the output signal of the force / torque sensor 520, the driving unit 200 and the processing unit ( It is achieved by a mounting surgical robot for hip replacement surgery, characterized in that it comprises a master 500 for operating the hip joint by operating 400).

Here, the rotation frame 300 is preferably rotated in the horizontal axis direction (X-axis, Y-axis) in accordance with the operation of the drive unit 200, the three driving unit 200 is fixedly coupled at 120 ° intervals.

In addition, the second actuator 420 of the processing unit 400 may operate the milling tool 460 downward in the vertical axis direction (Z axis).

In addition, when the user applies a force to the force / torque sensor 520 in a desired operation direction, the driving unit 200 and the processing unit 400 are provided with a handle 80 at one side to operate as the user intends. desirable.

In addition, it is preferable to further include a controller 30 for generating a tracking position of the milling tool 460 by the output signal of the force / torque sensor 520.

Here, the tracking position generated by the controller 30 is preferably generated to be operated only inside the boundary data of the virtual wall 50.

In addition, the tracking position is divided into an inner region 60 and an outer region 70 in the virtual wall 50 to generate a tracking position so that the processing speed of the milling tool 460 is different for each region. desirable.

In addition, the support 140 coupled to one end of the fixed clamp 120 preferably adjusts a gap between the fixed clamp 120 and the fixed frame 160.

In addition, the rotating body 280 provided in the driving unit 200 may be connected to the rotating frame 300 so as to be rotatable.

In addition, the driving unit 200 is most preferably mounted at intervals of 120 ° to the rectangular fixed frame 160.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings.

1 is a perspective view showing a mounting surgical robot for hip replacement surgery according to the present invention,

Figure 2 is a front view showing a mounting surgical robot for hip replacement surgery according to the present invention,

Figure 3 is a use state showing the mounting surgical robot for total hip replacement surgery according to the present invention,

Figure 4 is a flow chart showing the operation method of the mounting surgical robot for total hip replacement surgery according to the present invention,

5 is a waveform diagram showing a virtual wall for processing the hip joint of the present invention,

6 is a cross-sectional view taken along the line A-A shown in FIG.

<Description of the symbols for the main parts of the drawings>

10: hip 30: controller

50: virtual wall 60: interior area

70: outer area 80: handle

100: fixed support portion 120: fixed clamp

140: support 160: fixed frame

200: drive unit 220: servo motor

240: first actuator 260: position sensor

280: rotating body 300: rotating frame

400: processing portion 420: second actuator

440: drive motor 460: milling tool

480: connecting rod 500: master unit

520: force / torque sensor

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a mounting surgical robot for a total hip replacement surgery according to the present invention, Figure 2 is a front view showing a mounting surgical robot for a total hip replacement surgery according to the present invention. As shown in Figures 1 and 2, the present invention is to provide a device for processing bone but pre-set the virtual wall according to the shape of the bone, the operator to freely cut the bone within the range of the virtual wall To this end, the present invention is a fixing clamp 120 for fixing the bone, a fixing frame 160 for supporting the fixing clamp 120; A driving unit 200 connected from three directions of the fixed frame 160 to vertically move the fixed frame 160 to a support point; The other end of the driving unit 200 is connected to each other and the rotation frame 300 of the triangular shape flowing in the xy plane direction in accordance with the flow of the driving unit 200; The second actuator 420 is coupled to the rotating frame 300 by a point contact and is moved at a predetermined angle in accordance with the xy plane movement of the rotating frame to raise and lower the connecting rod shaft 490 mounted below. ; A motor 440 coupled to the connecting rod 480 shaft and generating a rotational force thereof; It is made of a milling tool 460 mounted on the motor 440 to rotate the bone. The drive unit 200 is composed of a servo motor 220 and the first actuator 240 is coupled by a gearbox. When the servo motor 220 is rotated, the first actuator 240 is driven to move the rotation frame 300 in the xy direction based on the fixed piece 170. Referring to the operation of the present invention from a macro perspective, the present invention The invention is to move the milling tool 460 to process bones efficiently, the mechanism for moving the milling tool 460 is based on the operation of the rotation frame 300 in the xy direction, the rotation frame 300 is the first Based on the operation of the actuator 240, the z-axis direction is based on the operation of the second actuator 420. In the end, the milling tool 460 is the operation of the first actuator 240 and the second actuator 420. To move in the x, y, and z directions. In detail, when the master unit 500 that moves the milling tool 460 is manually operated, the controller 30 senses the direction to be moved, and the actuators 240 and 420 in the controller 30 according to the sensed data. By operating the command to rotate the milling tool 460 is rotated to the desired position to easily process the bone. If you select the function to cut bone automatically in the above actuator (240) within the range of the virtual wall , 420 and the motor 440 to cut the bone according to the programmed position, if the manual mode is selected the direction of the master unit 500 applied by the user within the range of the virtual wall actuator 240 It is provided to the power unit for driving to drive the milling tool 460 as necessary. The driving source for moving the first actuator 240 is the servo motor 220, the second actuator 420 is moved. Although not shown in the drawing, the driving source is mounted inside and a servo motor or a pneumatic motor is used. The servo motor 220 generates rotational power by an electric force, and the rotational power is a gearbox 230. It is provided to the first actuator 240 through the first actuator to reciprocate by the piston movement to move the rotation frame 300. Since the first actuator 240 is provided with three at intervals of 120 degrees, as if seen from the outside When the rotating frame 300 is moved to move the milling tool 460 horizontally, the first actuators 240 move upwards at different distances so that the rotation angle is changed based on the fixing piece 170. The pivot frame 300 appears to move with the piece 170 as the center point. In the end, the first actuators 240 have the fixed piece 170 mounted to the fixed frame 160 as a fixed support point. It is to support the movement of the rotation frame 300, and to secure the appropriate movement distance according to the position of the rotation frame 300 by varying the length of the first actuator 240, respectively, so that the support at three points is made. These movement distances are automatically calculated by following the movement of the master 500, and the movement of the rotation frame 300 is determined by appropriately changing the length of the first actuator 240 according to the calculated result. When the rotating frame 300 is moved, the milling tool can be moved in a suitable plane. The second actuator 420 is also flowed by receiving electric power from an external power supply, and moves in the z-axis according to the present invention. To this end, by the action of the first actuator 240 and the second actuator 420, the milling tool is a three-dimensional motion by the user at any point It will be able to process the bone of the point. Hereinafter, each component will be described in more detail. The fixed support portion 100 fixed to the hip joint 10 of the patient is fixed to one end of the hip joint 10. A fixed clamp 120 is provided.

The support 140 coupled to one end of the fixing clamp 120 is fixedly coupled with the square fixing frame 160 spaced by a predetermined interval. In addition, the driving unit 200 mounted on the upper end of the fixed frame 160 includes a pair of servomotors 220, a first actuator 240, a position sensor 260, and a triangular rotation frame 300. Link is combined.

Here, the fixed frame 160 has a quadrangular shape so that the milling tool 460 has a free space for processing the hip joint 10, and the three driving units 200 are arranged on the top of the fixed frame 160. It is installed to maintain a predetermined angle at intervals of 120 ° to the vertical direction.

In addition, the rotation frame 300 coupled to the first actuator 240 of the driving unit 200 is rotated in the horizontal axis direction (X axis, Y axis). The pivot frame 300 is link coupled by a pivot 280 coupled to one end of the first actuator 240.

In addition, the second actuator 420 of the processing unit 400 fixed to the center area of the rotation frame 300 is mounted in the vertical direction, thereby allowing the milling tool 460 to move in the vertical axis direction (Z axis). The driving motor 440 mounted on the outer surface of the second actuator 420 rotates the milling tool 460 to process the hip joint 10.

When a force is applied to the force / torque sensor 520 in a direction that the user wants to move through the handle 80 of the master unit 500 extending from the connecting rod 480 of the processing unit 400, according to the direction The force / torque sensor 520 measures the force information contacted to generate a tracking position (point to operate). Then, the driving unit 200 and the processing unit 400 are operated by performing position control based on the following position.

In other words, in the process of processing the hip joint 10 to insert the artificial prosthesis into the patient, the master unit 500 is determined in accordance with the judgment of the user (doctor) within the virtual wall 50 to which the hip joint 10 is to be processed. By generating the position to follow using the measured force when maneuvering, it is possible to increase the safety at the same time as the precise processing of the hip joint (10).

This means that the surgical robot can automatically process the hip joint 10 along the already planned path, and at the same time, the user (doctor) manually manipulates the master unit 500 to determine the expert knowledge or judgment of the user (doctor). In other words, it can be processed while combining experience.

Figure 3 is a use state diagram showing the mounting surgical robot for total hip replacement surgery according to the present invention. As shown in FIG. 3, in the process of processing the hip joint 10 to insert an artificial prosthesis into the patient, the hip joint 10 is processed through the controller 30 according to a predetermined path, and the hip joint 10. While maintaining the processing accuracy of the user (doctor) can manipulate the hip joint 10 by controlling the master unit 500.

When the user directly manipulates the master part 500 to process the hip joint 10, the master part 500 controls the drive part 200 and the processing part 400 to induce movement as the user intends. By using the operation robot assists the operation of the hip joint 10, which requires a relatively large force of the user, the operation can be easily performed with a small force.

In addition, by combining the knowledge and experience accumulated during the procedure directly to the surgical robot capable of precise operation, it is possible to process the hip joint 10 according to the judgment of the user while maintaining precision.

When the hip joint 10 is processed through the controller 30 that does not use the master unit 500, a path is determined in advance by scanning data of a commercial prosthesis input to the controller 30, and the driving unit 200 and The hip joint 10 is processed by operating the machining unit 400.

This, by operating the drive unit 200 and the processing unit 400 according to the information to be processed input to the controller 30, to the X-axis and Y-axis by the drive unit 200, to the processing unit 400 It is possible to process the hip joint 10 of various forms by enabling the operation in the Z axis.

Figure 4 is a flow chart illustrating a method of operation of the mounting surgical robot for hip replacement surgery according to the present invention. As shown in FIG. 4, after the present invention is initialized (S10), the user (doctor) selects an automatic processing method that the surgical robot can process by itself and a manual processing method directly controlled by the user (doctor) (S20). ).

The selected automatic machining method reads the file of the machining path into the controller 30 into which the scanning data of the commercial prosthesis is input, and generates a tracking position (point to operate) from the planned path (S30).

Then, after controlling the position to be operated according to the generated following position, the hip joint 10 is processed using the milling tool 460 (S40). As a result, the completed hip joint 10 may achieve a total hip arthroplasty replaced with an artificial joint (S140).

This is to process the hip joint 10 not by the master unit 500, by operating the driving unit 200 and the processing unit 400 by the scanning data of the commercial prosthesis input to the controller 30 will be.

The processing method of directly controlling the master unit 500 by the user (doctor), after obtaining the position of the current milling tool 460 by the position sensor 260 installed in the drive unit (S50) to the current area Determine (S60). Then, the user generates a temporary following position (point to operate) by using the force applied to the master unit 500 (S70).

By determining the position of the virtual wall 50 at the temporary tracking position generated in this way (S80), if the tracking position is inside the virtual wall 50, the final tracking position is generated immediately (S90), and the temporary tracking position. If is present outside or inside the virtual wall 50 is located very close to the virtual wall 50 is close to the virtual wall 50 in order to improve the machining precision (S100).

Then, when the final tracking position is generated, after controlling the position as in the automatic machining method (S110), the hip joint 10 is processed using the milling tool 460 (S130). At this time, the user (doctor) is directly processed so as to graft his experience and knowledge while applying the appropriate force to determine whether the processing of the hip joint 10 is appropriate (S120). As a result, the completed hip joint 10 may achieve a total hip arthroplasty replaced with an artificial joint (S140).

This, the user directly manipulates the master unit 500 in the virtual wall 50 to be processed the hip joint 10 of the patient, it is possible to ensure the precise processing and safety of the hip joint 10.

Therefore, the mounted surgical robot for total hip replacement surgery may be operated by the controller 30 in which the planned path to be processed is input, and the user directly manipulates the hip joint within the virtual wall 50 by the hip joint. Precise machining and safety of (10) can be ensured.

5 is a waveform diagram illustrating a virtual wall for processing the hip joint of the present invention, and FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5. As shown in FIGS. 5 and 6, when creating a limited operating point for processing the hip 10 of the patient, it does not exceed the virtual wall 50 formed on the X and Y axes. The virtual wall 50 is constructed using surface data of a commercially available prosthesis or a prosthesis to be manufactured. For reference, the virtual wall 50 applied in the present invention is reduced by a predetermined length from the outside of the bone to a predetermined length inside It defines the virtual plane entered, which defines the maximum processing range of the bone to be processed. The virtual wall is a point that should not be cut anymore when processing the bone, which is the experience of accumulating medical results. The range of the virtual wall 50 is determined, and this information is input to the controller 30 in advance. In the above, the virtual wall 50 is usually set to a distance indented by the same thickness from the outside. The controller 30 sets the virtual wall by subtracting the same thickness according to the thickness of the bone when the external form information is input. That is, the virtual wall 50 and the outside of the bone The same distance is maintained, and before the bone is processed, the shape of the bone is accurately photographed in three dimensions, and then input to the controller 30, the controller 30 automatically calculates the virtual wall subtracted by a certain distance to process the bone. The virtual wall can be calculated by following the appearance of the bone from various data such as age and gender. In the end, the virtual wall 50 is a range of cutting the bone as much as the result of the medical procedure. When the three-dimensional information about the shape of the bone and the thickness information of the allowable range are input, the controller 30 calculates a three-dimensional virtual wall based on this, and accordingly, whether the processing is performed automatically or manually. By preventing the jumping over the virtual wall 50 to prevent the mistake of the doctor and to protect the patient.

Using the admittance model adopted in the present invention, it is possible to define the processing environment felt by the doctor, and it is necessary to divide the area for the efficiency of the surgery. In particular, in order to directly mount the present invention to the hip joint 10 of the patient, a part of the hip joint 10 is already removed to set the registration criteria. This part allows for a large speed with little force.

That is, the inner region 60 shortens the working time by allowing the robot to move relatively quickly to an area where precise processing is unnecessary. In the case of the outer region 70, the machining process is performed slowly to increase the machining precision.

In addition, near the set boundary surface of the artificial prosthesis-shaped virtual wall 50, the milling tool 460 no longer advances, making it feel like cutting a very hard thing during processing. This process prevents mistakes of the user (doctor) and at the same time effectively reduces the machining time.

As described above, according to the wearable surgical robot for total hip arthroplasty according to the present invention, in the process of processing the hip joint to insert the artificial prosthesis into the patient, the operation and operation of the surgical robot performed along a pre-planned path Can hold the master and control the surgical robot directly.

Such a surgical robot for total hip arthroplasty according to the present invention can ensure precise processing and safety of the hip joint by manipulating the surgical robot according to the user's judgment while maintaining the processing precision of the hip joint according to the controller.

In addition, since it is directly fixed to the hip joint of the patient, it is possible to reduce the physical and mental burden of the patient by effectively shortening the accuracy of the registration and the operation time.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, various other modifications and variations may be made without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover such modifications and variations as fall within the true scope of the invention.

Claims (10)

A fixed support 120 having a fixed clamp 120 to be fixed to the hip joint 10 and spaced apart by a predetermined price by a support 140 coupled to one end of the fixed clamp 120 is fixedly coupled to the fixed frame 160. 100); The pair of servomotors 220 and the first actuator 240 are mounted on the upper end of the fixed frame 160 so as to maintain a predetermined angle with respect to the vertical direction, so that the first actuator 240 by the servomotor 220. A plurality of driving units 200 reciprocating in the longitudinal direction; A triangular rotating frame (300) coupled to one end of the first actuator (240) of each of the driving units (200); The milling tool 460 is driven by the driving motor 440 mounted to the second actuator 420 and fixed to the center region of the rotation frame 300 and mounted in the vertical direction. And, the processing unit 400 is operated in the vertical axis direction (Z axis); It consists of a force / torque sensor 520 connected to the connecting rod 480 extending from the processing unit 400 in accordance with the output signal of the force / torque sensor 520, the driving unit 200 and the processing unit ( Mounted surgical robot for hip replacement surgery, characterized in that it comprises a master 500 for processing the hip joint by operating 400). According to claim 1, The rotation frame 300 is rotated in the horizontal axis direction (X-axis, Y-axis) in accordance with the operation of the drive unit 200, the three driving unit 200 is fixedly coupled at 120 ° intervals Mounted surgical robot for total hip replacement surgery, characterized in that. The method of claim 1, wherein the second actuator 420 of the processing unit 400 is mounted for the total hip replacement surgery, characterized in that for operating the milling tool 460 downward in the vertical axis direction (Z axis). Surgical Robot. The handle 80 of claim 1, wherein when the force is applied to the force / torque sensor 520 in a desired direction of operation, the driving unit 200 and the processing unit 400 are operated as the user intends. Mounted surgical robot for total hip replacement surgery, characterized in that provided with. The method of claim 1, further comprising a controller 30 for generating a tracking position of the milling tool 460 by the output signal of the force / torque sensor 520, the surgical operation for total hip replacement surgery robot. The robot according to claim 5, wherein the tracking position generated by the controller (30) is generated to be operated only inside the boundary data of the virtual wall (50). The tracking position of claim 6, wherein the tracking position is divided into an inner region 60 and an outer region 70 in the virtual wall 50, and the machining position of the milling tool 460 is different for each region. Mounted surgical robot for hip replacement surgery, characterized in that for generating. The total hip replacement surgery of claim 1, wherein the support 140 coupled to one end of the fixed clamp 120 adjusts a gap between the fixed clamp 120 and the fixed frame 160. Mounted Surgical Robot. According to claim 1, wherein the rotating body provided in the drive unit (280) is mounted surgical robot for hip replacement surgery, characterized in that connected to the rotation frame 300 so as to be rotatable. The method of claim 1, wherein the drive unit 200 is a mounting surgical robot for hip replacement surgery, characterized in that mounted to the rectangular fixed frame 160 at intervals of 120 °.