CN108577926A - A kind of biological tissue's saw cutting device and its sawing method - Google Patents
A kind of biological tissue's saw cutting device and its sawing method Download PDFInfo
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- CN108577926A CN108577926A CN201810475473.5A CN201810475473A CN108577926A CN 108577926 A CN108577926 A CN 108577926A CN 201810475473 A CN201810475473 A CN 201810475473A CN 108577926 A CN108577926 A CN 108577926A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/147—Surgical saws ; Accessories therefor with circularly moving saw blades, i.e. non-reciprocating saw blades
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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Abstract
The invention discloses a kind of biological tissue's saw cutting device and its sawing methods.Efficient biological tissue's sawing certainly will increase cutting depth, increase temperature and cutting force.The present invention includes medical mechanical arm and piezoelectricity auxiliary propeller.Piezoelectricity auxiliary propeller includes shell, cutter piece, micro displacement magnifying mechanism, groups of springs and Inchworm type piezoelectric actuator.The end arthrodesis of shell and medical mechanical arm.Micro displacement magnifying mechanism includes mounting blocks, the first toggle, the second toggle, third toggle, the 4th toggle and the 5th toggle.Resettlement groove there are two being opened up on mounting blocks.It is both provided with Inchworm type piezoelectric actuator in two resettlement grooves.The displacement output rod of two Inchworm type piezoelectric actuators is respectively held against two first toggles.The middle part of 5th toggle and the tail end of cutter piece are fixed.The head end of cutter piece is serrated.Groups of springs includes two springs.The present invention is cut using elliptical vibration, realizes the low cutting force in big depth of cut and fast cutting speed.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of biological tissue's saw cutting device and its sawing method.
Background technology
Sawing propeller is widely used in the bone surgeries such as knee replacements and hip replacement.Sawing is promoted
Three major requirements of device are：High efficiency, low temperature and small cutting force.In view of the operating time of this operation, height cutting effect
Rate is the factor of resected bone equipment most critical, but requires high efficiency that certainly will need to increase cutting depth, will increase temperature and cuts
The problems such as cutting power, resulting even in bone split and necrosis.Elliptical vibration cutting (EVC) is processed generally by the cutting side of cutter
To the pumping signal for inputting some cycles with cutting-in direction, cutting tool path becomes elliptical shape after synthesis, is cutting
The elliptic motion of cutter makes it periodically contact, detach with workpiece and chip in the process, is finally reached the purpose of material removal.
Therefore, it is necessary to study and design the novel saw cutting propeller of a kind of high efficiency, low temperature and low cutting force.
Invention content
The purpose of the present invention is to provide a kind of biological tissue's saw cutting device and its sawing methods.
A kind of biological tissue's saw cutting device of the present invention includes medical mechanical arm and piezoelectricity auxiliary propeller.The piezoelectricity is auxiliary
It includes shell, cutter piece, micro displacement magnifying mechanism, groups of springs and Inchworm type piezoelectric actuator to help propeller.The shell with
The end arthrodesis of medical mechanical arm.The micro displacement magnifying mechanism includes mounting blocks, the first toggle, the second toggle,
Three toggles, the 4th toggle and the 5th toggle.One end of two first toggles and the both ends of mounting blocks are connected by flexible hinge respectively
It connects.The other end of wherein one first toggle, wherein one end of second toggle and wherein one third toggle pass through flexibility
Hinge connection.One end of the other end of another first toggle, another second toggle and another third toggle passes through flexibility
Hinge connection.The other end of two second toggles is connect with mounting blocks by flexible hinge.The other end of two third toggles
It is connect respectively by flexible hinge with one end of two the 4th toggles.The other end of two the 4th toggles passes through with the 5th toggle
Flexible hinge connects.Resettlement groove there are two being opened up on mounting blocks.It is both provided with Inchworm type piezoelectric actuator in two resettlement grooves.Two
The displacement output rod of a Inchworm type piezoelectric actuator is respectively held against two first toggles.The middle part of 5th toggle and cutter piece
Tail end fix.The head end of the cutter piece is serrated, and stretches out outside shell.
The groups of springs includes two springs.One end of two springs is fixed with the inner wall of shell.Groups of springs is shared
Two.The one end of the other end of two springs with the 5th toggle is fixed in one of groups of springs.In another groups of springs
The other end of the other end of two springs with the 5th toggle is fixed.The 5th hinge is respectively set in two springs in same groups of springs
Side of the bar close to the side of the 4th toggle, far from the 4th toggle.
Further, the Inchworm type piezoelectric actuator include shell, the first frame, the second frame, piezoelectric ceramics block,
Elastic plate and displacement output rod.The displacement output rod is piezoelectric ceramics.First frame is fixed together with the second frame, and
It is each attached in shell.First frame is made of integrally formed two pieces of pressure plates and two connecting poles.Spaced two pieces
The opposite flank of pressure plate is connected by two connecting poles.T shape straight slots are offered on the side of two pieces of pressure plates.Two T shapes
Elastic plate and piezoelectric ceramics block are respectively and fixedly provided in straight slot.Piezoelectric ceramics block is contacted with corresponding elastic piece.Displacement output rod passes through
Two T shape straight slots, and contacted with two pieces of elastic plates.Elastic piece is between corresponding piezoelectric ceramics block and displacement output rod.
Further, the invention also includes control system, laser displacement sensor and cameras.The tool arm, laser
Displacement sensor and camera are connected with control system.Camera is fixed on the end joint of medical mechanical arm.Laser position
Displacement sensor is fixed on the top of shell.
Further, the invention also includes binary channels function generator and signal amplifiers.The binary channels function hair
The input interface of two signal output interfaces and two signal amplifiers of raw device is respectively connected with.The output of two signal amplifiers
Interface is connected with the control interface of two Inchworm type piezoelectric actuators in piezoelectricity auxiliary propeller.
Further, the invention also includes oscillators.The oscillator is fixed on the end joint of medical mechanical arm.
Further, the spacing of the junction of the 5th toggle, two the 4th toggles is equal to two third toggles and two
The sum of the length of the 4th toggle of root.The junction centering of 5th toggle and two the 4th toggles is arranged in the 5th toggle center
Both sides.
Further, tapped through hole there are two being opened up on the mounting blocks.Two tapped through holes and two resettlement grooves point
It is not connected to.Two holding screws are threadedly coupled with two tapped through holes respectively, and are respectively held against two Inchworm type piezoelectric actuators
Shell.Holding screw is located at side of the corresponding Inchworm type piezoelectric actuator far from the first toggle.
Further, the outside of all springs is cased with rubber sheath in two groups of springs.
The sawing method of biological tissue's sawing piezoelectricity auxiliary propeller device is specific as follows：
Step 1: the cutter piece in medical mechanical arm driving piezoelectricity auxiliary propeller is moved to the biological tissue for waiting for sawing
Place.
Step 2: two amplitudes, frequencies of binary channels function generator generation are identical, the different sinusoidal signal of phase and transmission
To signal amplifier.Signal amplifier is transferred to respectively after amplifying two sinusoidal signals that the transmission of binary channels function generator comes
Drive two Inchworm type piezoelectric actuators on piezoelectricity auxiliary propeller so that the displacement output rod of Inchworm type piezoelectric actuator is handed over
Mistake, which is released, retracts, and cutter piece carries out sawing to bone.
Step 3: medical mechanical arm driving piezoelectricity auxiliary propeller movement, until completing sawing.Later, medical mechanical arm
Cutter piece in driving piezoelectricity auxiliary propeller leaves at biological tissue.
The invention has the advantages that：
1, the present invention is realized using elliptical vibration auxiliary cutting and is being deepened depth of cut and accelerating the undercut under cutting speed
Power is cut, the danger of bone split and postoperative complication is reduced.
2, the micro displacement magnifying mechanism in the present invention can increase the movement travel of device.
3, the present invention uses flexible hinge, no friction, gapless and autokinesis height.
4, Inchworm type piezoelectric actuator of the invention is moved with the motion principle of looper in bionical nature to realize, tool
There is the advantages of flexible design, big movement travel and high displacement resolution.
5, the present invention uses Mechatronics control, without artificial operation, improves efficiency and the safety of operation.
Description of the drawings
Fig. 1 is the external structure schematic diagram of the present invention；
Fig. 2 is the stereogram of piezoelectricity auxiliary propeller in the present invention；
Fig. 3 is the structure chart of piezoelectricity auxiliary propeller in the present invention；
Fig. 4 is the structure diagram of micro displacement magnifying mechanism in the present invention；
Fig. 5 is the structure chart of Inchworm type piezoelectric actuator in the present invention；
Fig. 6 is Inchworm type piezoelectric actuator fundamental diagram in the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, 2, 3, a kind of biological tissue's saw cutting device, including medical mechanical arm 1 (industrial robot), control system
System 8, laser displacement sensor 5, oscillator 2, camera 3, piezoelectricity auxiliary propeller 4, binary channels function generator 6 and signal are put
Big device 7.Medical mechanical arm 1, laser displacement sensor 5 and camera 3 are connected with control system 8.Oscillator 2 and camera 3
It is each attached on the end joint of medical mechanical arm 1.Displacement signal and camera 3 shooting that laser displacement sensor 5 detects
The Image Real-time Transmission arrived realizes real-time control of the control system 8 to medical mechanical arm 1 to control system 8.Binary channels letter
The input interface of two signal output interfaces and two signal amplifiers 7 of number generator 6 is respectively connected with.Two signal amplifiers
7 output interface is connected with the control interface of two Inchworm type piezoelectric actuators 9 in piezoelectricity auxiliary propeller.
As shown in Fig. 2,3,4,5,6, piezoelectricity auxiliary propeller 4 includes shell 10, cutter piece 11, micro displacement magnifying mechanism
12, fixed block 13, groups of springs 14 and Inchworm type piezoelectric actuator 9.The end arthrodesis of shell 10 and medical mechanical arm 1.Swash
Optical displacement sensor 5 is fixed on the top of shell 10.
Micro displacement magnifying mechanism 12 includes mounting blocks, the first toggle 12-1, the second toggle 12-2, third toggle 12-3, the
Four toggle 12-4 and the 5th toggle.One end of two first toggle 12-1 and the both ends of mounting blocks are connected by flexible hinge respectively
It connects.The other end of wherein one first toggle 12-1, wherein a second toggle 12-2 and wherein third toggle 12-3's
One end is connected by flexible hinge.The other end of another first toggle 12-1, another second toggle 12-2 and another
One end of three toggle 12-3 is connected by flexible hinge.The other end of two second toggle 12-2 and the same position of mounting blocks are logical
Cross flexible hinge connection.One end of the other end and two the 4th toggle 12-4 of two third toggle 12-3 is connected by flexible hinge
It connects.The other end of two the 4th toggle 12-4 is connect by flexible hinge with the 5th toggle respectively.5th toggle, two pieces the 4th
The spacing of the junction of toggle 12-4 is equal to the sum of the length of two third toggle 12-3 and two the 4th toggle 12-4.5th hinge
The position centering that two the 4th toggle 12-4 are connected on bar is arranged in the both sides of the 5th toggle center.The both ends of mounting blocks are equal
Offer resettlement groove.It is both provided with Inchworm type piezoelectric actuator 9 in two resettlement grooves.The position of two Inchworm type piezoelectric actuators 9
It moves output rod and is respectively held against two first toggle 12-1.Tapped through hole there are two being opened up on mounting blocks.Two tapped through holes and two
A resettlement groove is respectively communicated with.Two holding screws 16 are threadedly coupled with two tapped through holes respectively, and are respectively held against two loopers
The shell of formula piezoelectric actuator 9.Holding screw 16 is located at one of corresponding Inchworm type piezoelectric actuator 9 far from the first toggle 12-1
Side.The middle part of 5th toggle is fixed with the tail end of cutter piece 11 by fixed block 13.The head end of cutter piece 11 is serrated, and stretches
Go out outside shell 10.
First toggle 12-1 and the contact point of the displacement output rod of corresponding Inchworm type piezoelectric actuator 9 to the first toggle 12-
1, the distance of 10 junction of shell is l1；The contact point of first toggle 12-1, corresponding 9 displacement output rod of Inchworm type piezoelectric actuator
With corresponding first toggle 12-1, the second toggle 12-2, third toggle 12-3 tie points line on the second toggle 12-2 axis
Projected length be l2；The length of second toggle 12-2 is l3.The length of third toggle 12-3 is l4。
Micro displacement magnifying mechanism 12 is to the amplification factor of two corresponding 9 output shift quantities of Inchworm type piezoelectric actuator(since the motion amplitude of piezoelectric actuator is micron order, therefore angle change can neglect
Slightly).
Wherein, y1For the displacement of the 5th toggle and first the 4th junction toggle 12-4；x1For first the 4th toggle
The displacement of the corresponding 9 displacement output rods of Inchworm type piezoelectric actuator of 12-4.y2For the 5th toggle and second the 4th toggle 12-
The displacement of 4 junctions；x1For the displacement of the corresponding 9 displacement output rods of Inchworm type piezoelectric actuator of second the 4th toggle 12-4
Amount.
Identical, the different sinusoidal signal of phase to two the corresponding input of Inchworm type piezoelectric actuators 9 amplitudes, frequencies, you can
So that the oval movement of head end of cutter piece 10.To allow cutter piece to carry out sawing to bone with the movement locus of ellipse,
So that cutter piece is periodically contacted with bone, detached, it is finally reached the purpose of bone sawing.
Groups of springs 14 includes two springs.Inner wall of the one end of two springs with shell 10 is fixed.Two springs it is outer
Side is cased with rubber sheath.There are two groups of springs 14 is total.The other end and the 5th of two springs in one of groups of springs 14
One end of toggle is fixed.The other end of the other end and the 5th toggle of two springs in another groups of springs 14 is fixed.It is same
The 5th toggle is respectively set close to the side of the 4th toggle 12-4, far from the 4th toggle 12-4 in two springs in groups of springs 14
Side.So that a spring is stretched the 5th toggle in same groups of springs 14 during exercise, another spring is compressed.
Inchworm type piezoelectric actuator 9 includes shell, the first frame 17, the second frame 20, piezoelectric ceramics block 19, elastic plate 18
With displacement output rod 15.Displacement output rod 15 is piezoelectric ceramics.First frame 17 is fixed together with the second frame 20, and solid
Determine inside the shell.First frame 17 is made of integrally formed two pieces of pressure plates and two connecting poles.Spaced two pieces of pressures
The opposite flank of tight plate is connected by two connecting poles.T shape straight slots are offered on the side of two pieces of pressure plates.Two T shapes are logical
Elastic plate 18 and piezoelectric ceramics block 19 are respectively and fixedly provided in slot.Piezoelectric ceramics block 19 is contacted with corresponding elastic piece 18.Displacement exports
Bar 15 passes through two T shape straight slots, and is contacted with two pieces of elastic plates 18.Two panels elastic piece 18 is located at corresponding piezoelectric ceramics block
Between 19 and displacement output rod 15.When piezoelectric ceramics block 19 leads to forward current elongation, corresponding elastic piece 18 is in piezoelectric ceramics
Displacement output rod 15 is compressed under the promotion of block 19.When piezoelectric ceramics block 19, which leads to reverse current, to be shortened, 18 pine of corresponding elastic piece
Open position moves output rod 15 so that displacement output rod 15 can slide in T shape straight slots.
The driving principle that Inchworm type piezoelectric actuator 9 is released is as shown in Figure 6：
1. two pieces of piezoelectric ceramics blocks 19, which are powered, compresses displacement output rod 15.
2. that piezoelectricity far from shell inner end (i.e. that end far from the first toggle 12-1) in two piezoelectric ceramics blocks 19
Displacement output rod 15 is unclamped in the power-off of ceramic block 19.Displacement output rod 15 leads to forward current elongation.Due to two piezoelectric ceramics blocks 19
In close to shell inner end that piezoelectric ceramics block 19 still push down displacement output rod 15.Displacement output rod 15 is to the outside of shell
(i.e. close to that end of the first toggle 12-1) stretches out.
3. that piezoelectric ceramics block 19 far from shell inner end leads to forward current compression displacement in two piezoelectric ceramics blocks 19
Displacement output rod 15 is unclamped in output rod 15, that piezoelectric ceramics block 19 power-off close to shell inner end.
4. the power-off of displacement output rod 15 is shortened.Since that piezoelectricity far from shell inner end in two piezoelectric ceramics blocks 19 is made pottery
Porcelain block 19 still pushes down displacement output rod 15.The part that displacement output rod 15 stretches out shell remains unchanged, and is located at the portion in shell
Divide and shortens.Later, it is powered close to that piezoelectric ceramics block 19 of shell inner end in two piezoelectric ceramics blocks 19 and compresses displacement output
Bar 15.
The sawing method of biological tissue's sawing piezoelectricity auxiliary propeller device is specific as follows：
Step 1: medical mechanical arm 1 drives the cutter piece in piezoelectricity auxiliary propeller 4 to be moved to the biological tissue for waiting for sawing
Place.
Step 2: oscillator 2 starts, two amplitudes, frequencies of the generation of binary channels function generator 6 are identical, and phase is different
Sinusoidal signal is simultaneously transferred to signal amplifier 7.Two sinusoidal letters that signal amplifier 7 carrys out the transmission of binary channels function generator 6
Two Inchworm type piezoelectric actuators 9 being transferred to respectively after number amplification on driving piezoelectricity auxiliary propeller 4 so that Inchworm type piezoelectricity
The displacement output rod of actuator 9 is staggeredly released and is retracted, and the oval movement of head end of cutter piece 11 starts the sawing to bone.
Step 3: medical mechanical arm driving piezoelectricity auxiliary propeller movement so that cutter piece 11, which stretches into bone, to be sawed
It cuts, until completing sawing.Later, the cutter piece in medical mechanical arm driving piezoelectricity auxiliary propeller leaves at biological tissue.
Claims (9)
1. a kind of biological tissue's saw cutting device, including medical mechanical arm and piezoelectricity auxiliary propeller；It is characterized in that：The pressure
Electric auxiliary propeller includes shell, cutter piece, micro displacement magnifying mechanism, groups of springs and Inchworm type piezoelectric actuator；The shell
The end arthrodesis of body and medical mechanical arm；The micro displacement magnifying mechanism includes mounting blocks, the first toggle, the second hinge
Bar, third toggle, the 4th toggle and the 5th toggle；One end of two first toggles and the both ends of mounting blocks pass through flexible hinge respectively
Chain link；The other end of wherein one first toggle, wherein one end of second toggle and wherein one third toggle pass through
Flexible hinge connects；One end of the other end of another first toggle, another second toggle and another third toggle passes through
Flexible hinge connects；The other end of two second toggles is connect with mounting blocks by flexible hinge；Two third toggles it is another
One end is connect by flexible hinge respectively with one end of two the 4th toggles；The other end of two the 4th toggles with the 5th toggle
It is connected by flexible hinge；Resettlement groove there are two being opened up on mounting blocks；It is piezoelectric actuated it to be both provided with Inchworm type in two resettlement grooves
Device；The displacement output rod of two Inchworm type piezoelectric actuators is respectively held against two first toggles；The middle part of 5th toggle with
The tail end of cutter piece is fixed；The head end of the cutter piece is serrated, and stretches out outside shell；
The groups of springs includes two springs；One end of two springs is fixed with the inner wall of shell；There are two groups of springs is total；
The one end of the other end of two springs with the 5th toggle is fixed in one of groups of springs；Two bullets in another groups of springs
The other end of the other end of spring with the 5th toggle is fixed；It is close that the 5th toggle is respectively set in two springs in same groups of springs
The side of 4th toggle, the side far from the 4th toggle.
2. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：The Inchworm type is piezoelectric actuated
Device includes shell, the first frame, the second frame, piezoelectric ceramics block, elastic plate and displacement output rod；The displacement output rod is
Piezoelectric ceramics；First frame is fixed together with the second frame, and is each attached in shell；First frame is by integrally formed two
Block pressure plate and two connecting pole compositions；The opposite flank of spaced two pieces of pressure plates is connected by two connecting poles；Two
T shape straight slots are offered on the side of block pressure plate；It is respectively and fixedly provided with elastic plate and piezoelectric ceramics block in two T shape straight slots；Piezoelectricity
Ceramic block is contacted with corresponding elastic piece；Displacement output rod passes through two T shape straight slots, and is contacted with two pieces of elastic plates；Elastic piece
Between corresponding piezoelectric ceramics block and displacement output rod.
3. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：Further include control system, laser
Displacement sensor and camera；Tool arm, laser displacement sensor and the camera is connected with control system；Camera is solid
It is scheduled on the end joint of medical mechanical arm；Laser displacement sensor is fixed on the top of shell.
4. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：Further include that binary channels function occurs
Device and signal amplifier；The input of two signal output interfaces and two signal amplifiers of the binary channels function generator
Interface is respectively connected with；The output interfaces of two signal amplifiers and two Inchworm type piezoelectric actuators in piezoelectricity auxiliary propeller
Control interface is connected.
5. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：It further include oscillator；Described
Oscillator is fixed on the end joint of medical mechanical arm.
6. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：5th toggle, two pieces
The spacing of the junction of four toggles is equal to the sum of the length of two third toggles and two the 4th toggles；5th toggle and two
The junction centering of four toggles is arranged in the both sides of the 5th toggle center.
7. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：It is offered on the mounting blocks
Two tapped through holes；Two tapped through holes are respectively communicated with two resettlement grooves；Two holding screws respectively with two tapped through holes
It is threadedly coupled, and is respectively held against the shell of two Inchworm type piezoelectric actuators；It is piezoelectric actuated that holding screw is located at corresponding Inchworm type
Side of the device far from the first toggle.
8. a kind of biological tissue's saw cutting device according to claim 1, it is characterised in that：All springs in two groups of springs
Outside be cased with rubber sheath.
9. a kind of biological tissue's saw cutting device according to claim 4, it is characterised in that：Step 1: medical mechanical arm drives
Cutter piece in dynamic pressure electricity auxiliary propeller is moved at the biological tissue for waiting for sawing；
Step 2: binary channels function generator generates, two amplitudes, frequencies are identical, and the different sinusoidal signal of phase is simultaneously transferred to letter
Number amplifier；Signal amplifier is transferred to driving respectively after amplifying two sinusoidal signals that the transmission of binary channels function generator comes
Two Inchworm type piezoelectric actuators on piezoelectricity auxiliary propeller so that the displacement output rod of Inchworm type piezoelectric actuator staggeredly pushes away
Go out to retract, cutter piece carries out sawing to bone；
Step 3: medical mechanical arm driving piezoelectricity auxiliary propeller movement, until completing sawing；Later, medical mechanical arm drives
Cutter piece in piezoelectricity auxiliary propeller leaves at biological tissue.
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| CN108577926B (en) | 2019-11-12 |
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