CN109077775B - Biological spur grinding device of imitative ant-eating beast tongue - Google Patents
Biological spur grinding device of imitative ant-eating beast tongue Download PDFInfo
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- CN109077775B CN109077775B CN201810750179.0A CN201810750179A CN109077775B CN 109077775 B CN109077775 B CN 109077775B CN 201810750179 A CN201810750179 A CN 201810750179A CN 109077775 B CN109077775 B CN 109077775B
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- 238000000227 grinding Methods 0.000 title claims abstract description 153
- 239000004816 latex Substances 0.000 claims abstract description 128
- 229920000126 latex Polymers 0.000 claims abstract description 128
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 93
- 238000007790 scraping Methods 0.000 claims abstract description 41
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 34
- 239000012634 fragment Substances 0.000 claims abstract description 26
- 238000003825 pressing Methods 0.000 claims abstract description 15
- 241001465754 Metazoa Species 0.000 claims abstract description 14
- 239000000839 emulsion Substances 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000004140 cleaning Methods 0.000 claims description 20
- 230000008602 contraction Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 238000005422 blasting Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims description 2
- 238000003801 milling Methods 0.000 claims 5
- 208000008558 Osteophyte Diseases 0.000 abstract description 28
- 201000010934 exostosis Diseases 0.000 abstract description 23
- 238000011282 treatment Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 206010050296 Intervertebral disc protrusion Diseases 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010005963 Bone formation increased Diseases 0.000 description 1
- 208000003618 Intervertebral Disc Displacement Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 201000010930 hyperostosis Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a biological spur grinding device for a termite-eating animal tongue imitation. The existing spur remover easily causes bone fragment residue, and the safety coefficient and the sanitary coefficient can not reach the requirements of medical instruments. The rear end of the bionic micro-slender needle head is sequentially embedded into a guide hole of a guide needle head, a guide hole of a first bionic micro-slender needle head guide sleeve and a guide hole of a second bionic micro-slender needle head guide sleeve; two ends of the supporting shaft of the emulsion grinding wheel penetrate through the two limiting grooves on the two sides of the square needle cylinder, and are respectively fixed with two clamping pressing plates with the corresponding heights on the two sides; the supporting cylinders of the upper latex grinding wheel and the lower latex grinding wheel are respectively supported on a supporting shaft of the latex grinding wheel through bearings; the upper scraping shovel and the lower scraping shovel are respectively arranged close to the upper latex grinding wheel and the lower latex grinding wheel; the bionic micro-slender needle comprises a needle point, a micro-surface appearance section and a needle body which are sequentially arranged from the front end to the rear end and are integrally formed. The invention can grind the bone spur and take the bone fragments out of the body, thereby greatly improving the efficiency of removing the bone spur and reducing the damage to the body.
Description
Technical Field
The invention belongs to the field of biological spur grinding tools, and particularly relates to a human spur grinding device imitating a tongue of an ant feeding animal.
Background
Bony spur has become a serious external disease to human in recent years. The bone spur not only affects the work, but also seriously affects the life. The bone spur on a plurality of joints of human body such as lumbar vertebra, elbow, knee joint and the like seriously jeopardizes the health of human body, so that people can not work and live normally and are difficult to boil. Clinically, when diseases such as hyperosteogeny, lumbar intervertebral disc protrusion and the like are treated, a curette-scraping method is often adopted for radical treatment, at present, the curette-scraping method used clinically is rough in bone spur scraping, and after the curette-scraping is finished, a bone file is required to be used for polishing, so that the operation is very troublesome, time and labor are wasted, great work difficulty is increased for medical staff, and the risk coefficient of patients is increased.
At present, medical instruments in the related field of spur treatment are less researched, and no method and device for grinding and cleaning biological spurs by using bionics are found, for example, the invention with the application patent number of 201710454848.5 discloses a medical swing saw. The oscillating saw comprises a motor, a drilling tool assembly, a rotating speed sensor and a data processing unit, wherein the rotating speed sensor is connected with the motor and used for acquiring a rotating speed signal of the motor; the data processing unit is connected with the rotating speed sensor and used for processing the rotating speed signals collected by the rotating speed sensor and calculating mechanical fatigue data of the drilling tool assembly according to the processed rotating speed signals, so that the fatigue condition of the medical oscillating saw can be timely mastered and maintained in advance, and the situation that the normal operation is influenced due to the fault in the operation is avoided. This medical pendulum saw has solved the problem that medical pendulum saw among the prior art can't in time master its mechanical fatigue degree, but does not consider the bone bits recovery clearance problem that produces in sawing, causes the bone bits easily to remain and influences treatment. The patent of application patent number 201220014216.X discloses a multi-functional spur remover, and this spur remover includes the handle, and characterized by is equipped with the sleeve pipe on the handle, is equipped with the file head on the sleeve pipe, and the intraductal flexible arm that is equipped with the tool bit on the flexible arm, has realized easy and simple to handle, labour saving and time saving when carrying out disease treatments such as hyperostosis, lumbar disc herniation for patient, has alleviateed medical staff's the work degree of difficulty. But this spur remover design is too crude, and factor of safety and health all can't reach the medical instrument requirement, and can't realize carrying out the effect that the spur was clear away automatically.
Therefore, the development of the biological bone spur grinding device which is simple and convenient to operate, safe and effective has very important significance in effectively cleaning bone spurs.
Disclosure of Invention
The invention provides a biological spur grinding device imitating a tongue of an ant feeding animal, aiming at the problem that the existing biological spur is difficult to be treated by a minimally invasive surgery. The invention relates to a device for positioning a bone spur position by using a micro-slender needle head; the device is a device for rapidly grinding bone spurs and cleaning abrasive dust by utilizing a fine flexible grinding tongue extending out of a fine long needle head; the device can carry out the bone spur grinding operation in the local micro range of the bone spur grinding part; the needle point and the fine long needle head device have low resistance, low damage and non-smooth surface appearance and penetrate through biological tissues; the device is a device for cleaning the 'tongue' by grinding and grinding fine stainless steel wires with micro barbs on the surface of the 'tongue' of an ant eating imitating animal; is a device with an automatic insertion mechanism of a fine long needle head; is a device of a tongue grinding head automatic rapid contraction driving mechanism.
The invention comprises a multi-degree-of-freedom manipulator, a needle head contraction control device and a bionic micro-slender needle head. The needle head contraction control device comprises a square needle cylinder, a guide needle head, a filter screen, a first bionic micro-slender needle head guide sleeve, a second bionic micro-slender needle head guide sleeve, an upper latex grinding wheel, a lower latex grinding wheel, a scrap scraping shovel mechanism, a latex grinding wheel clamping mechanism and a driving mechanism; the multi-degree-of-freedom manipulator is connected with the square needle cylinder through a connecting plate. The rear end of the guide needle head is connected with a threaded hole formed in the front end of the square needle cylinder through threads; the filter screen is fixed on the inner wall of the front end of the square needle cylinder. A first bionic fine long needle head guide sleeve and a second bionic fine long needle head guide sleeve are arranged in the square needle cylinder, the first bionic fine long needle head guide sleeve is arranged at the rear end of the filter screen, and the second bionic fine long needle head guide sleeve is arranged at the rear end of the first bionic fine long needle head guide sleeve; the rear end of the bionic micro-slender needle head is sequentially embedded into a guide hole of the guide needle head, a guide hole of the first bionic micro-slender needle head guide sleeve and a guide hole of the second bionic micro-slender needle head guide sleeve, a radial gap is formed between the guide hole of the guide needle head and the bionic micro-slender needle head, and a radial gap is formed between the guide hole of the first bionic micro-slender needle head guide sleeve and the bionic micro-slender needle head; the inner diameter of the guide hole of the second bionic micro-slender needle guide sleeve is equal to the diameter of the rear end of the bionic micro-slender needle. An upper latex grinding wheel and a lower latex grinding wheel which are symmetrically arranged up and down are arranged between the first bionic fine needle head guide sleeve and the second bionic fine needle head guide sleeve. The upper latex grinding wheel and the lower latex grinding wheel respectively comprise a supporting cylinder and a latex sleeve sleeved on the supporting cylinder, and spherical protrusions are uniformly distributed on the outer circular surface of the latex sleeve. The latex grinding wheel clamping mechanism consists of four clamping press plates, two clamping press plates are distributed on one side of the square needle cylinder, the other two clamping press plates are distributed on the other side of the square needle cylinder, and the two clamping press plates on the same side are distributed up and down; two latex grinding wheel supporting shafts are arranged up and down; two ends of each emulsion grinding wheel supporting shaft penetrate through two limiting grooves on two sides of the square needle cylinder, and two clamping pressing plates with corresponding heights on two sides are fixed respectively; the supporting cylinders of the upper latex grinding wheel and the lower latex grinding wheel are respectively supported on a supporting shaft of the latex grinding wheel through bearings; the limiting groove consists of a middle groove section, two connecting groove sections and two end groove sections; two ends of the middle groove section are respectively communicated with the two end groove sections through a connecting groove section; the groove width of the connecting groove section is smaller than that of the supporting shaft journal of the latex grinding wheel, the groove width of the middle groove section is larger than that of the supporting shaft journal of the latex grinding wheel, the side wall of the end groove section is arc-shaped, and the diameter of the arc is equal to that of the supporting shaft journal of the latex grinding wheel; the length of the connecting groove section is 2 mm; the scrap scraping shovel mechanism comprises an upper scrap scraping shovel and a lower scrap scraping shovel which are symmetrically distributed up and down. The tails of the upper and lower scraping shovels are respectively supported on a scraping shovel supporting shaft through bearings; the supporting shaft of the scraping shovel is fixed on the square needle cylinder; the driving mechanism consists of a driving motor, a driving belt wheel, a synchronous belt and a motor mounting seat. The base of the driving motor is fixed on the motor mounting seat, and the motor mounting seat is fixed on the square needle cylinder; the driving belt wheel is fixed with an output shaft of the driving motor; the driving belt wheels of the two driving mechanisms are respectively connected with the upper emulsion grinding wheel and the lower emulsion grinding wheel through respective synchronous belts.
The bionic micro-slender needle comprises a needle point, a micro-surface appearance section and a needle body which are sequentially arranged from the front end to the rear end and are integrally formed; the little surface morphology section surface is equipped with a plurality of little barb appearances that arrange along two helices and a plurality of little sunken appearances that arrange along two helices, and the helix that little barb appearance formed and the helix that little sunken appearance formed alternate the setting and the equidistance arrangement, and the extreme point of the same end of all helices is located the same cross section of bionical little slender syringe needle.
Also comprises a bone fragment cleaning pipe joint; the bone fragment cleaning pipe joint penetrates through the square needle cylinder and is fixed with the square needle cylinder; the bone fragment cleaning pipe joint is positioned above the upper latex grinding wheel.
The bionic micro-slender needle head is made of stainless steel subjected to shot blasting.
The needle point is conical.
The diameter of the needle body is 0.4-0.5 mm; the length of the micro-surface topography section is 3-5 mm.
The shape of the micro-barb is in an oblique cone shape and inclines towards the needle body, the radius of the bottom surface is 0.05-0.1 mm, and the distance from the vertex to the center of the bottom surface is 0.2-0.5 mm.
The invention has the beneficial effects that:
from the bionic point of view, the tongue surface appearance and the feeding process of the termite-eating animal are analyzed, and the tongue of the termite-eating animal is found to be soft, slender and provided with a micro barb-shaped structure on the surface, and the performance of the tongue can be connected with the treatment of the bony spur in medical treatment. The grinding tongue can be accurately delivered to the position of the spur through the external fine needle head; the rapid expansion of the tongue can grind the bone spurs and bring the bone fragments out of the body; thereby greatly improving the removing efficiency of the bony spur, reducing the damage to the organism and achieving good treatment effect.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a schematic view of the positions of the guide needle, the clamping pressing plate, the driving motor and the limiting groove on the square syringe.
Fig. 4 is a schematic view of a specific structure of the limiting groove of the present invention.
FIG. 5 is a schematic view of the driving mechanism of the upper and lower latex rollers of the present invention.
Fig. 6 is a perspective view of a bionic micro-slender needle of the present invention.
In the figure: 1. the multi-degree-of-freedom manipulator comprises a 101, a connecting disc, 2, a needle head contraction control device, 2001, a limiting groove, 201, a square needle cylinder, 202, a guide needle head, 203, a filter screen, 204, a first bionic micro-slender needle head guide sleeve, 205, a second bionic micro-slender needle head guide sleeve, 206, an upper latex grinding wheel, 207, a lower latex grinding wheel, 208, an upper scraping shovel, 209, a lower scraping shovel, 210, a clamping pressing plate, 211, a driving pulley, 212, a synchronous belt, 213, a driving motor, 214, a motor mounting seat, 215, a bone fragment cleaning pipe joint, 3, a bionic micro-slender needle head, 301 and a micro-barb shape, 302, a micro-recess shape, 3-1, a needle point, 3-2, a micro surface shape section, 3-3 and a needle body.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the biological spur grinding device imitating the tongue of an ant feeding animal comprises a multi-degree-of-freedom manipulator 1, a needle head contraction control device 2 and a bionic micro-slender needle head 3. The multi-degree-of-freedom manipulator 1 is used for accurately positioning the needle head contraction control device 2 and the bionic micro-slender needle head 3. The needle head contraction control device 2 is connected to the multi-degree-of-freedom manipulator 1 through the connecting disc 101, and can drive the bionic micro-slender needle head 3 to contract back and forth, so that the effects of grinding bone spurs and cleaning bone fragments are achieved.
As shown in fig. 3, 4 and 5, the needle retraction control device 2 comprises a square syringe 201, a guide needle 202, a filter screen 203, a first bionic micro-slender needle guide sleeve 204, a second bionic micro-slender needle guide sleeve 205, an upper latex roller 206, a lower latex roller 207, a scrap scraping shovel mechanism, a latex roller clamping mechanism, a driving mechanism and a bone scrap cleaning pipe joint 215. The rear end of the guide needle head 202 is in threaded connection with a threaded hole formed in the front end of the square needle cylinder 201, the guide needle head 202 is used for guiding the bionic micro-slender needle head 3, and a radial gap is formed between the guide needle head 202 and the bionic micro-slender needle head 3, so that the bionic micro-slender needle head 3 can carry out bone spur grinding operation in a local micro range of a bone spur grinding position. The filter screen 203 is arranged on the inner wall of the front end of the square needle cylinder 201 and used for filtering bone fragments, so that the bone fragments falling off in the back and forth contraction process of the bionic micro-slender needle 3 can not fall back to the guide needle 202, and the condition that the guide needle is blocked by the bone fragments is avoided. Because the bionic micro-slender needle 3 has the slender characteristic, in order to smoothly finish the action of back-and-forth contraction and bone spur grinding, a first bionic micro-slender needle guide sleeve 204 and a second bionic micro-slender needle guide sleeve 205 are arranged in the square needle cylinder 201, and a radial gap is arranged between a guide hole of the first bionic micro-slender needle guide sleeve 204 and the bionic micro-slender needle 3; the inner diameter of a guide hole of the second bionic micro-slender needle guide sleeve 205 is equal to the diameter of the rear end of the bionic micro-slender needle 3, and the bionic micro-slender needle is used for guiding the bionic micro-slender needle 3, so that the bionic micro-slender needle 3 can accurately carry out bone spur grinding operation at a bone spur grinding position. The first bionic fine long needle head guide sleeve 204 is arranged at the rear end of the filter screen 203, the second bionic fine long needle head guide sleeve 205 is arranged at the rear end of the first bionic fine long needle head guide sleeve 204, and an upper latex grinding wheel 206 and a lower latex grinding wheel 207 which are symmetrically arranged up and down are arranged between the first bionic fine long needle head guide sleeve 204 and the second bionic fine long needle head guide sleeve 205. When the upper latex roller 206 rotates anticlockwise and the lower latex roller 207 rotates clockwise, the bionic micro-slender needle 3 is pushed to move forwards; when the upper latex roller 206 rotates clockwise and the lower latex roller 207 rotates anticlockwise, the bionic micro-slender needle 3 is pulled to move backwards. Wherein upper and lower latex grinding wheel all includes a support cylinder and the emulsion cover of cover on a support cylinder, and the emulsion cover takes the non-smooth surface, and the excircle of emulsion cover evenly is covered with the spherical surface arch promptly (the spherical surface arch sets up along outer disc axial equidistance, sets up along circumference equipartition), can play the effect of the bionical little slender syringe needle of parcel to live the bone bits adhesion that has on the bionical little slender syringe needle 3. The latex wheel clamping mechanism consists of four clamping press plates 210, two clamping press plates are distributed on one side of the square needle cylinder 201, the other two clamping press plates are distributed on the other side of the square needle cylinder 201, and the two clamping press plates on the same side are distributed up and down; two latex grinding wheel supporting shafts are arranged up and down; two ends of each emulsion grinding wheel supporting shaft penetrate through the two limiting grooves 2001 on the two sides of the square needle cylinder 201, and are respectively fixed with the two clamping pressing plates with the corresponding heights on the two sides; the supporting cylinders of the upper latex grinding wheel and the lower latex grinding wheel are respectively supported on a supporting shaft of the latex grinding wheel through bearings; the limiting groove consists of a middle groove section, two connecting groove sections and two end groove sections; two ends of the middle groove section are respectively communicated with the two end groove sections through a connecting groove section; the groove width of the connecting groove section is smaller than that of the supporting shaft journal of the latex grinding wheel, the groove width of the middle groove section is larger than that of the supporting shaft journal of the latex grinding wheel, the side wall of the end groove section is arc-shaped, and the diameter of the arc is equal to that of the supporting shaft journal of the latex grinding wheel; the length of the connecting groove section is 2mm, so that the side wall of the connecting groove section is flexible, and a supporting shaft of the latex grinding wheel can pass through the connecting groove section conveniently; the scraping shovel mechanism is used for removing bone fragments adhered to the upper latex grinding wheel and the lower latex grinding wheel, and similarly, the scraping shovel mechanism comprises an upper scraping shovel 208 and a lower scraping shovel 209 which are distributed up and down symmetrically. The tails of the upper and lower scraping shovels are respectively supported on a scraping shovel supporting shaft through bearings; the supporting shaft of the scraping shovel is fixed on the square needle cylinder 201; when the bone spur grinding is needed, the two clamping pressing plates 210 on the same side are pressed oppositely, the clamping pressing plates 210 on the two sides are pressed simultaneously, the latex grinding wheel supporting shaft supporting the upper latex grinding wheel is pressed into the end groove section corresponding to the bottom of the limiting groove, the latex grinding wheel supporting shaft supporting the lower latex grinding wheel is pressed into the end groove section corresponding to the top of the limiting groove, the upper latex grinding wheel and the lower latex grinding wheel are pressed tightly, the upper scraping shovel is separated from the upper latex grinding wheel, and the lower scraping shovel is separated from the lower latex grinding wheel; when the upper latex grinding wheel and the lower latex grinding wheel need to be separated after the grinding of the bone spurs is finished, the two clamping pressing plates on the same side are pulled away in the opposite directions, the clamping pressing plates 210 on the two sides are pulled away simultaneously, when the upper latex grinding wheel and the lower latex grinding wheel are in a separated state, the upper scraping shovel and the lower scraping shovel respectively prop against the upper latex grinding wheel and the lower latex grinding wheel, at the moment, the upper latex grinding wheel 206 rotates clockwise, the lower latex grinding wheel 207 rotates anticlockwise, and the upper scraping shovel and the lower scraping shovel respectively clean bone chips adhered to the upper latex grinding wheel and the lower latex grinding wheel; the driving mechanism is composed of a driving motor 213, a driving pulley 211, a synchronous belt 212 and a motor mounting base 214. The base of the driving motor is fixed on a motor mounting seat 214, and the motor mounting seat 214 is fixed on the square needle cylinder 201; the driving pulley 211 is fixed with the output shaft of the driving motor; the driving pulleys 211 of the two driving mechanisms are respectively connected to the upper latex roller 206 and the lower latex roller 207 through respective timing belts 212. The bionic micro-slender needle head 3 is driven to contract back and forth to grind the bone spur by the rotation direction of the upper latex grinding wheel and the lower latex grinding wheel driven by the positive and negative rotation of the driving motor 213 in the driving mechanism. The bone fragment cleaning pipe joint 215 penetrates through the square needle cylinder 201 and is fixed with the square needle cylinder 201; the bone fragment cleaning pipe joint 215 is positioned above the upper latex grinding wheel; when the bone fragment cleaning is needed after the bone spur grinding is finished, the bone fragment cleaning pipe joint 215 can be externally connected with a cleaning device (such as a medical high-pressure water gun) to clean residual bone fragments.
As shown in fig. 6, the bionic micro-slender needle comprises a needle tip 3-1, a micro-surface appearance section 3-2 and a needle body 3-3 which are sequentially arranged from the front end to the rear end and are integrally formed; the bionic micro-slender needle is made of stainless steel processed by shot blasting. The needle tip 3-1 is conical; the diameter of the needle body 3-3 is 0.4-0.5 mm (the preferred value in the embodiment is 0.4 mm); the length of the micro surface morphology section 3-2 is 3-5 mm (the preferred value of the embodiment is 4mm), the surface is provided with a plurality of micro barb morphologies 301 arranged along two spiral lines and a plurality of micro recess morphologies 302 arranged along two spiral lines, the spiral lines formed by the micro barb morphologies and the spiral lines formed by the micro recess morphologies are arranged at intervals and are arranged at equal intervals, and the end points (the geometric centers of the intersecting lines of the end part position micro barb morphologies 301 or the micro recess morphologies 302 and the micro surface morphology section) of the same end of all the spiral lines are positioned on the same cross section of the bionic micro slender needle head; the micro-barb shape 301 is in an oblique cone shape and inclines towards the needle body, the radius of the bottom surface is 0.05-0.1 mm (the preferred value of the embodiment is 0.08mm), and the distance from the vertex to the center of the bottom surface is 0.2-0.5 mm (the preferred value of the embodiment is 0.3 mm). The micro-barb shape 301 grinds bone spurs, and ground bone chips enter the micro-depression shape 302 and are brought out between the upper latex grinding wheel and the lower latex grinding wheel by the bionic micro-fine long needle head and are extruded by the upper latex grinding wheel and the lower latex grinding wheel and then left on the upper latex grinding wheel and the lower latex grinding wheel.
This biological spur grinding device of imitative ant-eating animal tongue, theory of operation is as follows:
starting the multi-degree-of-freedom mechanical arm 1, conveying the needle head contraction control device 2 and the bionic micro-slender needle head 3 to the position above the bone spur grinding treatment part, and then enabling the bionic micro-slender needle head 3 to penetrate into the bone spur grinding treatment part; two clamping pressing plates distributed on the same side of a square needle cylinder 201 in a latex grinding wheel clamping mechanism are pressed oppositely, the clamping pressing plates 210 on the two sides are pressed simultaneously, a latex grinding wheel supporting shaft supporting an upper latex grinding wheel is pressed into an end groove section corresponding to the bottom of a limiting groove, a latex grinding wheel supporting shaft supporting a lower latex grinding wheel is pressed into an end groove section corresponding to the top of the limiting groove, the upper latex grinding wheel and the lower latex grinding wheel are pressed tightly, an upper scrap scraping shovel is separated from the upper latex grinding wheel, and a lower scrap scraping shovel is separated from the lower latex grinding wheel; then, the two driving motors 213 of the needle retraction control device 2 are started, the rotation directions of the two driving motors 213 are opposite and the rotating speeds are the same, and the rotation directions of the two driving motors 213 are continuously switched to drive the upper latex grinding wheel and the lower latex grinding wheel to rotate in different directions, so that the bionic micro-slender needle 3 is alternately pushed to move forwards or pulled to move backwards. When the bionic micro-slender needle 3 moves, the guide needle 202, the first bionic micro-slender needle guide sleeve 204 and the second bionic micro-slender needle guide sleeve 205 are used for guiding the bionic micro-slender needle 3, but a radial gap is arranged between a guide hole of the first bionic micro-slender needle guide sleeve 204 and the bionic micro-slender needle 3, and a radial gap is arranged between the guide needle 202 and the bionic micro-slender needle 3, so that the micro-barb shape 301 of the bionic micro-slender needle 3 carries out bone spur grinding operation in a local micro-range of a bone spur grinding part, ground bone fragments enter the micro-depression shape 302 and are taken out by the bionic micro-slender needle, one part of the bone fragments is fixed on a filter screen on the inner wall of the square front end of the needle cylinder, and the other part of the bone fragments is taken between an upper latex grinding wheel and a lower latex grinding wheel; because the latex sleeve is sleeved on the upper latex grinding wheel and the lower latex grinding wheel, the outer circular surface of the latex sleeve is uniformly distributed with spherical protrusions, and bone fragments in the micro-recessed morphology 302 are extruded by the upper latex grinding wheel and the lower latex grinding wheel and then are left on the upper latex grinding wheel and the lower latex grinding wheel. After the spur grinding is finished, two clamping pressing plates distributed on the same side of the square needle cylinder 201 in the latex grinding wheel clamping mechanism are pulled away in the opposite directions, the clamping pressing plates 210 on the two sides are pulled away at the same time, the upper latex grinding wheel and the lower latex grinding wheel are in a separated state, and the upper scraping shovel and the lower scraping shovel respectively abut against the upper latex grinding wheel and the lower latex grinding wheel; the two driving motors 213 drive the upper latex grinding wheel 206 and the lower latex grinding wheel 207 to rotate in different directions, the steering directions of the two driving motors 213 are switched continuously, the upper and lower scraping shovels clean bone chips adhered to the upper and lower latex grinding wheels, and at the moment, because the upper and lower latex grinding wheels have no pressing force, the bionic slender needle 3 does not move along with the rotation of the upper and lower latex grinding wheels; meanwhile, a bone fragment cleaning pipe joint 215 arranged above the upper latex grinding wheel 206 is externally connected with a cleaning device (such as a medical high-pressure water gun) to clean residual bone fragments. After the upper latex grinding wheel and the lower latex grinding wheel are cleaned, the two driving motors 213 in the needle retraction control device 2 are closed, and the multi-degree-of-freedom manipulator 1 drives the needle retraction control device 2 and the bionic micro-slender needle 3 to leave the bone spur grinding part; finally, the multi-degree-of-freedom manipulator 1 is closed.
Claims (6)
1. Biological spur grinding device of imitative ant-eating animal tongue, including multi freedom manipulator, syringe needle shrink controlling means and bionical little slender needle, its characterized in that: the needle head contraction control device comprises a square needle cylinder, a guide needle head, a filter screen, a first bionic micro-slender needle head guide sleeve, a second bionic micro-slender needle head guide sleeve, an upper latex grinding wheel, a lower latex grinding wheel, a scrap scraping shovel mechanism, a latex grinding wheel clamping mechanism and a driving mechanism; the multi-degree-of-freedom manipulator is connected with the square needle cylinder through a connecting plate; the rear end of the guide needle head is connected with a threaded hole formed in the front end of the square needle cylinder through threads; the filter screen is fixed on the inner wall of the front end of the square needle cylinder; a first bionic fine long needle head guide sleeve and a second bionic fine long needle head guide sleeve are arranged in the square needle cylinder, the first bionic fine long needle head guide sleeve is arranged at the rear end of the filter screen, and the second bionic fine long needle head guide sleeve is arranged at the rear end of the first bionic fine long needle head guide sleeve; the rear end of the bionic micro-slender needle head is sequentially embedded into a guide hole of the guide needle head, a guide hole of the first bionic micro-slender needle head guide sleeve and a guide hole of the second bionic micro-slender needle head guide sleeve, a radial gap is formed between the guide hole of the guide needle head and the bionic micro-slender needle head, and a radial gap is formed between the guide hole of the first bionic micro-slender needle head guide sleeve and the bionic micro-slender needle head; the inner diameter of a guide hole of the second bionic micro-slender needle guide sleeve is equal to the diameter of the rear end of the bionic micro-slender needle; an upper latex grinding wheel and a lower latex grinding wheel which are symmetrically arranged up and down are arranged between the first bionic fine needle head guide sleeve and the second bionic fine needle head guide sleeve; the upper latex grinding wheel and the lower latex grinding wheel respectively comprise a supporting cylinder and a latex sleeve sleeved on the supporting cylinder, and spherical bulges are uniformly distributed on the outer circular surface of the latex sleeve; the latex grinding wheel clamping mechanism consists of four clamping press plates, two clamping press plates are distributed on one side of the square needle cylinder, the other two clamping press plates are distributed on the other side of the square needle cylinder, and the two clamping press plates on the same side are distributed up and down; two latex grinding wheel supporting shafts are arranged up and down; two ends of each emulsion grinding wheel supporting shaft penetrate through two limiting grooves on two sides of the square needle cylinder, and two clamping pressing plates with corresponding heights on two sides are fixed respectively; the supporting cylinders of the upper latex grinding wheel and the lower latex grinding wheel are respectively supported on a supporting shaft of the latex grinding wheel through bearings; the limiting groove consists of a middle groove section, two connecting groove sections and two end groove sections; two ends of the middle groove section are respectively communicated with the two end groove sections through a connecting groove section; the groove width of the connecting groove section is smaller than that of the supporting shaft journal of the latex grinding wheel, the groove width of the middle groove section is larger than that of the supporting shaft journal of the latex grinding wheel, the side wall of the end groove section is arc-shaped, and the diameter of the arc is equal to that of the supporting shaft journal of the latex grinding wheel; the length of the connecting groove section is 2 mm; the scrap scraping shovel mechanism comprises an upper scrap scraping shovel and a lower scrap scraping shovel which are symmetrically distributed up and down; the tails of the upper and lower scraping shovels are respectively supported on a scraping shovel supporting shaft through bearings; the supporting shaft of the scraping shovel is fixed on the square needle cylinder; the driving mechanism consists of a driving motor, a driving belt wheel, a synchronous belt and a motor mounting seat; the base of the driving motor is fixed on the motor mounting seat, and the motor mounting seat is fixed on the square needle cylinder; the driving belt wheel is fixed with an output shaft of the driving motor; the driving belt wheels of the two driving mechanisms are respectively connected with the upper emulsion grinding wheel and the lower emulsion grinding wheel through respective synchronous belts;
the bionic micro-slender needle comprises a needle point, a micro-surface appearance section and a needle body which are sequentially arranged from the front end to the rear end and are integrally formed; the little surface morphology section surface is equipped with a plurality of little barb appearances that arrange along two helices and a plurality of little sunken appearances that arrange along two helices, and the helix that little barb appearance formed and the helix that little sunken appearance formed alternate the setting and the equidistance arrangement, and the extreme point of the same end of all helices is located the same cross section of bionical little slender syringe needle.
2. The ant-eating animal tongue imitated biological spur milling device according to claim 1, wherein: also comprises a bone fragment cleaning pipe joint; the bone fragment cleaning pipe joint penetrates through the square needle cylinder and is fixed with the square needle cylinder; the bone fragment cleaning pipe joint is positioned above the upper latex grinding wheel.
3. The ant-eating animal tongue imitated biological spur milling device according to claim 1, wherein: the bionic micro-slender needle head is made of stainless steel subjected to shot blasting.
4. The ant-eating animal tongue imitated biological spur milling device according to claim 1, wherein: the needle point is conical.
5. The ant-eating animal tongue imitated biological spur milling device according to claim 1, wherein: the diameter of the needle body is 0.4-0.5 mm; the length of the micro-surface topography section is 3-5 mm.
6. The ant-eating animal tongue imitated biological spur milling device according to claim 1, wherein: the shape of the micro-barb is in an oblique cone shape and inclines towards the needle body, the radius of the bottom surface is 0.05-0.1 mm, and the distance from the vertex to the center of the bottom surface is 0.2-0.5 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810750179.0A CN109077775B (en) | 2018-07-10 | 2018-07-10 | Biological spur grinding device of imitative ant-eating beast tongue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810750179.0A CN109077775B (en) | 2018-07-10 | 2018-07-10 | Biological spur grinding device of imitative ant-eating beast tongue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109077775A CN109077775A (en) | 2018-12-25 |
| CN109077775B true CN109077775B (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810750179.0A Expired - Fee Related CN109077775B (en) | 2018-07-10 | 2018-07-10 | Biological spur grinding device of imitative ant-eating beast tongue |
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| Country | Link |
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| CN (1) | CN109077775B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112451038A (en) * | 2020-11-30 | 2021-03-09 | 上海千健医药科技有限公司 | Bionic biological bone spur grinding method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7247161B2 (en) * | 2002-03-22 | 2007-07-24 | Gyrus Ent L.L.C. | Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus |
| US9005203B2 (en) * | 2009-09-24 | 2015-04-14 | Imds, Llc | Reciprocating surgical instruments |
| CN202446199U (en) * | 2012-01-03 | 2012-09-26 | 张峰 | Multifunctional bony spur clearer |
| CN204484235U (en) * | 2015-03-10 | 2015-07-22 | 胡镜宙 | Floating type bone milling drum |
| CN108013924B (en) * | 2017-12-27 | 2019-11-12 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of fracture fixation pilot pin |
| CN108309420B (en) * | 2018-02-05 | 2023-12-01 | 沈影超 | Multi-blade self-drilling bone round needle with scaly groove |
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2018
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| Publication number | Publication date |
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| CN109077775A (en) | 2018-12-25 |
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Granted publication date: 20200421 |