CN112515769A - Bone nail, registration probe and surgical robot - Google Patents
Bone nail, registration probe and surgical robot Download PDFInfo
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- CN112515769A CN112515769A CN202011254969.3A CN202011254969A CN112515769A CN 112515769 A CN112515769 A CN 112515769A CN 202011254969 A CN202011254969 A CN 202011254969A CN 112515769 A CN112515769 A CN 112515769A
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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
- A61B34/30—Surgical robots
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/683—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin comprising bone transfixation elements, e.g. bolt with a distal cooperating element such as a nut
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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
- A61B34/73—Manipulators for magnetic surgery
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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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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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
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
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Abstract
The invention relates to a set of fitted bone nails and registration probes. The bone nail comprises a nail body and a nail cap. The nail body can be nailed into the skull point under the action of external force. The nail cap is arranged at one end of the nail body; at least part of the nail cap is made of magnetic materials, and the magnetic materials in the nail cap can attract the magnetic materials at the tail end of the probe in the registration probe. The registration probe includes a probe body and a probe tip. The tail end of the probe is arranged at one end of the probe main body; at least part of the probe tail end is made of magnetic materials, and the magnetic materials in at least part of the probe tail end can attract the magnetic materials in the nail cap. The invention also relates to a surgical robot comprising the bone nail and the registration probe. Above-mentioned bone nail, registration probe and surgical robot, bone nail and registration probe when being close to each other, magnetic material between the two produces the effort of inter attraction, and then guarantees the abundant laminating between bone nail and the registration probe, has guaranteed the precision of operation to a certain extent.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a bone nail, a registration probe and a surgical robot.
Background
The surgical robot can assist a doctor in performing more accurate operation in the surgical process. Before the surgical robot is used for surgery, it is generally necessary to register surgical instruments used in the surgical procedure, for example, during the registration process of neurosurgery (contact registration of bone pins), image point taking and mechanical arm point taking are performed. When the mechanical arm is used for taking points, the registration probe needs to be in place in contact with the bone nail, otherwise, the registration precision is greatly influenced. However, the joint of the registration probe and the bone nail is directly completed by the operation of a doctor, and whether the registration probe and the bone nail are in place or not is also completely judged by the doctor subjectively and lacks of objective basis, so that a larger registration error is easily caused, and the operation precision is influenced.
Disclosure of Invention
In view of this, it is necessary to provide a bone nail, a registration probe, and a surgical robot that can be easily attached to a site, in order to solve the problem that the registration probe and the fixation are not attached to each other in a general surgical procedure.
A bone nail, comprising:
the nail body can be nailed into a skull point under the action of external force;
the nail cap is arranged at one end of the nail body; at least part of the nail cap is made of magnetic materials, and the magnetic materials in the nail cap can attract the magnetic materials at the tail end of the probe in the registration probe.
In one embodiment, the entire nail cap is made of a magnetic material, and any part of the nail cap can attract the magnetic material at the tail end of the probe in the registration probe.
In one embodiment, the nail cap and the nail body are made of magnetic materials respectively, and any position of the nail cap and/or the nail body can attract the magnetic materials at the tail end of the probe in the registration probe.
In one embodiment, the magnetic material comprises iron, cobalt and/or nickel; or the magnetic material comprises an alloy of iron, cobalt and/or nickel; or the magnetic material comprises a ferromagnetic material.
A registration probe, comprising:
a probe body;
a probe tip disposed at one end of the probe body; at least part of the probe tail end is made of a magnetic material, and the magnetic material in at least part of the probe tail end can attract the magnetic material in the nail cap.
In one embodiment, the whole probe end is made of a magnetic material, and the probe end can attract the magnetic material in the nail cap; or the whole registration probe is made of a magnetic material.
In one embodiment, the magnetic material comprises iron, cobalt and/or nickel; or the magnetic material comprises an alloy of iron, cobalt and/or nickel; or the magnetic material comprises a ferromagnetic material.
In one embodiment, the probe end comprises a soft magnetic part and a non-magnetic part, and the soft magnetic part and the non-magnetic part are enclosed to form a hollow accommodating cavity; the registration probe further comprises a magnetic switch, the magnetic switch comprises a magnet, and the magnet is movably arranged in the accommodating cavity; when the magnet moves, the two magnetic poles respectively face the soft magnetic part or the non-magnetic part.
In one embodiment, the magnet is a permanent magnet, the magnetic switch further comprises a knob, the knob is fixedly connected with the permanent magnet, and the knob drives the permanent magnet to rotate until the two magnetic poles respectively face the soft magnetic part or the non-magnetic part.
In one embodiment, the number of the soft magnetic parts and the number of the non-magnetic parts are two, the two soft magnetic parts and the two non-magnetic parts are arranged at intervals, and a hollow accommodating cavity is formed by enclosing the two soft magnetic parts and the two non-magnetic parts.
In one embodiment, the material of the non-magnetic part is copper or an alloy thereof.
In one embodiment, the probe tip comprises a tip body and a tip coil, the tip coil being helically wound around the tip body, the tip coil and/or the tip body forming an electromagnet having a polarity in an energized state; the material of the terminal body comprises a metal material, plastic or a ceramic material.
A surgical robot comprising a mechanical arm, a registration probe, and a bone nail; the bone nail comprises a nail body and a nail cap, the nail body can be nailed into a skull point under the action of external force, the nail cap is arranged at one end of the nail body, and at least part of the nail cap is made of magnetic materials; the registration probe comprises a probe body and a probe tail end, wherein the probe tail end is arranged at one end of the probe body; at least part of the tail end of the probe is made of a magnetic material; at least part of the magnetic material in the probe end can attract the magnetic material in the nail cap; the probe main body is arranged at the tail end of the mechanical arm, and the registration probe moves along with the mechanical arm.
In one embodiment, the outer surface of the mechanical arm is coated with a non-magnetic coating.
In one embodiment, the surgical robot further comprises an isolation flange disposed between the end of the robotic arm and the registration probe, wherein the isolation flange is made of a non-magnetic material.
In one embodiment, the surgical robot further comprises a force sensor and a controller, the force sensor being disposed between the distal end of the robotic arm and the isolation flange; the controller is respectively connected with the force sensor and the mechanical arm, receives a stress signal of the force sensor, and controls the mechanical arm to drive the registration probe to move according to the received stress signal.
Above-mentioned bone nail, registration probe and surgical robot, bone nail and registration probe when being close to each other to certain distance within range, magnetic material between the two produces the effort of inter attraction, and then guarantees the abundant laminating between bone nail and the registration probe, has effectively avoided by error and the erroneous judgement that the operator is whether abundant laminating exists to bone nail and registration probe, and then has guaranteed the precision of operation to a certain extent.
Drawings
FIG. 1 is a schematic view of a bone screw according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a registration probe structure according to an embodiment of the present invention;
FIG. 3 is a schematic view of a probe tip structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of a magnet rotated to a non-magnetic position according to an embodiment of the present invention;
FIG. 5 is a schematic view of a magnet rotated to face a soft magnetic portion according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a magnetic switch according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an isolation flange according to an embodiment of the present invention.
Wherein: 100. bone nails; 110. a nail body; 120. a nail cap; 200. registering a probe; 210. a probe body; 220. a probe end; 221. a soft magnetic portion; 222. a non-magnetic portion; 300. a magnetic switch; 310. a magnet; 320. a knob; 400. a mechanical arm; 500. an isolation flange; 600. a force sensor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
In surgical operations such as neurosurgery, it is sometimes necessary to drive bone screws into bone depending on the treatment protocol. To ensure smooth and high-precision completion of the surgical procedure, the bone nails need to be registered by using a surgical robot before the operation. Adequate fit or contact between the bone pins and the registration probes is critical to improve registration accuracy and shorten registration time. The invention provides a group of bone nails and registration probes which are adaptive to use, which are easy to realize the sufficient contact between the bone nails and the registration probes, and also provides a surgical robot comprising the bone nails and the registration probes. The following description is given by way of example.
As shown in fig. 1-3, one embodiment of the present invention provides a bone nail 100 for use in a neurosurgical or other surgical procedure where the bone nail 100 can be driven into bone at a set direction and depth (the point of cranium entry). Specifically, the bone nail 100 includes a nail body 110 and a nail cap 120. One end of the nail body 110 is a tip, and the tip of the nail body 110 can be driven into a cranial point under the action of external force. The nut 120 is disposed at one end (the other end away from the tip) of the nail body 110. At least a portion of the nut 120 is made of a magnetic material, and at least a portion of the magnetic material in the nut 120 is capable of attracting the magnetic material at the probe tip 220 of the registration probe 200. Above-mentioned bone nail 100, bone nail 100 and registration probe 200 are when being close to each other to certain distance within range, and magnetic material between the two produces the effort of inter attraction, and then guarantee the abundant laminating between bone nail 100 and the registration probe 200, have effectively avoided by error and the erroneous judgement that the operator is whether abundant laminating exists to bone nail 100 and registration probe 200, and then have guaranteed the precision of operation to a certain extent.
In the above embodiment, the magnetic material in the nut 120 and the magnetic material in the registration probe 200 are configured to generate an attractive force within a certain distance, thereby ensuring a sufficient fit between the bone nail 100 and the registration probe 200. It is understood that the main body of the nail cap 120 may be a non-magnetic material, and only a piece of magnetic material is embedded in the nail cap 120; or the body of the nut 120 is a magnetic material, a portion of non-magnetic material is also permitted to be present in the nut 120; or the whole nail cap 120 is made of magnetic material; the above-described several ways can achieve attraction between the nut 120 and the registration probe 200. 1-3, the entire nut 120 is made of a magnetic material, and any part of the nut 120 can attract the magnetic material of the probe tip 220 of the registration probe 200; the specific area of the bone nail 100 does not need to be aligned with the registration probe 200 during the registration process, further shortening the registration time of the bone nail 100.
Optionally, in the above embodiments, the materials of the nut 120 and the nail body 110 may be the same or different. When the cap 120 and the body 110 are made of the same material, the entire bone nail 100 is made of a magnetic material, the body 110 and the cap 120 are integrated, no additional process is required to join the cap 120 and the body 110, and any place between the cap 120 and the body 110 can attract the magnetic material at the probe end 220 of the registration probe 200. When the material of the nail head 120 is different from that of the nail body 110, the nail head 120 and the nail body 110 can be fixed together by casting or mechanical fixing, such as additional fixing pieces or screwing the nail head 120 and the nail body 110. The specific cap 120 and the shank 110 are the same magnetic material or different materials, which may be determined according to the strength requirement of the bone nail 100. When the strength requirement of the nail body 110 is low, the nail head 120 and the nail body 110 can be designed to be made of magnetic materials, such as iron, cobalt, nickel, alloys thereof and the like. When the strength requirement of the nail body 110 is high, only the nail head 120 may be designed to be a magnetic material, such as iron, cobalt, nickel, and alloys thereof, and the nail body 110 may be designed to be a stainless steel, titanium alloy, or other materials.
It will be appreciated that the magnetic material in the bone nail 100 may be either a magnet or a material that is easily magnetized. As shown in fig. 1-3, in one embodiment of the invention, the magnetic material comprises iron, cobalt and/or nickel, or the magnetic material comprises an alloy of iron, cobalt and/or nickel, or the magnetic material comprises a strong magnetic material (such as a neodymium magnet). At least one of the magnetic material in the bone nail 100 and the magnetic material in the registration probe 200 is a magnet. Take the example where the registration probe 200 comprises a ferromagnetic material and the bone nail 100 comprises a soft magnetic material: when the bone nail 100 and the registration probe 200 are brought close to each other, the soft magnetic material in the bone nail 100 has a magnetic property opposite to that of the strong magnet in the registration probe 200 under the magnetization of the strong magnet, thereby achieving the mutual attraction between the bone nail 100 and the registration probe 200. In other embodiments, it is also possible to include ferromagnetic material on both the bone nail 100 and the registration probe 200, taking care that the ferromagnetic material on the bone nail 100 and the registration probe 200 are of opposite polarity.
In accordance with various embodiments of the bone nail 100 described above, an embodiment of the present invention further provides a registration probe 200, as shown in fig. 1-3. The registration probe 200 includes a probe body 210 and a probe tip 220. The probe body 210 can be fixedly connected to a robotic arm 400 on a surgical robot. The probe tip 220 is disposed at one end of the probe body 210. At least a portion of the probe tip 220 is made of a magnetic material, and the magnetic material in at least a portion of the probe tip 220 can attract the magnetic material in the nut 120. Above-mentioned registration probe 200, bone nail 100 and registration probe 200 are when being close to each other to certain distance within range, and the magnetic material between the two produces the effort of inter attraction, and then guarantees the abundant laminating between bone nail 100 and the registration probe 200, has effectively avoided by error and the erroneous judgement that the operator fully laminated existence to bone nail 100 and registration probe 200, and then has guaranteed the precision of operation to a certain extent.
In the above embodiment, the magnetic material in the registration probe 200 and the magnetic material in the nut 120 act to generate an attractive force within a certain distance, thereby ensuring a sufficient fit between the registration probe 200 and the bone nail 100. It is understood that the main body portion of the probe tip 220 may be a non-magnetic material, with only a small piece of magnetic material embedded in the probe tip 220; or the body of the probe tip 220 is a magnetic material, a portion of non-magnetic material is also allowed to be present in the probe tip 220; alternatively, the entire probe tip 220 is made of a magnetic material, and the probe tip 220 can attract the magnetic material in the nut 120. Alternatively, the entire registration probe 200 may be made of a magnetic material. The attraction between the probe tip 220 and the nut 120 can be achieved in several ways as described above. As one way to achieve this, as shown in fig. 1-3, the material of the entire probe tip 220 is magnetic, which is convenient for processing; the probe body 210 portion may be made of a material selected for its own strength requirements.
Alternatively, in the above embodiments, the material of the probe body 210 and the material of the probe tip 220 may be the same or different. When the probe body 210 and the probe tip 220 are made of the same material, the entire registration probe 200 is made of a magnetic material, and the probe body 210 and the probe tip 220 are integrated without an additional process for joining the probe body 210 and the probe tip 220. When the material of the probe body 210 and the probe tip 220 is different, the probe body 210 and the probe tip 220 may be fixed together by casting or mechanical fixing, such as additional fixing members or screwing the probe body 210 and the probe tip 220. The specific probe body 210 and the probe tip 220 are made of the same magnetic material or different materials, which can be determined according to actual conditions. Specifically, the magnetic material in the probe body 210 may be iron, cobalt, nickel, an alloy thereof, or the like; alternatively, the magnetic material in the probe body 210 may be a strong magnet, such as a neodymium magnet. At least one of the magnetic material in the registration probe 200 and the magnetic material in the bone nail 100 is a magnet.
In one embodiment of the present invention, the magnetic material of the probe tip 220 is magnetic, and can attract the magnetic material on the nail cap 120. In one implementation, the probe tip 220 is a magnet in its entirety. As another way of accomplishing this, as shown in fig. 4-6, the probe tip 220 includes a soft magnetic portion 221 and a non-magnetic portion 222, the soft magnetic portion 221 and the non-magnetic portion 222 being enclosed to form a hollow receiving cavity. The registration probe 200 further comprises a magnetic switch 300, wherein the magnetic switch 300 comprises a magnet 310, and the magnet 310 is movably disposed in the accommodating cavity. The magnet 310 is active with two poles towards the soft 221 or non-magnetic 222 sections, respectively. When the two poles of the magnet 310 are oriented toward the soft magnetic section 221, the soft magnetic on the probe tip 220 is magnetized, and the probe tip 220 as a whole has magnetic properties that attract the magnetic material on the nut 120. When it is desired to separate the registration probe 200 from the current bone nail 100, the magnet 310 is rotated toward the non-magnetic portion 222, the soft magnetic portion 221 of the probe tip 220 is less magnetic, and the registration probe 200 is separated from the bone nail 100.
Optionally, in the above embodiment, the magnet 310 is a permanent magnet, as shown in fig. 4 to 6, the magnetic switch 300 further includes a knob 320, the knob 320 is disposed on the outer surface of the probe end 220 or other mountable positions, the knob 320 is fixedly connected to the permanent magnet, and the knob 320 drives the permanent magnet to rotate until the two magnetic poles face the soft magnetic portion 221 or the non-magnetic portion 222, respectively. In one specific embodiment, when the knob 320 rotates the permanent magnet by 90 °, the two magnetic poles face the soft magnetic portion 221 or the non-magnetic portion 222, respectively. Further, the soft magnetic part 221 and the non-magnetic part 222 are respectively two, the two soft magnetic parts 221 and the two non-magnetic parts 222 are arranged at intervals, and the two soft magnetic parts 221 and the two non-magnetic parts 222 surround to form a hollow accommodating cavity. The material of the non-magnetic portion 222 is copper or an alloy thereof. Since the magnetization and demagnetization processes of the soft magnetic material are very fast, the middle of the magnet 310 is weak but the two ends are strong. When the magnet 310 is rotated to the neutral position, N, S poles are facing nonmagnetic copper and the registration probe 200 is generally less magnetic. After the permanent magnet is rotated by 90 degrees, N, S poles face the soft magnetic material, the soft magnetic material is quickly magnetized, and the whole registration probe 200 has strong magnetism. The contact or separation of the registration probe 200 with the bone nail 100 may be easily accomplished.
In one embodiment of the present invention, the probe tip 220 includes a tip body and a tip coil spirally wound around the tip body. When the material of the terminal body is plastic or ceramic material, the terminal coil forms an electromagnet 310 with polarity in the power-on state. When the material of the end body is a metal material, the end coil and the end body form an electromagnet 310 having a polarity in a power-on state. When the material of terminal body adopts metal material, be convenient for reach higher machining precision. Correspondingly, the bone nail 100 is made of metal iron, cobalt, nickel, etc. The end coil is connected to a switched power supply, and when the registration probe 200 is brought into proximity with the bone nail 100 and the switch is closed, the probe end 220 is magnetized so that the probe end 220 smoothly fits the bone nail 100. The switch is turned off and the magnetism of the probe tip 220 disappears, so that the registration probe 200 can be smoothly taken off the bone screw 100. As an implementation manner, a coil groove may be formed in the terminal body, and the terminal coil may be wound in the coil groove.
The present invention also provides a surgical robot, as shown in fig. 1-3 and 7-8, the surgical robot includes a robot arm 400, a registration probe 200, and a bone nail 100; the bone nail 100 comprises a nail body 110 and a nail cap 120, wherein the nail body 110 can be nailed into a skull point under the action of external force, the nail cap 120 is arranged at one end of the nail body 110, and at least part of the nail cap 120 is made of magnetic materials; the registration probe 200 includes a probe body 210 and a probe tip 220, the probe tip 220 being disposed at one end of the probe body 210; at least some of the probe tips 220 are made of magnetic material; at least some of the magnetic material in the probe tip 220 is capable of attracting to the magnetic material in the nut 120; the probe body 210 is disposed at the end of the robot arm 400, and the registration probe 200 moves along with the robot arm 400. Above-mentioned surgical robot, bone nail 100 and registration probe 200 are when being close to each other to certain distance within range, and the magnetic material between the two produces the effort of inter attraction, and then guarantees the abundant laminating between bone nail 100 and the registration probe 200, has effectively avoided by error and the erroneous judgement that the operator fully laminated the existence to bone nail 100 and registration probe 200, and then has guaranteed the precision of operation to a certain extent.
In an embodiment of the present invention, as shown in fig. 1-3 and 7-8, the non-magnetic coating is applied to the outer surface of the robot arm 400, so as to effectively prevent the registration probe 200 from directly contacting the robot arm 400 during the movement of the robot arm 400. Further, the surgical robot further comprises an isolation flange 500, the isolation flange 500 is arranged between the tail end of the mechanical arm 400 and the registration probe 200, the isolation flange 500 is made of a non-magnetic material, and the registration probe 200 made of a strong magnetic material is prevented from directly contacting with the tail end of the mechanical arm 400. Further, the surgical robot further includes a force sensor 600 and a controller, the force sensor 600 being disposed between the end of the robot arm 400 and the isolation flange 500. The controller is respectively connected with the force sensor 600 and the mechanical arm 400, receives the stress signal of the force sensor 600, and controls the mechanical arm 400 to drive the registration probe 200 to move according to the received stress signal. When the registration probe 200 approaches the bone nail 100, the registration probe 200 is attracted by magnetic force and the attraction is transmitted to the force sensor 600, the isolation flange 500 and the registration probe 200 are sequentially installed at the tail end of the mechanical arm 400, the dragging force is transmitted to the force sensor 600 by dragging the registration probe 200, the force sensor 600 converts a force signal into an electric signal, a controller sends a motion instruction to the mechanical arm 400, and the mechanical arm 400 is controlled to move according to the stress condition of the force sensor 600, so that the registration probe 200 can be more easily attached to the bone nail 100.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. A bone nail, comprising:
the nail body can be nailed into a skull point under the action of external force;
the nail cap is arranged at one end of the nail body; at least part of the nail cap is made of magnetic materials, and the magnetic materials in the nail cap can attract the magnetic materials at the tail end of the probe in the registration probe.
2. The bone screw of claim 1, wherein the entire cap is made of a magnetic material, and any part of the cap is capable of attracting the magnetic material at the end of the probe of the registration probe.
3. The bone nail according to claim 2, wherein the cap and the shank are made of magnetic materials, and any one of the cap and/or the shank can attract the magnetic material at the end of the probe in the registration probe.
4. A bone nail according to any of claims 1-3, characterized in that the magnetic material comprises iron, cobalt and/or nickel; or the magnetic material comprises an alloy of iron, cobalt and/or nickel; or the magnetic material comprises a ferromagnetic material.
5. A registration probe, comprising:
a probe body;
a probe tip disposed at one end of the probe body; at least part of the probe tail end is made of a magnetic material, and the magnetic material in at least part of the probe tail end can attract the magnetic material in the nail cap.
6. The registration probe of claim 5, wherein the entire probe tip is made of a magnetic material, and the probe tip can attract the magnetic material in the nail cap; or the whole registration probe is made of a magnetic material.
7. The registration probe of any of claims 5-6, wherein the magnetic material comprises iron, cobalt, and/or nickel; or the magnetic material comprises an alloy of iron, cobalt and/or nickel; or the magnetic material comprises a ferromagnetic material.
8. The registration probe of claim 5, wherein the probe tip comprises a soft magnetic portion and a non-magnetic portion, the soft magnetic portion and the non-magnetic portion enclosing a hollow receiving cavity; the registration probe further comprises a magnetic switch, the magnetic switch comprises a magnet, and the magnet is movably arranged in the accommodating cavity; when the magnet moves, the two magnetic poles respectively face the soft magnetic part or the non-magnetic part.
9. The registration probe of claim 8, wherein the magnet is a permanent magnet, the magnetic switch further comprises a knob, the knob is fixedly connected to the permanent magnet, and the knob drives the permanent magnet to rotate until the two magnetic poles face the soft magnetic portion or the non-magnetic portion, respectively.
10. The registration probe of claim 8, wherein the number of the soft magnetic portion and the non-magnetic portion is two, the two soft magnetic portions and the two non-magnetic portions are spaced apart, and a hollow accommodating cavity is defined by the two soft magnetic portions and the two non-magnetic portions.
11. The registration probe of claim 5, wherein the probe tip comprises a tip body and a tip coil, the tip coil being helically wound around the tip body, the tip coil and/or the tip body forming an electromagnet having a polarity in an energized state; the material of the terminal body comprises a metal material, plastic or a ceramic material.
12. A surgical robot, comprising a mechanical arm, a registration probe, and a bone nail; the bone nail comprises a nail body and a nail cap, the nail body can be nailed into a skull point under the action of external force, the nail cap is arranged at one end of the nail body, and at least part of the nail cap is made of magnetic materials; the registration probe comprises a probe body and a probe tail end, wherein the probe tail end is arranged at one end of the probe body; at least part of the tail end of the probe is made of a magnetic material; at least part of the magnetic material in the probe end can attract the magnetic material in the nail cap; the probe main body is arranged at the tail end of the mechanical arm, and the registration probe moves along with the mechanical arm.
13. A surgical robot as claimed in claim 12, wherein the outer surface of the robotic arm is coated with a non-magnetic coating.
14. A surgical robot as claimed in claim 13, further comprising an isolation flange disposed between the end of the robotic arm and the registration probe, the isolation flange being of a non-magnetic material.
15. A surgical robot as claimed in claim 14, further comprising a force sensor and a controller, the force sensor being disposed between the tip of the robotic arm and the isolation flange; the controller is respectively connected with the force sensor and the mechanical arm, receives a stress signal of the force sensor, and controls the mechanical arm to drive the registration probe to move according to the received stress signal.
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| CN202011254969.3A CN112515769A (en) | 2020-11-11 | 2020-11-11 | Bone nail, registration probe and surgical robot |
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| CN202011254969.3A CN112515769A (en) | 2020-11-11 | 2020-11-11 | Bone nail, registration probe and surgical robot |
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