CN112754591B - Groove processing device and method of using the same - Google Patents
Groove processing device and method of using the same Download PDFInfo
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- CN112754591B CN112754591B CN202011645333.1A CN202011645333A CN112754591B CN 112754591 B CN112754591 B CN 112754591B CN 202011645333 A CN202011645333 A CN 202011645333A CN 112754591 B CN112754591 B CN 112754591B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012545 processing Methods 0.000 title claims abstract description 16
- 238000005520 cutting process Methods 0.000 claims abstract description 186
- 230000000452 restraining effect Effects 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 3
- 210000003625 skull Anatomy 0.000 claims description 30
- 230000007246 mechanism Effects 0.000 claims description 22
- 210000000988 bone and bone Anatomy 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 238000003754 machining Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 210000004556 brain Anatomy 0.000 description 8
- 230000013011 mating Effects 0.000 description 8
- 238000002513 implantation Methods 0.000 description 7
- 230000000638 stimulation Effects 0.000 description 6
- 230000002452 interceptive effect Effects 0.000 description 4
- 238000002595 magnetic resonance imaging Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 238000007920 subcutaneous administration Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 208000024827 Alzheimer disease Diseases 0.000 description 1
- 206010040943 Skin Ulcer Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000028552 Treatment-Resistant Depressive disease Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 206010015037 epilepsy Diseases 0.000 description 1
- 201000006517 essential tremor Diseases 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
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- 231100000019 skin ulcer Toxicity 0.000 description 1
- 238000006467 substitution reaction Methods 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
- A61B17/16—Instruments for performing osteoclasis; 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
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/1695—Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
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- Surgical Instruments (AREA)
- Milling Processes (AREA)
Abstract
The invention provides a groove processing device and a use method thereof, wherein the groove processing device comprises the following steps: a cutting tool comprising a cutting tool for cutting a groove in a target surface such that a device to be implanted is secured within the groove in the target surface; the cutting tool comprises a shape restraining device, wherein the shape restraining device is matched with the cutting tool and used for restraining the action of the cutting tool so as to cut a groove with a set shape and depth on the surface of a target object. The groove processing device provided by the invention can be used for preparing the groove, so that the equipment to be implanted can be reliably placed and fixed. The device to be implanted can thus be firmly and reliably fixed in the target surface.
Description
Technical Field
The invention relates to the field of equipment installation, in particular to a groove machining device and a using method thereof.
Background
The deep brain electric stimulation therapy plays a role in effectively treating related diseases by carrying out electric pulse stimulation on different functional nuclear groups in the deep brain, and is a reversible nerve regulation treatment method. At present, deep brain electro-stimulation therapy can be applied to diseases such as Parkinson, epilepsy, spasm, essential tremor and the like, and application researches on Alzheimer's syndrome, refractory depression, post-cerebral-stroke rehabilitation, pain and the like are also being carried out.
Typically, in DBS (deep brain stimulation, deep brain electro-stimulation) systems, the pulse generator is implanted in front of the user's chest, and the attachment of extension leads and electrodes requires the creation of a long subcutaneous tunnel, which is relatively complex to operate. The extension wire passes through the subcutaneous tunnel through the neck from the chest and is connected with the electrode under the skin of the head, the movement of the neck easily leads to the stress of the extension wire, thus causing a series of problems such as connection failure, breakage of the extension wire or the electrode, extension and the like, and in addition, the friction between the extension wire and the skin can also lead to skin crumple, in particular to the connection part of the extension wire and the electrode. Thus, a new DBS surgical method is proposed, in which the device to be implanted (e.g. a pulse generator) is directly fixed to the skull of the user, the device to be implanted and the electrode being directly connected. Thereby reducing the complexity of the operation, eliminating the extension lead in the existing deep brain electric stimulation system, and avoiding the problems of connection failure, extension lead or electrode fracture, skin burst and the like caused by stress of the extension lead. However, in order to conveniently and reliably fix a device to be implanted (e.g., a pulse generator) to a target object (e.g., a skull or a skull model), it is necessary for a specific device to prepare a recess in the surface of the target object to place and fix the device to be implanted.
Disclosure of Invention
The present invention is directed to a groove processing device and a method for using the same, so as to solve the above-mentioned problems in the prior art.
The present invention provides a groove processing device, comprising:
a cutting tool including a cutting tool for cutting a groove in a target surface and a depth adjustment mechanism cooperating with the cutting tool to produce a groove of a set depth in the target surface;
The cutting tool comprises a shape constraint device, wherein the shape constraint device is matched with the cutting tool and used for constraining the action of the cutting tool so as to cut a groove with a set shape on the surface of a target object.
The shape constraint device comprises a cutting die, wherein a constraint boundary matched with the shape of the equipment to be implanted is arranged on the cutting die, and the constraint boundary is used for guiding a cutting tool to manufacture a groove matched with the outer contour of the equipment to be implanted on the surface of a target object.
The shape constraint device further comprises a fixing seat, the fixing seat is provided with a hollowed-out portion, the hollowed-out portion is used for exposing the surface of a target object to be cut, and the cutting die is fixed on the fixing seat.
The fixing seat is provided with a plurality of fixing holes, the side wall of each fixing hole is provided with a fastening hole, the fixing seat is fixed on the surface of a target object through a first screw penetrating through each fixing hole, and the first screw is fixed on the fixing seat through a fastening screw penetrating through each fastening hole.
The cutting die is characterized in that a first positioning structure is further arranged on the cutting die, a second positioning structure is arranged on the fixing seat, and the first positioning structure is matched with the second positioning structure.
The cutting tool further comprises a positioning tool used for guiding the fixing seat to be installed at a set position on the surface of the target object;
The positioning tool comprises a positioning plate, a positioning guide rod and a positioning guide rail, wherein the positioning plate is detachably arranged in the hollowed-out part of the fixed seat, the positioning plate is fixedly connected with the positioning guide rod, and the positioning guide rod can slide along the positioning guide rail to drive the positioning plate and the fixed seat to move to be tangent with the surface of the target object.
The cutting depth adjusting mechanism comprises a screw, a nut and a knob, wherein the screw is fixedly connected with a machine head component of the cutting tool, the nut is in threaded connection with the screw, and the knob is sleeved outside the screw and the nut and is fixedly connected with the nut.
The screw comprises a rod body, a machine head connecting portion and a nut connecting portion, wherein the rod body is arranged in a stepped mode, the machine head connecting portion is fixedly connected with a machine head component of a cutting tool, and an inner thread is machined on the inner wall of the nut connecting portion and is used for being connected with the nut in a threaded mode.
The nut comprises an upper connecting part, a lower clamping part and a cutting die matching surface, wherein the upper connecting part comprises an inner hole which is sleeved on the cutting tool, and the outer wall of the upper connecting part is provided with external threads and is in threaded connection with the inner wall of the screw rod; the lower clamping part is used for clamping with the knob, and the cutting die matching surface is matched with the opening of the cutting die.
The shape constraint device comprises a mechanical arm, wherein the mechanical arm is connected with the cutting tool, and the mechanical arm is used for driving the cutting tool to machine a groove with a set shape on the surface of a target object according to an instruction of the control system.
Wherein the surface of the target object is a circular arc surface or a flat surface.
Wherein the target is a skull or a skull model.
A method of using a groove machining apparatus according to the present invention, comprising:
step S1, fixing a shape constraint device on the surface of a target object;
and S2, cutting by using a cutting tool under the constraint of the shape constraint device so as to cut a groove with a set shape and depth on the target object.
The shape constraint device comprises a cutting die and a fixed seat, wherein a constraint boundary matched with the appearance of equipment to be implanted is arranged on the cutting die; the fixed seat is provided with a hollowed-out part for exposing the surface of the target object to be cut;
the step S1 includes:
step S11, fixing the fixing seat on the surface of the target object;
And step S12, fixing the cutting die on the fixing seat.
In the step S11, a positioning tool is used to fix the fixing base on the surface of the target object.
The positioning tool comprises a positioning plate, a positioning guide rod and a positioning guide rail; the step S11 includes:
step S101, detachably mounting a positioning plate in a hollowed-out part of a fixed seat;
Step S102, fixing a positioning guide rail at a planning position, enabling a positioning guide rod to penetrate through the positioning guide rail and be connected with a positioning plate, and adjusting the positioning guide rod to enable the distal end face of an assembly formed by the positioning plate and a fixed seat to be tangential to the surface of a target object and point to a preset direction;
step S103, fixing the fixing seat on the surface of the target object;
step S104, removing the locating plate, the locating guide rod and the locating guide rail.
Wherein the surface of the target object is a circular arc surface or a flat surface.
Wherein the target is a skull or a skull model.
The groove processing device provided by the invention comprises a cutting tool, a depth adjusting mechanism and a shape restraining device, wherein the cutting tool is matched with the shape restraining device to prepare a groove with a required shape on the surface of a target object, and the depth adjusting mechanism is matched with the cutting tool to prepare a groove with a set depth on the surface of the target object. When the device to be implanted is used, the device to be implanted is placed in the groove on the surface of the target object, and the groove is matched with the device to be implanted, so that the device to be implanted can be firmly and reliably fixed in the target object of a user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a groove processing device provided in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a groove manufactured on the surface of a target object by using the groove processing device provided by the invention;
FIG. 3 is a schematic view showing the structure of a cutting tool according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a cutting die according to embodiment 1 of the present invention;
fig. 5a is a schematic diagram of the upper surface structure of the fixing base of embodiment 1 of the present invention;
fig. 5b is a schematic view of the lower surface structure of the fixing base of embodiment 1 of the present invention;
Fig. 6 is a schematic structural view of a first screw according to embodiment 1 of the present invention;
fig. 7 is a schematic structural diagram of the fixing base of embodiment 1 of the present invention installed on a target object;
fig. 8 is a schematic view showing a structure in which the shape restraining apparatus of embodiment 1 of the present invention is mounted on a target object;
fig. 9 is a schematic structural diagram of a positioning tool according to embodiment 1 of the present invention;
FIG. 10a is a schematic view of the structure of the upper surface of the positioning plate in FIG. 9;
FIG. 10b is a schematic view of the lower surface of the positioning plate of FIG. 9;
FIG. 11 is a schematic diagram illustrating the connection of the positioning guide rod, the positioning plate and the positioning seat according to embodiment 1 of the present invention;
FIG. 12 is a schematic view of the combination of the nest and the locating plate of FIG. 11 shown in a tangential orientation with respect to the target surface;
FIG. 13 is a schematic view showing the assembly of a cutting depth adjusting mechanism and a cutting tool according to embodiment 1 of the present invention;
FIG. 14 is a schematic view of an embodiment of the screw of FIG. 13;
FIG. 15 and FIG. 13 are schematic structural views of an embodiment of the nut;
FIG. 16 and FIG. 13 are schematic structural views of an embodiment of the knob;
FIG. 17 is a schematic view of the cutting depth adjustment range of the cutting depth adjustment mechanism of FIG. 13;
fig. 18 is a schematic diagram of a process of cutting a bone on a surface of a target by using the groove processing device provided in embodiment 1 of the present invention;
FIG. 19 is a schematic structural view of a groove processing apparatus according to embodiment 2 of the present invention;
FIG. 20 is a cross-sectional view of FIG. 19;
FIG. 21 is a schematic diagram of one embodiment of the fixture tool of FIG. 19;
FIG. 22 is a schematic view of a configuration for determining a planned axis in accordance with an embodiment of the present invention;
fig. 23 is a top view of fig. 22.
Reference numerals:
1-a cutting tool;
10-a cutting tool; 101-a power component; 102-a handpiece component; 103-cutter head; 104-conducting wires; 1021-a handpiece component fitting section;
11-screw; 110-a rod body; 111-a handpiece connection; 112-a second abutment surface; 113-screw fixation holes; 114-nut connection; 115-scale;
12-a knob; 120-grooves; 121-a screw socket; 122-knurling; 123-sliding surface; 124-a first abutment surface; 125-a clamping surface; 126-the lower end face of the knob; 127-nut socket; 128-the upper end face of the knob;
13-a nut; 130-external threads; 131-an inner hole; 132-a clamping surface; 133-a second plane; 134-cutting the die mating surface; 135-the lower end face of the nut; 136-a first plane;
2-a cutting tool 2;
21-a fixed seat 21; 212-the upper surface of the fixed seat; 210 a-a fixing seat fixing portion; 210 b-a fixing seat fixing portion; 210 c-a fixing seat fixing part; 211 a-fixing base fixing holes; 211 b-fixing base fixing holes; 211 c-fixing base fixing holes; 213-a second positioning structure; 214 c-tightening the hole; 215 a-a connection hole; 215 b-connecting holes; 216-hollowed-out parts; 217-the lower surface of the holder;
22-positioning plates; 220-positioning the upper surface of the plate; 223-locating the lower surface of the plate; 224—locating plate sides; 225-positioning strips; 225-1, the lower surface of the positioning strip; 225-2, positioning the lower surface of the strip; 221 a-a second holder connection hole; 221 b-a second holder connection hole; 222-positioning a guide rod connecting hole;
23-a first screw; 231-threaded portion; 232-polish rod portion;
24-positioning a guide rod;
25-positioning guide rails;
26-a cutting die 26; 260-cutting the upper surface of the mold; 261-cutting the lower surface of the die; 262 a-a first opening; 262 b-a second opening; 263-step surface; 264 a-a first holder connection hole; 264 b-a first holder connection hole; 265-a first positioning structure;
3-target; 31-grooves;
end of 5-arm
51-Fixture tooling; 511 a-a robot arm attachment hole; 511 b-a robotic arm attachment hole; 512-clamp connection holes; 513-cutting tool tightening holes;
a-geometry formed by the shape of the device to be implanted; l-plan axis, O-tangent point.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The present invention provides an implantable medical device comprising: a device to be implanted (e.g. a pulse generator) and an electrode, the device to be implanted and the electrode being directly connected, the pulse generator being for fixation to a target object (e.g. a skull or a skull model). Further, the pulse generator is adapted to be secured within the recess 31 of the object. The pulse generator is directly planted on the target object, the electrode is directly connected with the pulse generator, the operation complexity is reduced, the extension lead in the existing deep brain electric stimulation system is eliminated, and the problems of connection failure, extension lead or electrode fracture, skin ulcer and the like caused by stress of the extension lead are avoided.
In order to conveniently and reliably fix the pulse generator to the target object, it is necessary to prepare a groove 31 on the surface of the target object to place and fix the device to be implanted, such as the pulse generator. In one embodiment of the invention, the target may be a skull or a skull model. The surface of the object is a circular arc surface or a flat surface. When the object is a skull or a skull model, the object surface is substantially a circular arc shaped surface.
As shown in fig. 1, the present invention provides a groove processing apparatus including a cutting tool 1 and a cutting tool 2. The cutting tool 1 comprises a cutting tool 10, the cutting tool 10 being adapted to cut a recess 31 in the object 3 such that the device to be implanted is fixed in the recess 31 of the object 3; the cutting tool 2 comprises shape restraining means cooperating with the cutting tool 10 for restraining the movement of the cutting tool 10 to cut a groove 31 of a set shape in the object 3 (see fig. 2).
The device to be implanted may be a pulse generator or other desired device. The shape of the groove 31 is set according to the shape of the device to be implanted, and the groove is matched with the device to be implanted, so that the device to be implanted can be fixed in the groove 31.
Further, the cutting tool 1 provided by the present invention further includes a depth adjustment mechanism. The cutting tool 10 is matched with the shape constraint device to prepare a groove 31 with a required shape on the surface of the target object 3, and the depth adjusting mechanism is matched with the cutting tool 10 to prepare the groove 31 with a set depth on the surface of the target object. The groove processing device provided by the invention can be used for preparing the groove, so that the equipment to be implanted can be reliably placed and fixed. When the device to be implanted is used, the device to be implanted is placed in the groove 31, and the groove 31 is matched with the device to be implanted, so that the device to be implanted can be firmly and reliably fixed in the target object 3, the electrode is directly connected with the device to be implanted, the problems of connection failure, prolonged lead or electrode fracture, skin burst and the like caused by stress of the prolonged lead are avoided, and the prolonged lead in the existing deep brain electrical stimulation system is eliminated. And, the device to be implanted can be reliably placed and fixed by preparing the groove 31.
Specifically, as shown in fig. 3, the cutting tool 10 includes a power member 101, a head member 102, a bit 103, and a wire 104, the head member 102 is connected to the bit 103, and the power member 101 is connected to the head member 102 for driving the cutting tool 10 to operate. The power unit 101 preferably adopts a power device capable of adjusting parameters such as rotation speed, torque and the like. Preferably, the power component 101 is an electric or pneumatic device. The tool tip 103 may be a standard orthopaedic tool tip or a custom tool tip. The wire 104 is connected to a control unit for controlling parameters such as rotational speed, torque, etc. of the cutting tool 10. The nose piece 102 includes a nose piece mating portion 1021, and in the embodiment shown in fig. 3, the nose piece mating portion 1021 is cylindrical.
Preferably, the nose piece 102 is coupled to the power piece 101 via an interface or other structure as specified by ISO 3964:2016 (E). Preferably, the nose piece 102 is adaptable to different use cutting tools 10 for replacement of the cutting tools 10. More specifically, the head member 102 includes a connection structure connected to the power member 101 and a clamping structure for clamping the cutting tool 10, which enables quick replacement of the cutting tool 10 as required.
Example 1
In one embodiment of the present invention, the shape restraining means comprises a cutting die 26, as shown in fig. 4, wherein the cutting die 26 is provided with a restraining boundary adapted to the shape of the device to be implanted, and the restraining boundary is used for guiding the cutting tool 10 to make a groove 31 on the surface of the object 3 adapted to the outer contour of the device to be implanted. The present embodiment restricts the movement of the cutting tool 10 by the cutting die 26, thereby forming a groove 31 of a desired shape and depth on the surface of the object 3.
In one embodiment of the invention, the cutting die 26 comprises a cutting die upper surface 260 and a cutting die lower surface 261, and the middle of the cutting die 26 is provided with an opening similar to the appearance of the device to be implanted, which opening penetrates the cutting die upper surface 260 and the cutting die lower surface 261. The edges of the opening form a constraint boundary adapted to the shape of the device to be implanted, and in use the shape of the opening in the cutting die 26 can be mapped to the surface of the object 3 to form a recess 31 of the desired shape. The constraint boundary 262 in this embodiment is rectangular in configuration. Specifically, the openings include a first opening 262a and a second opening 262b arranged in a stepped manner, the first opening 262a has a larger size than the second opening 262b, and a stepped surface 263 is formed between the first opening 262a and the second opening 262b, and preferably, the stepped surface 263 is perpendicular to an inner wall of the first opening 262 a.
Specifically, the first opening 262a has an inner wall that constrains movement of the cutting tool 10, the inner wall being planar, folded planar, or curved; the stepped surface 263 has one end connected to the inner wall of the first opening 262a and the other end connected to the inner wall of the second opening 262b, and the stepped surface 263 has a width smaller than or equal to the maximum radius difference of the head 102 and the bit 103 extending into the cutting die 26 without using the depth adjusting mechanism, and the stepped surface 263 can support the cutting tool 10 without interfering with the constraint boundary, and the stepped surface 263 has a width smaller than or equal to the maximum radius difference of the depth adjusting mechanism and the bit 103 extending into the cutting die 26 without interfering with the constraint boundary while supporting the cutting tool 10. Depending on the inner wall, grooves 31 of different shapes may be made to adapt to the shape of the device to be implanted.
The shape restraining device further comprises a fixing base 21, referring to fig. 5a and 5b, the fixing base 21 is provided with a hollowed-out portion 216, and the boundary of the inner wall of the hollowed-out portion 216 is greater than or equal to a restraining boundary 262, so as to expose the surface (referring to fig. 7) of the object 3 to be cut, and the cutting die 26 is fixed on the fixing base 21. When in use, the fixing seat 21 is fixed on the surface of the object 3 (see fig. 7), the cutting die 26 is arranged on the fixing seat 21 (see fig. 8), the cutting die 26 and the fixing seat 21 form a stable working platform, and the cutting tool 10 is matched with the working platform to realize that a groove 31 with a required shape and depth is processed on the surface of the object 3.
Preferably, the fixing base 21 is provided with a plurality of fixing holes, the side wall of each fixing hole is provided with a fastening hole, the fixing base 21 is fixed on the surface of the target object 3 through a first screw 23 penetrating through each fixing hole, and the first screw 23 is fixed on the fixing base 21 through a fastening screw penetrating through each fastening hole.
Specifically, as shown in fig. 5a, the fixing base 21 is further provided with fixing base fixing portions 210a, 210b, 210c, and axes of the fixing base fixing portions 210a, 210b, 210c are perpendicular to the fixing base upper surface 212 and the fixing base lower surface 217. The fixing base fixing portions 210a, 210b, 210c are provided with fixing base fixing holes 211a, 211b, 211c coaxial with the fixing base fixing portions 210a, 210b, 210c, and the side walls of the fixing base fixing portions 210a, 210b, 210c are respectively provided with fastening holes 214c, preferably screw holes, which are perpendicular to the fixing base fixing holes 211a, 211b, 211 c.
The fixing base 21 and the target 3 are fixed by a first screw 23. The first screw 23 includes a threaded portion 231 and a polish rod portion 232 connected to each other, and the polish rod portion 232 is engaged with the fixing base fixing holes 211a, 211b, 211c of the fixing base 21 to perform a guiding function. The first screw 23 is screwed into the target object 3 after passing through the fixing base fixing holes 211a, 211b, 211c, and the axis of the first screw 23 coincides with the axes of the fixing base fixing holes 211a to 211c during the screwing into the target object 3. After the first screw 23 is screwed into the target object 3, a set screw (not shown) passes through the set hole 214c to fix the first screw 23 to the fixed base 21. Referring to fig. 7, the fixing seat 21, the first screw 23 and the set screw form a stable operation platform.
The connection between the cutting die 26 and the holder 21 may be a threaded connection, an interference fit, a snap fit, or any other suitable means. In this embodiment, the cutting die 26 is connected to the fixing base 21 by screws. Referring specifically to fig. 4, the cutting die 26 includes first holder connection holes 264a, 264b, the first holder connection holes 264a, 264b penetrating the cutting die upper surface 260 and the cutting die lower surface 261. As shown in fig. 5a and 5b, the fixing base 21 has a fixing base upper surface 212 and a fixing base lower surface 217, and the fixing base upper surface 212 is provided with connecting holes 215a, 215b, and screws fix the cutting die 26 to the fixing base 21 through first fixing base connecting holes 264a, 264b on the cutting die 26 and the connecting holes 215a, 215b on the fixing base 21. The number of the first fixing base connection holes 264a, 264b and the connection holes 215a, 215b may be one or more, and in this embodiment, the number of the first fixing base connection holes 264a, 264b and the connection holes 215a, 215b is two, respectively, and in other embodiments, the number of the first fixing base connection holes 264a, 264b and the connection holes 215a, 215b is greater than two. Preferably, the first fixing base connection holes 264a, 264b are stepped holes. Preferably, the connection holes 215a, 215b are screw holes.
Further, as shown in fig. 4, the cutting die 26 is further provided with a first positioning structure 265, as shown in fig. 5a, the fixing seat 21 is provided with a second positioning structure 213, and the first positioning structure 265 cooperates with the second positioning structure 213 to perform positioning and anti-rotation functions. Specifically, the first positioning structure 265 may be a groove and the second positioning structure 213 may be a protrusion. In this embodiment, the first positioning structure 265 is an arc-shaped slot, and the second positioning structure 213 is a cylindrical protrusion. The first positioning structure 265 and the second positioning structure 213 may be one or more.
Further, the cutting tool 2 further includes a positioning tool for guiding the fixing base 21 to be mounted at a set position on the surface of the target object 3.
Fig. 9 is a schematic structural diagram of a positioning tool according to embodiment 1 of the present invention; the positioning tool comprises a positioning plate 22, a positioning guide rod 24 and a positioning guide rail 25, wherein the positioning plate 22 is detachably arranged in a hollowed-out part 216 of a fixed seat 21, the positioning plate 22 is fixedly connected with the positioning guide rod 24, and the positioning guide rod 24 can slide along the positioning guide rail 25 to drive the positioning plate 22 and the fixed seat 21 to move to be tangent with the surface of a target object 3. In this embodiment, the positioning guide 24 cooperates with the positioning guide 25 such that the axis of the positioning guide 24 coincides with the plan (the position of the positioning guide 25 is set according to the planned axis). The positioning plate 22 is vertically connected with the positioning guide rod 24 for determining the working plane of the working platform. The positioning plate 22, the positioning guide rod 24 and the positioning guide rail 25 form a positioning tool capable of accurately positioning the position of the fixed seat 21.
Preferably, as shown in fig. 9, the fixing base 21 and the positioning plate 22 are pre-installed together to form an assembly. Preferably, the assembly is connected vertically to the positioning guide 24; the assembly is fixed to the object 3 by means of a first screw 23; after the assembly is secured to the target 3, the positioning plate 22 may be removed, leaving the anchor 21 in the assembly on the target 3.
The present embodiment provides a connection mode between the positioning plate 22 and the fixing base 21. Specifically, as shown in fig. 10a and 10b, the positioning plate 22 includes a positioning plate upper surface 220, a positioning plate lower surface 223, and positioning plate sides. The upper surface 220 of the positioning plate is provided with a positioning bar 225, two ends of the positioning bar 225 extend out of the upper surface 220 of the positioning plate, the part of the positioning bar 225 extending out of the upper surface 220 of the positioning plate is provided with lower surfaces 225-1 and 225-2 of the positioning bar, and the positioning bar 225 is provided with second fixing seat connecting holes 221a and 221b for connecting with the fixing seats. Preferably, the second fixing base connecting hole is a through hole. When the positioning plate 22 is assembled with the fixing base 21, the side 224 of the positioning plate is matched with the hollowed-out part 216 on the fixing base 21, the lower surfaces 225-1 and 225-2 of the positioning strips are matched with the upper surface 212 of the fixing base, namely, the lower surfaces 225-1 and 225-2 of the positioning strips are attached to the upper surface 212 of the fixing base, as shown in fig. 9, the lower surface 223 of the positioning plate is in the same plane (flush) with the lower surface 217 of the fixing base, and the screws penetrate through the second fixing base connecting holes 221a and 221b on the positioning plate 22 and are connected with the connecting holes 215a and 215b on the fixing base 21, so that the positioning plate 22 is detachably connected to the fixing base 21 to form an assembly.
The present embodiment provides a connection method between the positioning plate 22 and the positioning guide 24. Specifically, as shown in fig. 10a, a positioning bar 225 on the positioning plate 22 is provided with a positioning guide bar connection hole 222 for connecting with a positioning guide bar. The positioning guide bar connecting hole 222 is located between the two second fixing base connecting holes 221a and 221b in this embodiment. Preferably, the positioning guide rod connecting hole 222 is a threaded hole, and as shown in fig. 11, the threaded hole 222 is fixedly connected with the threads at the end of the positioning guide rod 24, and the axis of the positioning guide rod 24 is perpendicular to the surface formed by the positioning plate 22 and the fixing seat 21. The positioning plate 22 and the fixing base 21 can move synchronously when the positioning guide 24 is moved. When the same plane formed by the fixing base lower surface 217 and the locating plate lower surface 223 is tangential to the outer surface of the target object 3 (as shown in fig. 12), it is shown that the locating plate 22 moves to a position, the fixing base 21 can be fixed on the target object 3, and then the locating plate 22 is detached from the fixing base 21.
The invention provides a use method of the positioning tool, which is used for positioning and installing the fixing seat 21 at a set position. According to the converted head coordinates, the positioning guide 25 on the head is moved to the planned position, as shown in fig. 9, and the positioning guide 24 is passed through the through hole of the positioning guide 25 so that the axis of the positioning guide 24 coincides with the planned axis. As shown in fig. 11, the fixing base 21 and the positioning plate 22 are detachably connected, and then the combination of the fixing base 21 and the positioning plate 22 is mounted on the positioning guide 24 such that the axis of the positioning guide 24 is perpendicular to the plane of the positioning plate 22. The positioning guide 24 is moved so that the lower surface 223 of the positioning plate 22 is tangential to the surface of the target object 3 (as shown in fig. 11), and the positioning guide 24 is fixed. The first screw 23 is screwed into the target 3 through holes 211a to c (fig. 7) in the fixing base 21, and the fixing base 21 is fixed to the first screw 23 by a set screw (not shown) through a set screw hole 214 c. The positioning guide 24 is released and the positioning guide 24 is removed. The positioning plate 22 is separated from the fixing base 21, and the fixing base 21 is reliably fixed on the surface of the target object 3 (as shown in fig. 7).
Further, the cutting tool 2 further comprises a cutting depth adjusting mechanism matched with the cutting tool 10 for adjusting the movement of the cutting tool 10 along the depth direction of the cutting die 26 so as to form a groove 31 on the surface of the target object 3, wherein the groove is matched with the depth of the device to be implanted.
The cutting depth adjusting mechanism is a precise adjusting mechanism and is used for precisely adjusting the cutting depth.
In this embodiment, the cutting depth adjusting mechanism is a screw driving mechanism, as shown in fig. 14, the screw driving mechanism includes a screw 11, a nut 13 and a knob 12, the screw 11 is fixedly connected with a head part 102 of the cutting tool 10, the nut 13 is in threaded connection with the screw 11, and the knob 12 is sleeved outside the screw 11 and the nut 13 and is fixedly connected with the nut 13; the knob 12 is rotated, and the rotation is converted into linear movement of the nut 13 along the axis direction of the screw 11 through the screw transmission between the nut 13 and the screw 11, so that the position of the nut 13 relative to the cutter head is adjusted, and the cutting depth is precisely adjusted.
Specifically, the threaded rod 11 may be fixedly coupled to the head member 102 of the cutting tool 10 by means of a set screw, an interference fit, a threaded connection, or the like. The knob 12 and the nut 13 can be fixed by interference fit, threaded connection and the like. Preferably, the screw 11 is a precision screw and the nut 13 is a precision nut.
Specifically, as shown in fig. 14, the screw 11 includes a rod body 110, a nose connection portion 111, and a nut connection portion 114, which are arranged in a stepwise manner, the nose connection portion 111 is fixedly connected to a nose component fitting portion 1021 of the cutting tool 10, the nose component fitting portion 1021 is a cylindrical surface, and an inner wall of the nose connection portion 111 is a cylindrical surface, and is sleeved on the nose component fitting portion 1021. The head connecting portion 111 is provided with a screw fixing hole 113, and the screw fixing hole 113 is preferably a threaded hole, and a set screw passes through the screw fixing hole 113 to fix the screw 11 to the cutting tool 10. The nut connecting portion 114 is used for connecting with the nut 13, and an inner wall of the nut connecting portion 114 is provided with an internal thread, and can be connected with the nut 13 in a threaded manner. Preferably, the outer wall of the screw 11 is provided with a scale 115 to facilitate observation and measurement of the depth of cut.
As shown in fig. 15, the nut 13 includes an upper connecting portion, a lower clamping portion and a cutting die mating surface 134, the upper connecting portion includes an inner hole 131 for being sleeved on the cutting tool 10, an outer thread 130 is provided on an outer wall of the upper connecting portion for being in threaded connection with an inner wall of the screw 11, the lower clamping portion is for being clamped with a knob, and the lower clamping portion includes a first plane 136, a clamping surface 132 and a second plane 133 which are arranged in a step. The cutting die mating surface 134 is for mating with an opening of a cutting die. In one embodiment of the present invention, the upper connecting portion is cylindrical, the lower clamping portion is boss-shaped radially outward of the upper connecting portion, the cutting die mating surface 134 is cylindrical, and is tangential to the first opening 262a of the cutting die 26, and the shape on the cutting die 26 is mapped to the surface of the target object 3, so as to prepare the desired shape of the recess 31.
As shown in fig. 16, the knob 12 has a hollow structure, and includes a knob upper end surface 128, a knob lower end surface 126, and a screw rod sleeving part 121, wherein the screw rod sleeving part 121 is used for sleeving with a screw rod, and a sliding surface 123 of the screw rod sleeving part 121 is in contact with the outer wall of the screw rod and can move along the length direction of the screw rod; the upper end of the knob 12 is provided with a recess 120. The knob 12 further comprises a nut sleeving part 127 positioned below the screw sleeving part 121, wherein a clamping surface 125 is arranged in the nut sleeving part 127 and is used for being matched with a clamping surface 132 of a lower clamping part of the nut 13 so as to be fixedly connected with the nut 13. Preferably, the outer wall of the screw socket 121 is machined with knurling 122 or other friction enhancing features to facilitate manipulation of the knob 12.
After the knob 12 is fixedly connected with the nut 13, the knob lower end surface 126 is coplanar (coincident) with the nut lower end surface 135, and in other embodiments the knob lower end surface 126 may not be coplanar with the nut lower end surface 135. Turning the knob 12 can rotate the nut 13, and the upper end 128 of the knob indicates different positions of the scale 115 on the outer side wall of the screw 11 according to different screwing lengths of the threads, so as to indicate the depth to which the cutting tool 10 can cut into bone tissue.
The knob 12 further comprises a first abutting surface 124, the screw 11 comprises a second abutting surface 112, the distance between the first abutting surface 124 and the second abutting surface 112 changes along with the change of the bone cutting depth, and when the bone cutting depth is 0mm, the first abutting surface 124 contacts with the second abutting surface 112 to prevent the nut 13 from unscrewing the screw 11.
FIG. 17 is a schematic view of the cutting depth adjustment range of the cutting depth adjustment mechanism of FIG. 13; as shown in fig. 17, when the knob upper end 128 is indicated at the 0 scale mark position, the cutter head 103 extends out of the knob lower end 126 by a distance H0 equal to the distance between the cutting die upper surface 260 and the holder lower surface 217, and the distal end surface of the cutter head is tangent to the surface of the target object 3, so that the bone cutting depth is 0. The adjusting knob 12 changes the screwing length between the nut 13 and the screw 11, so that the length of the cutter head 103 extending out of the lower end face 126 of the knob is changed, the bone cutting depth is changed to be delta h, the adjusting range of the bone cutting depth in the embodiment is 0-10 mm, and the requirement of preparing grooves 31 with different depths on the surface of the target object 3 can be met. The range of the screwing length of the screw thread can be redesigned on the basis of not changing the structure, and the adjusting range of the cutting depth is changed.
Fig. 18 is a schematic diagram of a process of cutting a bone on a surface of a target by using the groove processing device provided in embodiment 1 of the present invention; as shown in fig. 18, the lower end surface 135 of the nut 13 cooperates with the upper surface 260 of the cutting die to adjust the depth of the cut bone in combination with the length of the extension of the bit. The cutting die mating portion 134 of the nut 13 is tangential to the first opening 262a in the cutting die 26, mapping the shape of the constraint boundary of the first opening 262a onto the target 3, forming the desired shape of the recess 31. The combination of the cutting depth adjustment mechanism and the constraint boundary on the cutting die 26 can produce a recess 31 of a desired depth and desired shape in the surface of the target object 3.
The invention provides a use method of the groove processing device, which comprises the following steps:
Step S1, fixing a shape constraint device on the surface of a target object 3;
Step S2, cutting is performed using the cutting tool 10 under the constraint of the shape constraint device described above to cut the groove 31 of a set shape and depth on the target object 3.
In one embodiment of the invention, the target may be a skull or a skull model. The surface of the object is a circular arc surface or a flat surface. When the object is a skull or a skull model, the object surface is substantially a circular arc shaped surface.
Further, the shape restraining device comprises a cutting die 26 and a fixing seat 21, wherein a restraining boundary which is matched with the appearance of the equipment to be implanted is arranged on the cutting die 26; the fixing seat 21 is provided with a hollowed-out part 216 for exposing the surface of the target object 3 to be cut;
the step S1 comprises the following steps:
step S11, fixing the fixing seat 21 on the surface of the target object 3,
In step S12, the cutting die 26 is fixed to the holder 21.
The fixing seat 21 and the cutting die 26 form a stable bone cutting tool.
Further, in step S11, the fixing base 21 is fixed on the surface of the target object 3 by using a positioning tool.
The positioning tool comprises a positioning plate 22, a positioning guide rod 24 and a positioning guide rail 25; further, step S11 includes:
step S101, detachably mounting the positioning plate 22 in the hollowed-out part 216 of the fixed seat 21; the positioning plate 22 and the fixed seat 21 are pre-installed together to form an assembly;
Step S102, fixing the positioning guide rail 25 at a planning position, enabling the positioning guide rod 24 to pass through the positioning guide rail 25 and be connected with the positioning plate 22, and adjusting the positioning guide rod 24 to enable the distal end face of the assembly formed by the positioning plate 22 and the fixing seat 21 to be tangential to the surface of the target object 3 and point to a preset direction; preferably, the positioning guide 24 axis is perpendicular to the distal plane of the assembly.
Step S103, fixing the fixing seat 21 on the surface of the target object 3; specifically, the first screw 23 passes through a through hole formed in the fixing seat 21 to be fixed on the surface of the target object 3, and the fixing seat 21 is further fixed with the first screw 23 by a set screw;
Step S104, the positioning plate 22, the positioning guide 24 and the positioning rail 25 are removed. The positioning rail 25, the positioning guide 24, the positioning plate 22 can be removed after the fixing of the fixing base 21 is completed, leaving only the fixing base 21 that has been reliably fixed on the surface of the target object 3. The removal sequence of the positioning plate 22, the positioning guide 24 and the positioning guide 25 is preferably: the positioning guide 24 is removed, the positioning guide 25 is removed, and the positioning plate 22 is removed.
Wherein the positioning rail 25 is moved in the planned position according to the result of the operation planning.
Generally, the grooves may be provided at any suitable location on the target, as determined by the user as desired.
Because different targets 3 (such as skull) have different shapes and thicknesses, a proper groove position needs to be planned according to the image information of the targets before use. As shown in fig. 22 and 23, the orientation of the tangential plane tangential to the surface of the target is adjusted, the tangential point O is the geometric center of the device to be implanted, and the orientation of the tangential plane is adjusted to make the average distance from the geometric shape a surrounded by the outline of the device to be implanted to the surface of the targetThe minimum (where h i -the distance from a point to the tangent plane on several shapes formed by the shape of the device to be implanted) determines the location of the tangent plane and the line passing the tangent point O and perpendicular to the tangent plane is the planning axis L.
Further, when the target object 3 is the skull, a skull 3D model can be constructed according to CT (Computed Tomography, electronic computer tomography) and MRI (Magnetic Resonance Imaging ) data of the head of the user, and then an implantation position of a suitable ipg (Implantable Pulse Generator, implantable pacemaker) is planned.
Specifically, reconstructing a skull 3D model using CT, MRI images of a user includes: and planning an implantation position according to the appearance characteristics of the pulse generator to be implanted, so that the implantation equipment is fused with the skull to the maximum extent, and calculating the azimuth of the planning axis L according to the planned implantation position (namely, the bone cutting position).
The planning process can be realized by general three-dimensional software or special operation planning software. The special operation planning system comprises: CT, MRI data acquisition system, 3D reconstruction and rendering system, interactive or automated implantation location planning algorithms.
Wherein the interactive implantation location planning algorithm comprises: when planning, a doctor initially designates the central position of a bone groove on the surface of the skull according to the reconstructed skull 3D model, and an algorithm determines the normal line of the surface of the equipment to be implanted according to the constraint that the thickness of the residual skull is enough and the surface of the skull of the implanted equipment is minimum, and combines the preset central point position to give the direction of the planning axis L.
Wherein the automated implantation location planning algorithm comprises: the doctor specifies the approximate area of the center of the location where the device to be implanted is to be implanted, the algorithm adjusts the location of the center point of the implanted device and gives the direction of the planning axis L by adjusting the normal position to the tangential plane to the skull surface so that the constraints of sufficient thickness of the remaining skull, minimal surface of the skull of the implanted device are met.
After the direction of the planning axis L is given, the direction of the planning axis L is converted into the coordinates of the headstock according to the position of the planning axis L, and the positioning guide rail 25 and the headstock are installed, so that the axis of the positioning guide rail 25 fixedly connected with the headstock coincides with the planning axis L. The positioning guide 24 is then passed through the centre of the positioning rail 25 which has been mounted to the planning position, the axis of the positioning guide 24 coinciding with the axis of the positioning rail 5, i.e. the axis of the positioning guide 24 coincides with the planning axis L. The installation of the positioning rail 25 and the positioning guide 24 is completed.
Example 2
In one embodiment of the present invention, the shape constraint device includes a mechanical arm, where the mechanical arm is connected to the cutting tool 10, and the mechanical arm drives the cutting tool 10 to machine the groove 31 with the set structure on the surface of the target object 3 according to the instruction of the control system.
The control system can plan the prepared groove 31 structure according to the requirement, control the movement of the mechanical arm, and control the movement track of the cutting tool 10 through the mechanical arm, thereby driving the cutting tool 10 to move and preparing the required groove 31 on the surface of the target object 3.
Preferably, the robot arm has multiple degrees of freedom to accurately plan the termination path. The mechanical arm has at least two degrees of freedom of movement in one direction and one degree of freedom of rotation in one direction. In this embodiment, as shown in fig. 19, the mechanical arm has six degrees of freedom in space, namely, three directions of xyz movement and three directions of rotation around xyz.
Specifically, the cutting tool 10 is fixed to the terminal end of the robot arm by a fixture tool. The fixture tool is fixedly connected with the mechanical arm, and the cutting tool 10 is connected to the fixture tool. As shown in fig. 20 and 21, the bone cutting tool 10 is connected to the end 5 of the mechanical arm by a clamp tool 51. The fixture 51 is provided with arm connecting holes 511a and 511b, and the fixture 51 is fixed to the end 5 of the arm by screws. The outer cylindrical surface of the head member fitting portion 1021 of the cutting tool 10 is fitted with the clamp attachment hole 512 on the clamp tool 51, and the cutting tool 10 is fixed to the clamp tool 51 by a set screw passing through the cutting tool 10 tightening hole 513.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. A groove processing apparatus, comprising:
a cutting tool including a cutting tool for cutting a groove in a target surface and a depth adjustment mechanism cooperating with the cutting tool to produce a groove of a set depth in the target surface;
The cutting tool comprises a shape constraint device, wherein the shape constraint device is matched with the cutting tool and used for constraining the action of the cutting tool so as to cut a groove with a set shape on the surface of a target object;
the shape restraining device comprises a cutting die, an opening similar to the appearance of equipment to be implanted is formed in the middle of the cutting die, the opening penetrates through the upper surface of the cutting die and the lower surface of the cutting die, a restraining boundary matched with the appearance of the equipment to be implanted is formed at the edge of the opening, a restraining boundary matched with the appearance of the equipment to be implanted is formed on the cutting die, the restraining boundary is used for guiding a cutting tool to manufacture a groove matched with the outer contour of the equipment to be implanted on the surface of a target object, the opening comprises a first opening and a second opening which are arranged in a step shape, the size of the first opening is larger than that of the second opening, and a step surface is formed between the first opening and the second opening; the first opening is provided with an inner wall for restraining the movement of the cutting tool, one end of the stepped surface is connected with the inner wall of the first opening, the other end of the stepped surface is connected with the inner wall of the second opening, and the width of the stepped surface is smaller than or equal to the maximum radius difference of the depth adjusting mechanism and the tool bit extending into the cutting die under the condition that the depth adjusting mechanism is used;
the shape constraint device further comprises a fixed seat, the fixed seat is provided with a hollowed-out part, the hollowed-out part is used for exposing the surface of a target object to be cut, and the cutting die is fixed on the fixed seat;
The fixing seat is provided with a plurality of fixing holes, the side wall of each fixing hole is provided with a fastening hole, the fixing seat is fixed on the surface of a target object through a first screw penetrating through each fixing hole, and the first screw is fixed on the fixing seat through a fastening screw penetrating through each fastening hole;
The cutting die is also provided with a first positioning structure, the fixing seat is provided with a second positioning structure, and the first positioning structure is matched with the second positioning structure;
The cutting tool further comprises a positioning tool used for guiding the fixing seat to be installed at a set position on the surface of the target object;
The positioning tool comprises a positioning plate, a positioning guide rod and a positioning guide rail, wherein the positioning plate is detachably arranged in a hollowed-out part of the fixed seat, the positioning plate is fixedly connected with the positioning guide rod, and the positioning guide rod can slide along the positioning guide rail to drive the positioning plate and the fixed seat to move to be tangent with the surface of a target object;
The depth adjusting mechanism comprises a screw, a nut and a knob, wherein the screw is fixedly connected with a machine head part of the cutting tool, the nut is in threaded connection with the screw, and the knob is sleeved outside the screw and the nut and is fixedly connected with the nut;
the screw comprises a rod body, a machine head connecting part and a nut connecting part which are arranged in a step-shaped manner, wherein the machine head connecting part is fixedly connected with a machine head part of the cutting tool, and an inner thread is processed on the inner wall of the nut connecting part and is used for being in threaded connection with the nut;
the nut comprises an upper connecting part, a lower clamping part and a cutting die matching surface, wherein the upper connecting part comprises an inner hole which is sleeved on the cutting tool, and the outer wall of the upper connecting part is provided with external threads and is in threaded connection with the inner wall of the screw; the lower clamping part is used for clamping with the knob, and the cutting die matching surface is matched with the opening of the cutting die; the lower end face of the nut is matched with the upper surface of the cutting die, the extending length of the cutter head is combined, the depth of the cut bone is adjusted, the matching part of the cutting die of the nut is tangent to the first opening on the cutting die, the shape of the constraint boundary of the first opening is mapped onto a target object, and the needed groove shape is formed.
2. A method of using the groove machining apparatus of claim 1, comprising:
step S1, fixing a shape constraint device on the surface of a target object;
And S2, cutting by using a cutting tool under the constraint of the shape constraint device so as to cut a groove with a set shape and depth on a target object, wherein the target object is a skull model.
3. The use method according to claim 2, wherein the shape constraint device comprises a cutting die and a fixing seat, and the cutting die is provided with a constraint boundary which is matched with the shape of the equipment to be implanted; the fixed seat is provided with a hollowed-out part for exposing the surface of the target object to be cut;
the step S1 includes:
step S11, fixing the fixing seat on the surface of the target object;
And step S12, fixing the cutting die on the fixing seat.
4. The method according to claim 3, wherein in the step S11, the fixing base is fixed on the surface of the target by using a positioning tool.
5. The use method according to claim 4, wherein the positioning tool comprises a positioning plate, a positioning guide rod and a positioning guide rail; the step S11 includes:
step S101, detachably mounting a positioning plate in a hollowed-out part of a fixed seat;
Step S102, fixing a positioning guide rail at a planning position, enabling a positioning guide rod to penetrate through the positioning guide rail and be connected with a positioning plate, and adjusting the positioning guide rod to enable the distal end face of an assembly formed by the positioning plate and a fixed seat to be tangential to the surface of a target object and point to a preset direction;
step S103, fixing the fixing seat on the surface of the target object;
step S104, removing the locating plate, the locating guide rod and the locating guide rail.
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| WO2022006163A1 (en) * | 2020-06-30 | 2022-01-06 | The Johns Hopkins University | System and method for fixing a cranial implant |
| CN113598872B (en) * | 2021-09-03 | 2023-06-09 | 苏州景昱医疗器械有限公司 | A skull slotting tool |
| CN117653265B (en) * | 2024-01-31 | 2024-04-26 | 鑫君特(苏州)医疗科技有限公司 | Tibia osteotomy planning device and tibia automatic osteotomy device for keel groove structure |
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| JP2010076033A (en) * | 2008-09-25 | 2010-04-08 | Mitsubishi Materials Corp | Rotary cutting tool |
| JP2011125948A (en) * | 2009-12-17 | 2011-06-30 | Kyocera Corp | Holder and cutting tool, and method of workpiece to be cut using the same |
| JP4732549B1 (en) * | 2010-04-19 | 2011-07-27 | ヤマザキマザック株式会社 | Cutting method and cutting apparatus |
| DE102010036874A1 (en) * | 2010-08-05 | 2012-02-23 | Gühring Ohg | Cutting tool and method for its production |
| CN105852930B (en) * | 2016-05-20 | 2018-08-24 | 浙江大学 | A kind of intelligence perforating device |
| CN209154893U (en) * | 2018-10-11 | 2019-07-26 | 首都医科大学附属北京天坛医院 | deep brain electrode cranial lock |
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Country or region after: China Address after: 100084 Tsinghua Yuan, Beijing, Haidian District Applicant after: TSINGHUA University Applicant after: Beijing Pinchi Medical Equipment Co.,Ltd. Address before: 100084 Tsinghua Yuan, Beijing, Haidian District Applicant before: TSINGHUA University Country or region before: China Applicant before: BEIJING PINS MEDICAL Co.,Ltd. |
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