CN115414076A - Automatic bone tissue biopsy robot device and fixing method thereof - Google Patents

Abstract

The invention provides an automatic bone tissue biopsy robot device which comprises a mechanical arm end flange, an outer ring saw, an inner ring data electric precession device and an inner ring saw, wherein the mechanical arm end flange is connected with an external mechanical arm, the outer ring saw is connected with the end of the mechanical arm end flange, the inner ring data electric precession device is connected with the inner ring saw, and the inner ring data electric precession device drives the inner ring saw to perform rotary motion and linear reciprocating motion in the outer ring saw. The invention can solve the problem that the cutting tool and bone tissue contact and drift in the trepan bone cutting operation process of the navigation robot for the bone surgery, and realizes the electric bone cutting operation. The invention also provides a fixing method of the automatic bone tissue biopsy robot device.

Description

Automatic bone tissue biopsy robot device and fixing method thereof

Technical Field

The invention relates to the technical field of computer-aided medical treatment, in particular to an electrically operated sampling device applied to auxiliary puncture of hard tissues such as bones and a fixing method thereof.

Background

With the aging of the population, the incidence of bone tissue diseases, such as bone tumor, osteoporosis, bone tissue infection and the like, is higher and higher. Definitive diagnosis is a prerequisite for the treatment of such diseases. Bone tissue biopsy and pathological examination results are the gold standard for clinical diagnosis, in addition to medical history, signs of symptoms and imaging examinations. The existing bone tissue biopsy mainly comprises two schemes, one of the two schemes is incision biopsy, and the biopsy has large material taking amount but can cause large wound and easily cause tumor and infection focus spreading. Another is a fluoroscopic-image guided minimally invasive biopsy.

The surgical robot has great potential in orthopedic minimally invasive surgery. However, in the current bone biopsy operation under fluoroscopic image guidance, a biopsy operator performs positioning guidance of an orthopedic operation only by using a surgical robot to perform bone cutting operation manually, and thus electric bone cutting operation is not yet possible. In an operation of artificially cutting a bone, there is a problem in that a cutting tool lacks stability, that is, the cutting tool is in contact with a bone tissue and drifts, resulting in accidental injury of a normal tissue. In addition, since the biopsy operator cannot directly visualize the target, the biopsy operator needs to repeatedly confirm the sampling position through the fluoroscopic image, and thus, there is still a great radiation risk for the biopsy operator during the operation.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to solve the technical problem of the prior art and provides an automatic bone tissue biopsy robot device and a fixing method thereof.

In order to solve the technical problem, the invention discloses an automatic bone tissue biopsy robot device which comprises a mechanical arm end flange, an outer ring saw, an inner ring saw and an inner ring saw, wherein the mechanical arm end flange is connected with an external mechanical arm, the outer ring saw is connected with the end of the mechanical arm end flange, the inner ring saw is connected with the inner ring saw according to the electric precession device, and the inner ring saw is driven by the electric precession device to rotate and linearly reciprocate in the outer ring saw.

Specifically, the tail end of the flange at the tail end of the mechanical arm is provided with a guide hole, the outer circular saw comprises an outer circular saw body, and the outer circular saw body is detachably connected into the guide hole.

Specifically, the inner ring data electric precession device comprises an electric push rod base, an electric push rod, a hollow shaft rotating motor and an electric push rod upper cover; the electric push rods are positioned at two ends of the electric push rod base; the fixed end of the electric push rod is fixedly connected with the top of the electric push rod base, and the movable end of the electric push rod is supported with an electric push rod upper cover; the hollow shaft rotating motor penetrates through the upper cover of the electric push rod and is rigidly connected with the upper cover of the electric push rod; the electric push rod base is connected with the outer ring saw; the hollow rotating shaft of the hollow shaft rotating motor is coaxially arranged with the outer ring saw body; the inner trepan comprises an inner trepan tubular saw body, one end of the inner trepan tubular saw body is detachably and coaxially sleeved in the hollow rotating shaft, and the other end of the inner trepan tubular saw body is coaxially sleeved in the outer trepan saw body; the electric push rod can drive the hollow shaft rotating motor to do linear reciprocating motion along the axis of the outer trepan saw body, and then the inner trepan tubular saw body is driven to do rotating motion and linear reciprocating motion in the outer trepan saw body.

Furthermore, the inner ring data electric precession device further comprises a thrust sensor, one end of the thrust sensor is connected with the movable end of the electric push rod, and the other end of the thrust sensor is connected with the upper cover of the electric push rod.

Furthermore, the outer trepan also comprises an outer trepan handle positioned at the top of the outer trepan body, and the electric push rod base is arranged on the outer trepan handle.

Furthermore, the outer ring saw fastening nut is connected with the first elastic cylindrical hole in a rotating mode through threads to form a fastening mechanism, and the outer ring saw fastening nut is used for detachably connecting the outer ring saw body with the guide hole.

Furthermore, the outer ring saw handle is symmetrically provided with a pair of positioning and mounting holes along the axis of the outer ring saw body, the bottom of the electric push rod base is provided with a positioning fastening stud matched with the positioning and mounting hole and a screwing device fastening nut matched with the positioning fastening stud, and the positioning fastening stud can penetrate through the positioning and mounting hole to be screwed and fixed with the screwing device fastening nut, so that the electric push rod base and the outer ring saw handle are rigidly connected.

Furthermore, the inner ring saw fastening nut is connected with the second elastic cylindrical hole in a rotating mode through threads to form a fastening mechanism, and the inner ring saw fastening nut is used for detachably connecting the inner ring saw tubular saw body and the hollow rotating shaft.

Furthermore, the inner circular saw also comprises an inner circular saw handle positioned at the top of the inner circular saw tubular saw body, and the bottom of the inner circular saw tubular saw body is connected with the top of the inner circular saw tubular saw body into a whole.

The invention also provides a fixing method of the automatic bone tissue biopsy robot device, which sequentially comprises the following steps:

step one, positioning a guide hole; the mechanical arm drives the guide hole of the flange at the tail end of the mechanical arm to reach a target operation position;

step two, forming stable connection among the target bone tissue, the outer ring saw and the end flange of the mechanical arm;

inserting an outer annular saw body of the outer annular saw into the guide hole; after a tiny wound is formed on soft tissue on the body surface of a target object, an outer annular saw handle of an outer annular saw is manually rotated, so that the tail end of an outer annular saw body is screwed into the surface of target bone tissue; when the outer trepan saw body is stably contacted with the target bone tissue, the outer trepan is rigidly connected with the flange at the tail end of the mechanical arm, so that the target bone tissue, the outer trepan and the flange at the tail end of the mechanical arm form a stable relative relation;

step three, rigidly connecting the inner ring data electric precession device with the outer ring saw;

step four, rigidly connecting the target bone tissue, the inner ring saw and the inner ring according to a hollow rotating shaft of the electric precession device;

sequentially enabling the inner trepan tubular saw body to penetrate through the hollow rotating shaft, the electric push rod base and the outer trepan saw body to reach the surface of the target bone tissue; manually rotating the inner trepan handle to screw the tail end of the inner trepan tubular saw body into the target bone tissue; when the inner trepan tubular saw body is stably contacted with a target bone tissue, the inner trepan tubular saw body is rigidly connected with the hollow rotating shaft, so that the end flange of the mechanical arm, the outer ring saw, the inner ring are rigidly connected into a whole according to the electric precession device and the inner ring saw;

fifthly, conveying the inner ring saw to a target operation position under the guidance of the perspective image; observing the relative position relation between the inner trepan and the target bone tissue by utilizing the perspective image; the hollow shaft rotating motor is controlled to rotate and the electric push rod reciprocates linearly to send the inner ring saw to the target operation position.

Has the advantages that:

(1) The electric bone cutting machine drives the inner trepan to rotate and linearly reciprocate through the inner ring according to the electric precession device, so that the electric bone cutting operation is realized.

(2) According to the invention, the flange at the tail end of the mechanical arm is connected with the external mechanical arm, and the outer circular saw is connected with the tail end of the flange at the tail end of the mechanical arm, so that the target bone tissue, the outer circular saw and the flange at the tail end of the mechanical arm form a stable relative relation, and the bone tissue drifting movement in the subsequent operation process can be reduced.

(3) According to the invention, the guide hole is formed in the tail end of the flange at the tail end of the mechanical arm, the outer trepan saw body of the outer trepan is detachably connected into the guide hole, the outer mechanical arm drives the flange at the tail end of the mechanical arm to move, so that the guide hole is aligned to a target position, and the guide hole plays a role in guiding and supporting the outer trepan saw body.

(4) All parts of the invention are detachably connected, and the invention can be switched between two working modes of manual operation and mechanical arm navigation.

(5) The inner ring saw has a remote control function according to the electric precession device, so that a bone tissue biopsy operator is allowed to remotely operate, and the inner ring saw is sent to a target operation position under the guidance of a perspective image, so that the risk that the bone tissue biopsy operator suffers from unnecessary ray radiation is avoided, and the position of the inner ring saw in bone tissue can be observed and adjusted by the bone tissue biopsy operator, so that the process of sending the inner ring saw to a sampling position is more accurate and controllable.

(6) The inner-loop data electric precession device is provided with the thrust sensor, and force information change and perspective image information sensed by the thrust sensor are fed back to a bone tissue biopsy operator, so that the operator can better sense the cutting state of the biopsy bone through various information ways by combining self experience and feedback information in the actual bone cutting process, and the safety and reliability of the cutting process are guaranteed.

Drawings

The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

FIG. 1 is a front view of an automatic robotic bone biopsy device, according to one embodiment of the present invention;

FIG. 2 is a right side view of the overall structure of an automated robotic bone tissue biopsy device shown in FIG. 1;

FIG. 3 is a cross-sectional view of the guide hole and the outer ring saw fastening nut in the robotic device for automatic bone tissue biopsy shown in FIG. 1 in an unscrewed state;

FIG. 4 is a cross-sectional view of the guide hole and the outer ring saw fastening nut of the robotic automatic bone tissue biopsy device shown in FIG. 1 in a tightened state;

FIG. 5a is a schematic top view of the inner ring data motor-driven screw device of the robotic device for automatic bone biopsy shown in FIG. 1;

fig. 5b is a schematic bottom view of the inner ring data electric screw device shown in fig. 5 a;

fig. 6a to 6g are schematic diagrams illustrating a method for fixing the robotic device for automatic bone biopsy shown in fig. 1.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

The reference numbers in the present invention are as follows: the mechanical arm end flange 1, a guide hole 101, first elastic cylindrical holes 102a and 102b, outer ring saw fastening nuts 103a and 103b, an outer ring saw 2, an outer ring saw body 201, an outer ring saw handle 202, positioning mounting holes 2021a and 2021b, an inner ring data electric screw device 3, an electric push rod base 301, positioning fastening studs 3011a and 3011b, screw device fastening nuts 3012a and 3012b, electric push rods 302a and 302b, thrust sensors 303a and 303b, a hollow shaft rotating motor 304, a hollow rotating shaft 3041, second elastic cylindrical holes 3042a and 3042b, an electric push rod upper cover 305, inner ring saw fastening nuts 306a and 306b, an inner ring saw 4, an inner ring saw tubular saw body 401, an inner ring saw handle 402 and a mechanical arm 5.

Example 1

As shown in fig. 1 to 4, an embodiment of the present invention provides an automated bone biopsy robot device (i.e., an electrically operated sampling device) including a robot arm end flange 1, outer ring saw fastening nuts 103a, 103b, an outer ring saw 2, an inner ring data electric precession device 3, and an inner ring saw 4. As shown in fig. 3, the end of the robot arm end flange 1 is provided with a guide hole 101. The guide hole 101 is a cylindrical through hole. First elastic cylindrical holes 102a and 102b penetrating through the guide hole 101 are formed in two ends of the guide hole 101, and external threads are formed in the tail ends of the first elastic cylindrical holes 102a and 102b and a plurality of grooves are formed in the circumferential direction, so that the first elastic cylindrical holes are elastic. The first elastic cylindrical holes 102a, 102b are provided coaxially with the guide hole 101 and have the same diameter. The internal threads of the outer ring saw fastening nuts 103a, 103b are matched with the external threads of the first elastic cylindrical holes 102a, 102b, the outer ring saw fastening nuts 103a, 103b are installed on the outer sides of the first elastic cylindrical holes 102a, 102b by means of threads, and at the moment, the first elastic cylindrical holes 102a, 102b can not deform.

As shown in fig. 4, the outer ring saw 2 includes an outer ring saw body 201 and an outer ring saw handle 202 located on top of the outer ring saw body 201. The outer circular saw body 201 is in a hollow tubular shape, and the outer circular saw handle 202 is provided with a through hole communicated with the outer circular saw body 201. The outer diameter of the outer circular saw body 201 is smaller than the inner diameter of the guide hole 101, and when the outer circular saw body 201 is coaxially sleeved on the guide hole 101, the outer circular saw body 201 is in clearance fit with the guide hole 101 of the mechanical arm tail end flange 1. Since the relative relationship between the axis of the guide hole 101 and the robot arm 5 is known, the external robot arm 5 can drive the robot arm end flange 1 to move, so that the guide hole 101 is aligned with the target position. When the outer trepan saw body 201 passes through the guide hole 101 to reach a bone tissue target position, and the outer trepan saw body 201 is stably and fixedly connected with the bone tissue target position, as shown in fig. 4, the outer trepan fastening nuts 103a and 103b are screwed with the first elastic cylindrical holes 102a and 102b, and the first elastic cylindrical holes 102a and 102b shrink to tightly hold the outer trepan saw body 201, so that the outer trepan 2 is rigidly connected with the guide hole 101, and the bone tissue drifting movement in the subsequent operation process can be reduced. When the outer trephine fastening nuts 103a and 103b are unscrewed, the first elastic cylindrical holes 102a and 102b are bounced to loosen the outer trephine saw body 201, so that the outer trephine saw body 201 is in clearance fit with the guide hole 101, and the outer trephine saw body 201 of the outer trephine 2 can slide along the axis of the guide hole 101 in the guide hole 101.

In order to realize the electric bone cutting operation of bone tissue biopsy, as shown in fig. 1 and 2, the inner ring saw tubular saw body 401 is driven by the inner ring data electric precession device 3 to move. Fig. 5a and 5b show a perspective view of the inner ring according to the electric precession device 3 from two different viewing angles. As shown in fig. 5a and 5b, the inner data electric precession apparatus 3 includes an electric putter base 301, a pair of electric putters 302a and 302b symmetrically disposed about a center line of the electric putter base 301, a pair of thrust sensors 303a and 303b, a hollow shaft rotating motor 304, and an electric putter cover 305. The fixed ends of the electric push rods 302a and 302b are fixedly connected with the top of the electric push rod base 301, the movable ends of the electric push rods 302a and 302b are connected with one ends of the thrust sensors 303a and 303b, and the other ends of the thrust sensors 303a and 303b are connected with the bottom of the electric push rod upper cover 305. The hollow shaft rotating motor 304 penetrates through the electric push rod upper cover 305 and is rigidly connected with the electric push rod upper cover 305. Two ends of a hollow rotating shaft 3041 of the hollow shaft rotating motor 304 are provided with circular inner holes, two ends of the circular inner hole of the hollow rotating shaft 3041 are provided with second elastic cylindrical holes 3042a, 3042b, the second elastic cylindrical holes 3042a, 3042b penetrate through the inner hole of the hollow rotating shaft 3041, and the second elastic cylindrical holes 3042a, 3042b are coaxially arranged with the inner hole of the hollow rotating shaft 3041 and have the same diameter. The ends of the second elastic cylindrical holes 3042a and 3042b are provided with external threads and a plurality of grooves along the circumferential direction, so that the second elastic cylindrical holes have elasticity. The internal threads of the inner trepan fastening nuts 306a, 306b are mated with the external threads of the second resilient cylindrical bores 3042a, 3042 b. The inner ring saw fastening nuts 306a, 306b are installed at the outer sides of the second elastic cylindrical holes 3042a, 3042b by means of threads, and the inner ring saw fastening nuts 306a, 306b are rotatably connected with the hollow rotating shaft 3041 by means of threads, at this time, the second elastic cylindrical holes 3042a, 3042b may not deform.

As shown in fig. 4, the outer circular saw handle 202 is provided with a pair of positioning holes 2021a, 2021b symmetrically along the axis of the outer circular saw body 201. As shown in fig. 5, the bottom of the electric putter base 301 is provided with positioning fastening studs 3011a and 3011b adapted to the positioning mounting holes 2021a and 2021b, and screw-in device fastening nuts 3012a and 3012b adapted to the positioning fastening studs 3011a and 3011 b. The positioning mounting holes 2021a, 2021b, the positioning fastening studs 3011a, 3011b and the screwing device fastening nuts 3012a, 3012b form fastening devices for detachably connecting the outer ring saw handle 202 with the electric push rod base 301. The positioning fastening studs 3011a and 3011b pass through the positioning mounting holes 2021a and 2021b and are screwed and fixed with the fastening nuts 3012a and 3012b of the precession device, so that the electric push rod base 301 and the outer circular saw handle 202 form a rigid connection, that is, the inner ring and the outer circular saw 2 form a rigid connection according to the electric precession device 3. When the inner ring is rigidly connected with the outer ring saw 2 according to the electric precession device 3, it is ensured that the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 and the outer ring saw body 201 of the outer ring saw 2 are coaxially arranged. Preferably, the inner hole of the hollow rotating shaft 3041 is the same size as the inner hole of the outer ring saw body 201. In order to enable the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 and the outer ring saw body 201 of the outer ring saw 2 to be coaxially arranged, a centering structure is arranged at the joint of the bottom of the electric push rod base 301 and the top of the outer ring saw handle 202, and the centering structure can be composed of a step hole and a positioning step matched with the step hole.

As shown in fig. 1 and 2, the inner ring saw 4 includes an inner ring saw body 401 and an inner ring saw handle 402 located at the top of the inner ring saw body 401. The inner trepan tubular saw body 401 is in a hollow tubular shape, and the outer diameter of the inner trepan tubular saw body 401 is smaller than the inner hole diameter of the hollow rotating shaft 3041, so that the inner trepan tubular saw body 401 is in clearance fit with the inner hole of the hollow rotating shaft 3041. The inner trepan tubular saw body 401 sequentially penetrates through the hollow rotating shaft 3041, the electric push rod base 301 and the outer trepan saw body 201 and then is detachably and coaxially sleeved in the hollow rotating shaft 3041 through the inner trepan fastening nuts 306a and 306 b. When the inner trepan fastening nuts 306a and 306b are screwed to enable the second elastic cylindrical holes 3042a and 3042b to contract and tightly hold the inner trepan tubular saw body 401, the inner trepan tubular saw body 401 and the hollow rotating shaft 3041 form rigid connection; when the inner trepan fastening nuts 306a and 306b are unscrewed to make the second elastic cylindrical holes 3042a and 3042b spring open and loosen the inner trepan tubular saw body 401, the inner trepan tubular saw body 401 is in clearance fit with the inner hole of the hollow rotating shaft 3041, and the inner trepan tubular saw body 401 can slide in the inner hole of the hollow rotating shaft 3041. In the invention, the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 is coaxially arranged with the outer ring saw body 201 of the outer ring saw 2, and the inner circular saw tubular saw body 401 is coaxially arranged with the hollow rotating shaft 3041, so that the inner circular saw tubular saw body 401 and the outer ring saw body 201 are coaxially arranged.

Therefore, when the end flange 1 of the arm, the outer ring saw 2, the inner ring according to the electric precession device 3 and the inner ring saw 4 are connected as a whole, the electric push rods 302a and 302b can drive the hollow shaft rotating motor 304 to reciprocate linearly along the axis of the outer ring saw body 201.

In this embodiment, the electric push rods 302a and 302b and the hollow shaft rotating motor 304 are commercially available products, and are provided with corresponding power controllers. The bone tissue biopsy operator controls the starting and the closing of the electric push rods 302a and 302b and the hollow shaft rotating motor 304 through a matched power controller at an operation site, so that the electric bone cutting operation is realized.

Example 2

In embodiment 2 of the present invention, in order to realize remote operation so as to prevent the bone biopsy operator from being exposed to unnecessary radiation, the inner ring data electric screw-in device 3 is electrically connected with an external remote control lever, a display and a control computer. The operator of the bone biopsy remotely controls the linear reciprocating motion of the electric push rods 302a, 302b and the rotational motion of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 in a wired or wireless manner by operating the remote control lever. The thrust sensors 303a and 303b transmit the sensed thrust signals back to the remote control lever, and an operator can sense the force information change on the thrust sensors 303a and 303b in a visual or tactile vibration mode, so that the target position reached by the inner ring saw 4 is preliminarily judged. The display is used for displaying the control information and the operation related image information. The control computer is used for information transmission and motor control.

It should be noted that the remote control function of the electric precession apparatus 3 and the force information feedback function of the thrust sensors 303a and 303b may be implemented by any means known in the art.

In embodiment 2, the robotic device for automatic bone tissue biopsy (i.e. an electrically operated sampling device) provided by the present invention allows a bone tissue biopsy operator to perform remote operation, and the inner ring saw is sent to a target operation position under the guidance of fluoroscopy images, so that on one hand, the risk of unnecessary radiation on the bone tissue biopsy operator is avoided, and on the other hand, the bone tissue biopsy operator can observe and adjust the position of the inner ring saw in the bone tissue, thereby making the process of sending the inner ring saw to the sampling position more precisely controllable.

The invention also provides a fixing method of the automatic bone tissue biopsy robot device (namely an electric operation sampling device), which sequentially comprises the following steps:

step one, positioning of a guide hole 101: as shown in fig. 6a, the external robot 5 brings the guide hole 101 of the robot end flange 1 into alignment with the target position. Rotatably connecting outer ring saw fastening nuts 103a, 103b with first resilient cylindrical bores 102a, 102b (as shown in fig. 6 b); at this time, the first elastic cylindrical holes 102a and 102b are not deformed.

Step two, forming stable connection of the target bone tissue, the outer ring saw 2 and the mechanical arm end flange 1: as shown in fig. 6c, the bone biopsy operator inserts the outer trephine saw body 201 of the outer trephine 2 into the guide hole 101, and the outer trephine saw body 201 slides in a gap with the guide hole 101; after a tiny wound is formed by cutting soft tissue on the body surface of a target object, an outer annular saw handle 202 of an outer annular saw 2 is manually rotated, so that the tail end of an outer annular saw body 201 is screwed into the surface of target bone tissue; after the outer trepan saw body 201 is stably contacted with the target bone tissue, the trepan fastening nut 103 is screwed with the first elastic cylindrical holes 102a and 102b, so that the outer trepan saw 2 is rigidly connected with the mechanical arm end flange 1, the target bone tissue, the outer trepan saw 2 and the mechanical arm end flange 1 form a stable relative relation, and the bone tissue drifting movement in the subsequent operation process can be reduced.

Step three, rigidly connecting the inner ring data electric precession device 3 with the outer trepan 2: as shown in fig. 6d, the positioning fastening studs 3011a and 3011b are passed through the positioning mounting holes 2021a and 2021b and screwed with the fastening nuts 3012a and 3012b of the precession device, so that the electric putter base 301 and the outer circular saw handle 202 form a rigid connection, and the inner ring is rigidly connected to the outer circular saw 2 according to the electric precession device 3. At this time, the axis of the hollow rotating shaft 3041 of the hollow shaft rotating motor 304 coincides with the axis of the outer ring saw 2. Rotationally coupling the inner trepan fastening nuts 306a, 306b with the second resilient cylindrical bores 3042a, 3042b (as shown in FIG. 6 e); at this time, the second elastic cylindrical holes 3042a, 3042b are not deformed.

Step four, rigidly connecting the target bone tissue, the inner circular saw 4 and the inner circular data electric precession device 3: as shown in fig. 6f, the inner trepan tubular saw body 401 sequentially passes through the hollow rotating shaft 3041, the electric push rod base 301 and the outer trepan saw body 201 to reach the surface of the target bone tissue; manually rotating the inner trepan handle 402 to screw the tail end of the inner trepan tubular saw body 401 into the target bone tissue; after the inner trepan tubular saw body 401 is stably contacted with the target bone tissue, the inner trepan fastening nuts 306a and 306b are screwed with the hollow rotating shaft 3041, so that the inner trepan tubular saw body 401 and the hollow rotating shaft 3041 form a rigid connection, and further the end flange 1 of the mechanical arm, the outer circular saw 2, the inner circular saw motor-driven precession device 3 and the inner trepan 4 are rigidly connected into a whole. At this time, the hollow shaft rotating motor 304 can drive the inner trepan 4 to rotate, and the electric push rods 302a and 302b can drive the inner trepan 4 to linearly reciprocate along the axis.

Step five, under the guidance of the perspective image, the inner circular saw 4 is sent to a target operation position: as shown in FIG. 6g, the C-arm is set to a proper position, and the relative positional relationship between the inner trephine 4 and the target bone tissue is observed using a fluoroscopic image. The operator of the bone biopsy can control the rotation of the hollow shaft rotating motor 304 and the linear reciprocating motion of the electric push rods 302a and 302b on site through a matched power controller, and can also send the inner ring saw 4 to a target operation position through a remote control rod in a wireless or wired mode.

When it is determined that the inner trepan 4 has acquired the target sampled tissue, the bone biopsy operator stops the device. The inner trepan tubular saw body 401 can slide within the hollow rotating shaft 3041 with a clearance by loosening the inner trepan fastening nuts 306a, 306 b. The bone biopsy operator withdraws the inner trephine 4 and removes the core tissue of the inner trephine tubular saw body 401, which is the target penetrating tissue.

When the bone tissue biopsy operator adopts remote operation, the force information change and the perspective image information sensed by the thrust sensors 303a and 303b can be fed back to the bone tissue biopsy operator, so that the operator can better sense the cutting state of the biopsy bone through various information ways by combining own experience and feedback information in the actual bone cutting process, and the safety and reliability of the cutting process are guaranteed. Under the guidance of the fluoroscopic image, the inner circular saw 4 is delivered to the target operation position, on one hand, the risk that the bone tissue biopsy operator suffers from unnecessary ray radiation is avoided, and on the other hand, the bone tissue biopsy operator can observe and adjust the position of the inner circular saw in the bone tissue, so that the process of delivering the inner circular saw to the sampling position is more accurate and controllable.

The present invention provides a method and a device for automatic robotic bone biopsy and a method for fixing the same, and a method and a device for implementing the same, which are many preferred embodiments of the present invention, and it should be noted that, for those skilled in the art, various modifications and embellishments can be made without departing from the principle of the present invention, and these modifications and embellishments should also be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims (10)

1. The utility model provides an automatic bone tissue biopsy robot device, a serial communication port, including terminal flange of arm (1), outer loop saw (2), interior ring is according to electronic precession device (3) and interior trepan (4), terminal flange of arm (1) is connected with outside arm (5), the end-to-end connection of outer loop saw (2) and the terminal flange of arm (1), interior ring is according to electronic precession device (3) and interior trepan (4) are connected, interior ring carries out rotary motion and straight reciprocating motion according to electronic precession device (3) drive interior trepan (4) in outer trepan (2).

2. The robotic device for automated bone biopsy according to claim 1, wherein the end of the robotic arm end flange (1) is provided with a guide hole (101), the outer circular saw (2) comprises an outer circular saw body (201), and the outer circular saw body (201) is detachably connected in the guide hole (101).

3. The robotic device for automated bone tissue biopsy according to claim 2,

the inner ring data electric precession device (3) comprises an electric push rod base (301), electric push rods (302 a, 302 b), a hollow shaft rotating motor (304) and an electric push rod upper cover (305); the electric push rods (302 a, 302 b) are positioned at two ends of the electric push rod base (301); the fixed ends of the electric push rods (302 a, 302 b) are fixedly connected with the top of the electric push rod base (301), and the movable ends of the electric push rods (302 a, 302 b) are supported with an electric push rod upper cover (305); the hollow shaft rotating motor (304) penetrates through the upper cover (305) of the electric push rod and is rigidly connected with the upper cover (305) of the electric push rod; the electric push rod base (301) is connected with the outer ring saw (2); a hollow rotating shaft (3041) of the hollow shaft rotating motor (304) and the outer trepan saw body (201) are coaxially arranged; the inner trepan (4) comprises an inner trepan tubular saw body (401), one end of the inner trepan tubular saw body (401) is detachably and coaxially sleeved in the hollow rotating shaft (3041), and the other end of the inner trepan tubular saw body is coaxially sleeved in the outer trepan saw body (201); the electric push rods (302 a, 302 b) can drive the hollow shaft rotating motor (304) to do linear reciprocating motion along the axis of the outer trepan saw body (201), and further drive the inner trepan tubular saw body (401) to do rotating motion and linear reciprocating motion in the outer trepan saw body (201).

4. An automated robotic bone tissue biopsy device according to claim 3,

the inner ring data electric precession device (3) further comprises thrust sensors (303 a, 303 b), one ends of the thrust sensors (303 a, 303 b) are connected with the movable ends of the electric push rods (302 a, 302 b), and the other ends of the thrust sensors (303 a, 303 b) are connected with the electric push rod upper cover (305).

5. An automated robotic bone tissue biopsy device according to claim 4,

the outer circular saw (2) further comprises an outer circular saw handle (202) located at the top of the outer circular saw body (201), and the electric push rod base (301) is installed on the outer circular saw handle (202).

6. An automated robotic bone tissue biopsy device according to claim 5,

the outer ring saw fastening mechanism comprises first elastic cylindrical holes (102 a, 102 b) and outer ring saw fastening nuts (103 a, 103 b), wherein the outer ring saw fastening nuts (103 a, 103 b) are rotatably connected with the first elastic cylindrical holes (102 a, 102 b) through threads to form a fastening mechanism, and the fastening mechanism is used for detachably connecting an outer ring saw body (201) with a guide hole (101).

7. An automated robotic bone tissue biopsy device according to claim 6,

the outer ring saw handle (202) is symmetrically provided with a pair of positioning and mounting holes (2021 a, 2021 b) along the axis of the outer ring saw body (201), the bottom of the electric push rod base (301) is provided with positioning and fastening studs (3011 a, 3011 b) matched with the positioning and mounting holes (2021 a, 2021 b) and screwing device fastening nuts (3012 a, 3012 b) matched with the positioning and fastening studs (3011 a, 3011 b), and the positioning and fastening studs (3011 a, 3011 b) can pass through the positioning and mounting holes (2021 a, 2021 b) and be screwed with the screwing device fastening nuts (3012 a, 3012 b) to be fixed, so that the electric push rod base (301) and the outer ring saw handle (202) are rigidly connected.

8. An automated robotic bone tissue biopsy device according to claim 7,

the inner circular saw comprises second elastic cylindrical holes (3042 a, 3042 b) and inner circular saw fastening nuts (306 a, 306 b), wherein the inner circular saw fastening nuts (306 a, 306 b) are rotatably connected with the second elastic cylindrical holes (3042 a, 3042 b) through threads to form a fastening mechanism, and the fastening mechanism is used for detachably connecting an inner circular saw tubular saw body (401) and a hollow rotating shaft (3041).

9. An automated robotic bone tissue biopsy device according to claim 8,

the inner trepan (4) further comprises an inner trepan handle (402) positioned at the top of the inner trepan tubular saw body (401), and the bottom of the inner trepan tubular saw body (401) is connected with the top of the inner trepan tubular saw body (401) into a whole.

10. A method for fixing an automatic bone tissue biopsy robot device is characterized by sequentially comprising the following steps:

step one, positioning of a guide hole (101): the mechanical arm (5) drives a guide hole (101) of a flange (1) at the tail end of the mechanical arm to align to a target position;

step two, forming stable connection among the target bone tissue, the outer ring saw (2) and the mechanical arm tail end flange (1);

inserting an outer ring saw body (201) of the outer ring saw (2) into the guide hole (101); after micro wounds are formed on soft tissues of the body surface of a target object, an outer annular saw handle (202) of an outer annular saw (2) is manually rotated, so that the tail end of an outer annular saw body (201) is screwed into the surface of target bone tissues; after the outer trepan saw body (201) is stably contacted with the target bone tissue, the outer trepan saw (2) is rigidly connected with the tail end flange (1) of the mechanical arm, so that the target bone tissue, the outer trepan saw (2) and the tail end flange (1) of the mechanical arm form a stable relative relation;

step three, rigidly connecting the inner ring according to the electric precession device (3) and the outer ring saw (2);

step four, rigidly connecting the target bone tissue, the inner ring saw (4) and a hollow rotating shaft (3041) of the inner ring data electric precession device (3); sequentially enabling the inner trepan tubular saw body (401) to pass through the hollow rotating shaft (3041), the electric push rod base (301) and the outer trepan saw body (201) to reach the surface of target bone tissue; manually rotating an inner trepan handle (402) to screw the tail end of an inner trepan tubular saw body (401) into target bone tissue; when the inner trepan tubular saw body (401) is stably contacted with a target bone tissue, the inner trepan tubular saw body (401) is rigidly connected with the hollow rotating shaft (3041), so that the end flange (1) of the mechanical arm, the outer ring saw (2), the inner ring are rigidly connected into a whole according to the electric precession device (3) and the inner trepan (4);

fifthly, under the guidance of the perspective image, the inner trepan (4) is conveyed to the target operation position; observing the relative position relationship between the inner trepan (4) and the target bone tissue by using the perspective image; the hollow shaft rotating motor (304) is rotated and the electric push rods (302 a, 302 b) are reciprocated and linearly moved, so that the inner trepan (4) is delivered to a target operation position.

Images