CN115607257A - Control method of bone cement injection surgical robot - Google Patents

Control method of bone cement injection surgical robot Download PDF

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Publication number
CN115607257A
CN115607257A CN202211285435.6A CN202211285435A CN115607257A CN 115607257 A CN115607257 A CN 115607257A CN 202211285435 A CN202211285435 A CN 202211285435A CN 115607257 A CN115607257 A CN 115607257A
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CN
China
Prior art keywords
bone cement
injection
surgical robot
control method
motor
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Pending
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CN202211285435.6A
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Chinese (zh)
Inventor
秦春丽
张泽宇
王文波
李东
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NINGBO HICREN BIOTECHNOLOGY CO LTD
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NINGBO HICREN BIOTECHNOLOGY CO LTD
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Priority to CN202211285435.6A priority Critical patent/CN115607257A/en
Publication of CN115607257A publication Critical patent/CN115607257A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8802—Equipment for handling bone cement or other fluid fillers
    • A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
    • A61B17/7097—Stabilisers comprising fluid filler in an implant, e.g. balloon; devices for inserting or filling such implants
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8802—Equipment for handling bone cement or other fluid fillers
    • A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
    • A61B17/8822—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it characterised by means facilitating expulsion of fluid from the introducer, e.g. a screw pump plunger, hydraulic force transmissions, application of vibrations or a vacuum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8802—Equipment for handling bone cement or other fluid fillers
    • A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
    • A61B17/8825—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it characterised by syringe details
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Neurology (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

The application discloses a control method of a bone cement injection surgical robot. The control method of the bone cement injection surgical robot comprises the following steps: a pretreatment step: determining vertebrae needing bone cement injection, and performing puncture at a surgical site; preparing bone cement, and mounting the bone cement sleeve on a bone cement injection surgical robot; an injection step: controlling an injection motor to rotate positively to push a push rod on the bone cement sleeve to inject bone cement into the vertebra at a preset injection speed; a back-withdrawing step: and controlling the consumable motor to reversely rotate to drive the conveying pipe to retreat for a preset distance at a preset retreating speed, and repeating the injection step to the retreating step for N times until the bone cement in the vertebra reaches a preset amount. The control method of the bone cement injection surgical robot can solve the problem that in the prior art, requirements for doctors are high when bone cement injection is carried out.

Description

Control method of bone cement injection surgical robot
Technical Field
The application relates to the technical field of medical treatment, in particular to a control method of a bone cement injection surgical robot.
Background
At present, in an operation for treating diseases such as benign and malignant tumors of a vertebral body, osteoporotic vertebral body compression fracture and the like by using a novel minimally invasive spinal surgery technology, a doctor needs to work under the real-time monitoring of X-rays, determine the injection dosage and the injection position of bone cement, complete the injection of the bone cement into the vertebral body by using a propeller, prevent the bone cement from being injected too much and leaking out of the vertebral body, cause irreparable damage to a patient, and generally take several minutes or even longer working time. When the doctor is exposed to X-ray radiation for a long time during operation, the doctor body is damaged.
For this reason, some bone cement injection surgical robots are available on the market, which perform bone cement injection by using a mechanical arm of the bone cement injection surgical robot in cooperation with a doctor, however, at present, there is no mature control method for controlling the bone cement injection surgical robot, which has a high requirement on the injection technology of the doctor, and is inconvenient to use and operate.
Disclosure of Invention
The main purpose of the present application is to provide a control method for a bone cement injection surgical robot, so as to solve the problem in the prior art that the requirement for doctors is high when bone cement injection is performed.
According to an aspect of an embodiment of the present application, there is provided a control method of a bone cement injection surgical robot, including:
a pretreatment step: determining vertebrae needing bone cement injection, and puncturing at a surgical site; preparing bone cement, and mounting the bone cement sleeve on a bone cement injection surgical robot;
an injection step: controlling an injection motor to rotate positively to push a push rod on the bone cement sleeve to inject bone cement into the vertebra at a preset injection speed;
a withdrawing step: and controlling the consumable motor to reversely rotate to drive the conveying pipe to retreat for a preset distance at a preset retreating speed, and repeating the injection step to the retreating step for N times until the bone cement in the vertebra reaches a preset amount.
Further, the control method of the bone cement injection surgical robot further comprises a forced withdrawal step: after the bone cement is prepared and the bone cement injection surgical robot starts to work, if the time reaches the preset time, the bone cement injection surgical robot is controlled to send out a warning signal so that a doctor can judge whether to execute the withdrawing of the delivery pipe.
Further, the predetermined time is 7min to 9min.
Further, the control method of the bone cement injection surgical robot further comprises the pressure relief step of: and monitoring the pressure in the conveying pipe, and controlling the injection motor to rotate reversely to drive the push rod on the bone cement sleeve to retreat for pressure relief when the pressure in the conveying pipe reaches a preset threshold value until the pressure value of the conveying pipe is smaller than the preset threshold value.
Further, the number of the vertebrae is one or two, and when the number of the vertebrae is two, the control method of the bone cement injection surgical robot further includes a re-injection step: and after one of the two vertebrae finishes the cement injection, switching the puncture structure connected with the delivery pipe, controlling the consumable motor to reset, and then executing the injection step and the withdrawal step.
Further, the predetermined injection rate is 0.5ml/s to 1.5ml/s.
Further, the predetermined pullback rate is 1.3ml/s to 1.8ml/s.
Further, the predetermined distance a satisfies the relation: a is more than or equal to 7.5mm and less than 22mm.
Further, in the injection step, the injection motor is started once, and the injection amount of the bone cement is not more than 1.5ml.
Further, in the withdrawing step, the consumable motor is started to rotate reversely once, and the withdrawing distance of the conveying pipe is not more than 7.5mm.
Compared with the prior art, the technical scheme of the application has at least the following technical effects:
the control method designs a set of effective control flow, is more convenient for doctors to perform the operation, and in the actual operation process, the design of the method can reduce the requirement of the operation process on the professional degree of the doctors, can reduce the injection difficulty of the bone cement, and improves the success rate of the bone cement injection.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural view of a bone cement injection surgical robot disclosed in an embodiment of the present application;
fig. 2 is a flowchart illustrating a control method of a bone cement injection surgical robot according to an embodiment of the present disclosure.
Wherein the figures include the following reference numerals:
10. a bone cement injection surgical robot; 11. a mechanical arm assembly; 111. a column; 112. a first free arm; 113. a second free arm; 114. a drive arm; 12. a rail adapter; 13. an injection motor; 14. a bone cement sleeve; 141. a push rod; 142. a hose; 15. a consumable motor; 20. a bedside guide rail.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Referring to fig. 1 to 2, according to an embodiment of the present application, there is provided a control method of a bone cement injection surgical robot, which can be used to control the bone cement injection surgical robot 10 to perform injection of bone cement.
Referring to fig. 1, the bone cement injection surgical robot 10 described in the present embodiment includes a rail adapter 12, a robot arm assembly 11, an injection motor 13, a bone cement sleeve 14, and a consumable motor 15.
The robot arm assembly 11 includes a column 111, a first free arm 112, a second free arm 113, and a driving arm 114. The upright 111 is installed on the guide rail adapter 12 in a liftable manner, the first end of the first free arm 112 is rotatably connected to the top end of the upright 111 through a ball joint, the first end of the second free arm 113 is rotatably connected to the second end of the first free arm 112, and the second end of the second free arm 113 is connected to the driving arm 114. The injection motor 13 and the bone cement sleeve 14 are both mounted on a drive arm 114, and the consumable motor 15 is disposed at the front end of the drive arm 114. In practice, the bone cement socket 14 may be removed from the driving arm 114 for mixing and containing bone cement, and may be mounted on the driving arm 114 again after the bone cement is contained in the bone cement socket 14. The front end of the bone cement sleeve 14 is provided with a hose 142, a consumable motor 15 is used for driving consumables such as a delivery pipe (not shown in the figure) to advance or retreat, and when the bone cement sleeve is used, the hose 142 is connected with the delivery pipe, so that the bone cement can be conveniently injected into the delivery pipe. The bone cement injection surgical robot 10 in the present embodiment is further provided with an operation handle (not shown) provided with a control button and a reset button for controlling the injection motor 13, the consumable motor 15, and the like of the bone cement injection surgical robot 10, a display window for displaying pressure, an injection amount, and the like, a counter, and the like.
When injecting bone cement, the bone cement injection surgical robot 10 is mounted on the bedside rail 20 through the rail adapter 12. In order to effectively control the bone cement injection surgical robot 10, the present embodiment provides a control method of the bone cement injection surgical robot, and specifically, the control method includes a preprocessing step, an injection step, a withdrawal step, a forced withdrawal step, a pressure relief step, and a reset re-injection step.
The above steps will be specifically described below:
(1) A pretreatment step: determining vertebrae needing bone cement injection, and puncturing at a surgical site; bone cement is prepared and the bone cement sleeve 14 is mounted on the bone cement injection surgical robot 10.
In this step, a vertebra to be injected with bone cement is first determined, where the vertebra to be injected with bone cement is referred to as a vertebra injected with bone cement, and during the actual injection process, the number of the vertebra may be one, or two or more. After the vertebra needing bone cement injection is determined, the operation site needing bone cement injection is sequentially punctured by using the puncturing structure, after puncturing is completed, a part of the structure of the puncturing structure, such as a tube body, is reserved at the operation site, and then other structures of the puncturing structure are connected with the consumable motor 15. Meanwhile, the bone cement powder and the mixed liquid can be poured into the bone cement sleeve 14 to be stirred and mixed to form the bone cement solution, after the bone cement sleeve 14 is stirred and mixed, the bone cement sleeve 14 is installed on the driving arm 114, the hose 142 and the conveying pipe are connected together, the reset button is pressed simultaneously, and the consumable motor 15 is used for driving the conveying pipe to be installed in the puncture structure of the operation position.
In this step, when the mixing of the bone cement powder and the mixed liquid is started, the surgeon simultaneously presses a timer on the operation handle to start timing.
(2) An injection step: the injection motor 13 is controlled to rotate forward, so that the push rod 141 on the bone cement sleeve 14 is pushed to inject the bone cement into the vertebra at a preset injection speed.
After the bone cement sleeve 14 filled with bone cement is mounted on the driving arm 114, and the control button for controlling the injection motor 13 is pressed, the injection motor 13 rotates forward to drive the push rod 141 to move, so that the bone cement in the bone cement sleeve 14 can be pushed into the hose 142 and the conveying pipe.
Optionally, the predetermined injection rate in this step is from 0.5ml/s to 1.5ml/s, such as 0.5ml/s, 0.7ml/s, 1ml/s, 1.2ml/s, or 1.5ml/s. In one embodiment of the present application, the push rod 141 is rotated once, the injection amount of the bone cement is 0.5ml, and the rotation speed of the injection motor 13 is 12rpm. When the predetermined injection speed is less than 0.5ml/s, the operation time for injecting the bone cement is prolonged, and when the predetermined injection speed is greater than 1.5ml/s, the injection process of the bone cement is too fast, and the bone cement is easily leaked. That is, in the present embodiment, by setting the predetermined injection rate to 0.5ml/s to 1.5ml/s, not only the operation time can be shortened, but also the risk of leakage of the cement can be reduced to some extent.
Optionally, in this step, the injection motor 13 is started once, and the amount of bone cement injection is not more than 1.5ml. That is, the injection motor 13 moves the push rod 141 to perform bone cement injection by an amount of not more than 1.5ml by pressing a control button for controlling the injection motor 13 once. Therefore, the device is more suitable for controlling the injection amount of the bone cement, and can further reduce the risk of leakage in the bone cement injection process.
(3) A withdrawing step: and controlling the consumable motor 15 to reversely rotate to drive the conveying pipe to be withdrawn for a preset distance at a preset withdrawal speed, and repeating the injection step to the withdrawal step for N times until the bone cement in the vertebra reaches a preset amount.
In the process of the injection step, the injection amount display window on the operation handle can display the injection amount of the bone cement in real time, and a doctor can perform withdrawal operation according to the actual injection amount. In the actual process of injecting the bone cement, the injection step to the withdrawal step may be repeated N times to perform multi-injection of the bone cement. Therefore, the injection can be performed in a point-to-surface manner and in multiple points, so that the bone cement can be dispersed more uniformly. That is to say, the required dispersion scope of single-point bone cement can be dwindled in the multiple spot position injection, reduces bone cement injection pressure, and the bone cement dispersion effect is controlled more easily, reduces bone cement seepage risk, can reach the effect that relieves pain, can strengthen the centrum, provides stable mechanics and supports, reduces the risk of secondary fracture. Optionally, N is not less than 2, and in this embodiment, N is 3.
When actually injecting bone cement, the conveyer pipe stretches into behind the bone cement of the most distal end injection volume (the injection volume here confirms according to patient's focus, does not do specifically prescribe a limit in this application) of centrum inside, after pressing the control button that is used for carrying out control to consumptive material motor 15, the reversal of consumptive material motor 15 drives the conveyer pipe and withdraws the predetermined distance with predetermined withdrawal speed after, carry out the injection step once more, after 3 repetitions, accomplish the bone cement injection of foretell predetermined volume can. The predetermined amount in this embodiment is determined according to the lesion of the patient, and is not particularly limited in this application, for example, 8ml.
Alternatively, the predetermined pullback rate in this embodiment is 1.3ml/s to 1.8ml/s, such as 1.3ml/s, 1.5ml/s, and 1.8ml/s. In one specific embodiment of the present application, the withdrawal speed of the delivery tube is 1.5mm/s and the rotational speed of the consumable motor 15 is 22.5rpm. When the predetermined withdrawal speed is less than 1.3ml/s, the operation time for injecting the bone cement is prolonged, and when the predetermined withdrawal speed is greater than 1.8ml/s, the withdrawal distance of the delivery tube is not easily controlled.
Optionally, the predetermined distance a in this step satisfies the relation: 7.5mm ≦ A < 22mm, which may be, for example, 7.5mm, 12.5mm, or 17.5mm.
Optionally, the consumable motor 15 is turned on once, and the withdrawal distance of the delivery tube is not more than 7.5mm. That is, the control button for controlling the consumable motor 15 is pressed once, and the distance by which the consumable motor 15 is withdrawn is not more than 7.5. So, be suitable for more and control the back distance of bone cement, can carry out the multiple spot injection of bone cement effectively, be convenient for realize the seamless dispersion of bone cement and fill.
(4) A forced withdrawing step: after the bone cement is prepared and the bone cement injection surgical robot 10 starts to work, if the time reaches the preset time, the bone cement injection surgical robot 10 is controlled to send out a warning signal for a doctor to judge whether to execute the withdrawal of the delivery pipe.
In this step, the start of the preparation of the bone cement means a start time when the mixing of the bone cement powder and the liquid mixed together is started. When the time displayed by the timer reaches a predetermined time, the controller of the bone cement injection surgical robot 10 controls the bone cement injection surgical robot 10 to send out a warning signal for the doctor to determine whether to perform the withdrawal of the delivery tube.
Optionally, the predetermined time is 7min to 9min, such as 7min, 8min or 9min.
Because the bone cement solution is automatically solidified after being mixed for a period of time, the solidification time is about 10min, so that the bone cement can be solidified in the actual bone cement injection process, if the delivery pipe is not withdrawn in time, the delivery pipe is easy to be solidified together with the bone cement, and when the delivery pipe is withdrawn subsequently, the delivery pipe is broken in the vertebra. In this application, through setting up the compulsory step of withdrawing, can provide warning signal for the doctor, at this moment, the doctor can judge whether need carry out the withdrawal of conveyer pipe according to the experience of oneself, and whole operation process requires relatively lowly to doctor's specialty, can reduce the operation risk, improves the operation success rate. If the doctor needs to forcibly withdraw, the consumable motor 15 is controlled to rotate reversely.
(5) Pressure relief: and monitoring the pressure in the delivery pipe, and controlling the injection motor 13 to reversely rotate to drive the push rod 141 on the bone cement sleeve 14 to withdraw for pressure relief when the pressure in the delivery pipe reaches a preset threshold value until the pressure value of the delivery pipe is less than the preset threshold value.
In the process of actually injecting the bone cement, because the bone cement injected into the vertebral cavity is continuously solidified, the pressure in the delivery pipe can be continuously increased, when the pressure in the delivery pipe reaches a preset threshold value, the injection motor 13 drives the push rod 141 to rotate for the same number of turns, the amount of the bone cement delivered to the delivery pipe can be obviously changed, at the moment, the amount of the bone cement displayed by the display is not accurate enough, therefore, through setting a pressure relief step in the embodiment, the injection motor 13 is controlled to reversely rotate to drive the push rod 141 to withdraw and relieve the pressure, the amount of the actually injected bone cement can be accurately displayed, and the bone cement injection device is more suitable for doctors to accurately inject the bone cement.
Alternatively, in the present embodiment, the pressure in the delivery tube may be detected by a pressure sensor, and the predetermined threshold value described in the present application may be determined according to the experience of a doctor and clinical trials, and may be, for example, 70bar to 100bar.
As previously mentioned, a tube of bone cement can be injected into one vertebra, or into two or more vertebrae, and if one is performed, the injection process can be performed in only the five steps described above.
In one embodiment of the present application, a tube of bone cement may be injected into two vertebrae, and when there are two vertebrae, the control method of the bone cement injection surgical robot further includes a re-injection resetting step: and after one of the two vertebrae finishes the cement injection, switching the puncture structure connected with the delivery pipe, controlling the consumable motor 15 to reset, and then repeatedly executing the injection step and the withdrawal step. Of course, in the injection step and the retraction step, the retraction step and the forcible retraction step can be performed according to actual requirements.
In this step, when needs drive consumptive material motor 15 and reset, only need press the reset button, just can drive consumptive material motor 15 and reset, this moment, data zero clearing such as timer, display, etc. after consumptive material motor 15 drives the conveyer pipe and stretches into to the vertebra, loosen the reset button can.
From the above control method, it can be known that: the control method designs a set of effective control flow, is more convenient for doctors to perform operations, and in the actual operation process, the design of the method can reduce the requirement of the operation process on the professional degree of the doctors, can reduce the injection difficulty of the bone cement, and improves the success rate of the bone cement injection.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, so that the scope of the present application is not to be construed as being limited.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A control method of a bone cement injection surgical robot is characterized by comprising the following steps:
a pretreatment step: determining vertebrae needing bone cement injection, and puncturing at a surgical site; preparing bone cement, and mounting the bone cement sleeve (14) on a bone cement injection surgical robot (10);
an injection step: controlling an injection motor (13) to rotate forwards to push a push rod (141) on the bone cement sleeve (14) to inject bone cement into the vertebra at a preset injection speed;
a back-withdrawing step: and controlling a consumable motor (15) to reversely rotate to drive the conveying pipe to retreat for a preset distance at a preset retreating speed, and repeating the injection step to the retreating step for N times until the bone cement in the vertebra reaches a preset amount.
2. The method for controlling a bone cement injection surgical robot according to claim 1, further comprising a forcible retraction step of: after the bone cement is prepared and the bone cement injection surgical robot (10) starts to work, if the time reaches the preset time, the bone cement injection surgical robot (10) is controlled to send out a warning signal so that a doctor can judge whether to execute the withdrawing of the delivery pipe.
3. The control method of a bone cement injection surgical robot according to claim 2, wherein the predetermined time is 7 to 9min.
4. The control method of a bone cement injection surgical robot according to claim 1, further comprising a pressure relief step of: and monitoring the pressure in the delivery pipe, and controlling the injection motor (13) to reversely rotate to drive a push rod (141) on the bone cement sleeve (14) to retract for pressure relief when the pressure in the delivery pipe reaches a preset threshold value until the pressure value of the delivery pipe is smaller than the preset threshold value.
5. The control method of a bone cement injection surgical robot according to claim 1, wherein the number of the vertebrae is one or two, and when the number of the vertebrae is two, the control method of a bone cement injection surgical robot further comprises a re-injection step of: after one of the two vertebrae is subjected to cement injection, the puncture structure connected with the delivery pipe is switched, the consumable motor (15) is controlled to reset, and then the injection step and the withdrawal step are executed.
6. The control method of a bone cement injection surgical robot according to claim 1, wherein the predetermined injection speed is 0.5ml/s to 1.5ml/s.
7. The control method of a bone cement injection surgical robot according to claim 1, wherein the predetermined withdrawing speed is 1.3 to 1.8ml/s.
8. The control method of a bone cement injection surgical robot according to claim 1, wherein the predetermined distance a satisfies a relation: a is more than or equal to 7.5mm and less than 22mm.
9. The control method of a bone cement injection surgical robot according to any one of claims 1 to 8, characterized in that, in the injection step, the injection motor (13) is turned on once, and the amount of bone cement injection is not more than 1.5ml.
10. The control method of a bone cement injection surgical robot according to any one of claims 1 to 8, wherein in the withdrawing step, the consumable motor (15) is turned on once and the withdrawal distance of the delivery pipe is not more than 7.5mm.
CN202211285435.6A 2022-10-20 2022-10-20 Control method of bone cement injection surgical robot Pending CN115607257A (en)

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CN202211285435.6A CN115607257A (en) 2022-10-20 2022-10-20 Control method of bone cement injection surgical robot

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Application Number Priority Date Filing Date Title
CN202211285435.6A CN115607257A (en) 2022-10-20 2022-10-20 Control method of bone cement injection surgical robot

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