CN115670629A - Bone cement injection robot - Google Patents
Bone cement injection robot Download PDFInfo
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- CN115670629A CN115670629A CN202211451166.6A CN202211451166A CN115670629A CN 115670629 A CN115670629 A CN 115670629A CN 202211451166 A CN202211451166 A CN 202211451166A CN 115670629 A CN115670629 A CN 115670629A
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- cement injection
- injection device
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Abstract
The invention provides a bone cement injection robot, comprising: an active mechanical arm; the bone cement injection device is arranged at the front end of the driving mechanical arm; the positioning system comprises a patient positioner, an injection device positioner and a tracking positioning device, wherein the patient positioner is arranged on the limb of a patient, the injection device positioner is arranged on the bone cement injection device, and the tracking positioning device is used for tracking and positioning the poses of the patient positioner and the injection device positioner; and the control device is in signal connection with the driving mechanical arm, the bone cement injection device and the positioning system, receives a positioning signal sent by the positioning system, controls the driving mechanical arm to move, moves the bone cement injection device to a preset position, and controls the bone cement injection device to puncture and inject bone cement. The bone cement injection robot provided by the invention is provided with a positioning system capable of identifying a patient and a bone cement injector, and can automatically position and puncture according to a planned preoperative path, and automatically inject bone cement after the puncture is in place.
Description
Technical Field
The invention relates to the technical field of medical instruments and the field of intelligent robots, in particular to a bone cement injection robot.
Background
The bone cement injection technology is used for filling pathological bone of a patient and plays a role in locally strengthening the bone. The bone cement injection operation is a common minimally invasive operation in orthopedics, has small wound and quick recovery, and is deeply favored by patients. The bone cement injection operation needs manual positioning of diseased bone of a patient at present, and the positioning efficiency is low. After positioning is finished, the bone cement needs to be manually premixed, and then the mixed bone cement is poured into diseased bone in multiple times, so that the operation is complex. Moreover, the bone cement injection needs to be completed under fluoroscopy, and patients and medical staff need to be exposed to rays for a long time, and particularly, the medical staff who are engaged in the ray operation for a long time can cause damage to health to different degrees.
Therefore, the existing bone cement injection operation has a plurality of problems: manual positioning is needed, and positioning is not accurate; the operation is carried out while the fluoroscopy is carried out, so that the ray exposure of doctors and patients is increased; the whole manual operation of the affected part positioning, bone cement premixing and bone cement pouring processes is time-consuming and labor-consuming, and the operation efficiency is reduced; the injection effect of the bone cement needs to be determined by repeated perspective, the injection cannot be quantified, and the injection dosage is not accurate; the pressure of the injector is mastered by full screen hand feeling, the injection pressure is not visual enough, the technical requirement on an operation operator is high, and potential safety hazards exist in the operation.
Therefore, there is a need to develop a bone cement injection robot that can be remotely operated.
Disclosure of Invention
In order to solve the technical problems, the invention develops the bone cement injection robot, which has the advantages of more accurate puncture and higher efficiency through robot positioning, can be remotely operated and reduces ray exposure.
According to an aspect of the present invention, there is provided a bone cement injection robot, including:
an active mechanical arm;
the bone cement injection device is arranged at the front end of the driving mechanical arm;
the positioning system comprises a patient positioner, an injection device positioner and a tracking positioning device, wherein the patient positioner is arranged on the limb of a patient, the injection device positioner is arranged on the bone cement injection device, and the tracking positioning device is used for tracking and positioning the poses of the patient positioner and the injection device positioner;
and the control device is in signal connection with the driving mechanical arm, the bone cement injection device and the positioning system, receives a positioning signal sent by the positioning system, controls the driving mechanical arm to move, moves the bone cement injection device to a preset position, and controls the bone cement injection device to puncture and inject bone cement.
Further, the bone cement injection robot further comprises a remote control operation device which is in signal connection with the control device and is used for remotely controlling the bone cement injection robot.
Further, the bone cement injection device includes:
a base;
the syringe mounting part is arranged at the front end of the base and is used for bearing a syringe;
the motor is arranged at the rear end of the base;
and the push-pull part is arranged between the motor and the injector, and the driving force output by the motor is transmitted to the injector push rod through the push-pull part.
Further, the push-pull part comprises a screw rod and a sliding support, and the screw rod is in threaded connection with the sliding support;
the sliding support comprises a sliding block and a sliding rail, the sliding rail is arranged on the base, and the sliding block is connected to the bottom of the sliding support and is connected with the sliding rail in a matched mode.
Furthermore, the sliding support also comprises an ejector block which is arranged on one side of the sliding support and is connected with the end part of the injector push rod;
one end of the screw rod is connected with an output shaft of the motor, and the other end of the screw rod is connected to the side wall of the base through a bearing.
Further, the top block further comprises a hook, a shaft and a torsion spring, wherein the shaft penetrates through the hook and the torsion spring and is rotatably connected to the top block.
Furthermore, sliding bracket both sides are provided with limit structure for sliding bracket can not rotate to both sides.
Further, the device also comprises a sensor which is positioned between the push-pull part and the injector push rod.
Further, the motor and the sensor are in signal connection with the control device, and the control device receives signals of the sensor and controls the starting, stopping, rotating direction and rotating speed of the motor.
Furthermore, the ejector block, the hook and the injector push rod are arranged on the same straight line.
The bone cement injection robot provided by the invention is provided with a positioning system capable of identifying a patient and a bone cement injector, and can automatically position and puncture according to a preoperative planned path, and automatically inject bone cement after the puncture is in place. In addition, the bone cement injection robot can be remotely controlled, injection can be performed while perspective is performed, and the injection effect can be monitored in real time.
The bone cement injection device can simultaneously have the functions of injecting and drawing the injector, the front end of the hook can adopt an inclined plane design, and the hook is provided with the rotating shaft and the torsion spring, so that the injector push rod can be automatically loaded under the cooperation of the three. Can be adapted to syringe push rods with different lengths, and has no fixed requirement on the medicine suction quantity of the syringe.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.
Fig. 1 is a schematic structural view of a bone cement injection device according to an embodiment of the present invention.
Fig. 2 is a sectional view of a bone cement injection device according to an embodiment of the present invention.
Fig. 3 is a schematic view of a driving part in the bone cement injection apparatus according to the embodiment of the present invention.
Fig. 4 is a schematic view illustrating the assembly of a sensor in a bone cement injection device according to an embodiment of the present invention.
Fig. 5 is a schematic view illustrating the assembly of the hook and the top block in the bone cement injection device according to the embodiment of the present invention.
Fig. 6 is a schematic view illustrating a state before loading of an injector of the bone cement injection apparatus according to the embodiment of the present invention.
Fig. 7 is a schematic view showing a state in which a syringe of a bone cement injection apparatus according to an embodiment of the present invention is loaded.
Fig. 8 is a schematic view illustrating a loaded state of the syringe of the bone cement injection apparatus according to the embodiment of the present invention.
Fig. 9 is a schematic view illustrating an overall use state of the bone cement injection robot according to the embodiment of the present invention.
Fig. 10 is a schematic diagram showing the positional relationship between the bone cement injector and the patient positioning device of the bone cement injection robot according to the embodiment of the present invention.
Fig. 11 is a schematic view of a 7-degree-of-freedom robot arm on which a bone cement injection device is mounted, of the bone cement injection robot according to the embodiment of the present invention.
Fig. 12 is a schematic view illustrating a connection manner of the end of the robot arm of the bone cement injection robot and the bone cement injection device according to the embodiment of the present invention.
In the figure:
the device comprises a base 1, a needle cylinder clamping groove 2, a top block 3, a motor 4, a connecting piece 5, a needle cylinder clamping groove cover plate 6, a needle cylinder 7, an injector handle 8, an injector push rod 9, a motor fixing seat 10, a sliding support 11, a sliding block 12, a sliding rail 13, a screw rod 14, a screw rod bearing 15, a coupler 16, a screw rod nut sealing cover 17, a sensor 18, a hook 19, a cross rod 20, a shaft 21, a torsion spring 22 and a puncture needle 23;
the bone cement injection device comprises a bone cement injection device 100, an active mechanical arm 200, a bed clamp 201, a connecting device 202, an optical tracking and positioning device 300, a patient positioner 301, an injection device positioner 302 and an operating bed 400.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention relates to an operation robot, in particular to a bone cement injection robot, which can realize automatic injection of bone cement. Specifically, the bone cement injection robot of the present invention comprises:
an active mechanical arm;
the bone cement injection device is arranged at the front end of the driving mechanical arm;
the positioning system comprises a patient positioner, an injection device positioner and a tracking positioning device, wherein the patient positioner is arranged on the limb of a patient, the injection device positioner is arranged on the bone cement injection device, and the tracking positioning device is used for tracking and positioning the positions of the patient positioner and the injection device positioner;
and the control device is in signal connection with the driving mechanical arm, the bone cement injection device and the positioning system, receives a positioning signal sent by the positioning system, controls the driving mechanical arm to move, moves the bone cement injection device to a preset position, and controls the bone cement injection device to puncture and inject bone cement.
The bone cement injection robot is provided with a positioning system, and the spatial positions of a puncture needle of the bone cement injection device and diseased bone of a patient can be identified in real time through the positioning system. The active mechanical arm can be controlled to act according to the planned path through preoperative path planning, the puncture needle of the bone cement injection device is accurately punctured into a diseased bone part of a patient, and bone cement is controllably injected into an affected part, so that the treatment purpose is achieved.
The positioning system includes a patient positioner, an infusion device positioner, and a tracking and positioning device. The tracking and positioning device detects the spatial position of the patient positioner and the infusion device positioner. The positioning system can be an NDI optical positioning and tracking system, and the technology is mature, has high positioning precision and can meet the requirements of surgical operation.
For example, the injection device positioner comprises a bracket and an optical positioning ball, wherein the bracket is fixed on the bone cement injection device; the patient positioner comprises a spicule, a bracket and an optical positioning ball, wherein the optical positioning ball is positioned on the bracket, a through hole with a fixing piece is formed in the bracket, the spicule can penetrate through the through hole and is fixed through the fixing piece, and the tip end of the spicule is fixed in the bone tissue of a patient. The tracking and positioning device can be optical position capturing equipment, is arranged on one side of an operating table, is provided with a camera, and can identify the position of an optical positioning ball in space and convert the position into a position signal, so that the poses of a patient positioner and an injection device positioner can be identified and tracked.
In addition, the bone cement injection robot of the present invention may further include a remote control operation device, and the operator is not directly exposed to the radiation by using the remote control operation. The remote control operation device is connected with the control device through wires or wirelessly, and sends a control signal and receives a feedback signal. The remote control operation device comprises a signal transmitting end, a signal receiving end, an operation panel, a control key and other components, a doctor can operate the remote control operation device in an operation, the operation panel is used for observing the relative position data of a patient and the bone cement injection device, the mechanical arm is manually operated in a remote control mode to move to a preset position, and then the bone cement injection device is operated to puncture and inject bone cement. In order to facilitate remote control operation, the bone cement injection robot can also be provided with a video acquisition device, video signals are transmitted to a control panel of the remote control operation device, an operator can observe the relative position of a patient and the bone cement injection device and the bone cement injection process through video images, and the operation process is more visual.
The driving mechanical arm can be a seven-degree-of-freedom mechanical arm and is one of execution components of the bone cement injection robot, the tail end of the driving mechanical arm is provided with the bone cement injection device, the other end of the driving mechanical arm can be fixed on one side of the operating table or arranged on a movable chassis, and the driving mechanical arm is provided with a driving motor and can be provided with the bone cement injection device to complete 7-degree-of-freedom active motion.
The control device is in communication connection with the positioning system and the 7-degree-of-freedom mechanical arm. The control device can receive control signals sent by the remote control operation device, or send signals to control the 7-degree-of-freedom mechanical arm to complete corresponding actions according to preoperative path planning data; the control device also receives pose information sent by the positioning system and is used for correcting the motion pose of the mechanical arm in real time. For example, the 7-degree-of-freedom mechanical arm is a main arm and is provided with more than 2 driving motors, so that space motion can be completed, and the tail end of the mechanical arm comprises a quick connection structure for connecting a bone cement injection device. The bottom of the bone cement injection device comprises a quick connection structure which is connected with a quick connection piece at the tail end of the mechanical arm.
The bone cement injection device can be used for connecting the push rod part of the injector and the driving part of the bone cement injector. The bone cement injection device includes: a base; the syringe mounting part is arranged at the front end of the base and is used for bearing a syringe; the motor is arranged at the rear end of the base; and the push-pull part is arranged between the motor and the injector, and the driving force output by the motor is transmitted to the injector push rod through the push-pull part.
Preferably, the syringe mounting portion is a semicircular clip slot for snap-fitting the syringe barrel section. The needle cylinder of the bone cement injector is clamped in the needle cylinder clamping groove, the injector push rod is connected to the push-pull part, the push-pull part is connected to an output shaft of the motor, and the push-pull part can move forward or backward by rotating the motor in the forward direction and the reverse direction, so that the injector push-pull rod is driven to complete the functions of pushing and pulling.
Alternatively, the push-pull part may include a screw rod and a bracket, the screw rod being in threaded connection with the bracket, the bracket being disposed on the base. The bracket has the functions of guiding and supporting, and can ensure that the screw rod moves in a preset direction. Preferably, the bracket is a sliding bracket, and the screw rod is in threaded connection with the sliding bracket; the sliding support comprises a sliding block and a sliding rail, the sliding rail is arranged on the base, and the sliding block is connected to the bottom of the sliding support and is connected with the sliding rail in a matched mode. The output shaft of the motor is connected to one end of the screw rod through a coupling. Under the drive of the rotation of the output shaft of the motor, the screw rod can rotate forwards or reversely, so that the sliding support is driven to move forwards or backwards along the sliding rail.
The sliding support further comprises an ejector block which is arranged on one side of the sliding support and connected with the end part of the injector push rod. When the sliding support moves forwards or backwards along the sliding rail, the sliding block drives the injector push rod to move forwards or backwards, so that the injection and drawing functions of the injector are completed.
Preferably, the top block comprises a hook which is detachably connectable with an end of the syringe plunger. The injector hook can adopt a double-body hook-shaped structure, the front end of the hook body is a large-angle inclined molded surface, a U-shaped groove with an upward opening is arranged in the middle of the hook body, and the U-shaped groove can be matched with a cross rod at the end part of an injector push rod. The depth of the U-shaped groove can fix the cross rod at the end part of the push rod of the injector in the front-back direction. The rear part of the hook body is provided with a through hole, and a shaft passes through the through hole. And one side or two sides of the through hole of the hook body are provided with torsional spring mounting grooves. The shaft passes through the hook and the torsion spring and is rotatably connected to the top block. The ejector block, the hook and the injector push rod are arranged on the same straight line. The invention can also adopt other structural parts with automatic locking function, and aims to automatically lock with the injector push rod when the sliding support advances, and keep certain tension when the sliding support moves backwards.
Specifically, the torsion spring is sleeved on the shaft and is positioned between the injector hook and the injector top block. The shaft sequentially penetrates through the injector hook, the torsion spring and the injector top block, and the three can rotate around the shaft. One side of the injector top block, which faces the injector push rod, is of a plane structure, and one side of the injector top block, which is back to the injector push rod, is provided with a threaded mounting hole. A through hole is formed in one side of the injector top block, an inwards-recessed torsion spring mounting clamping groove is formed in the through hole in one side of the injector top block, and the overall size is reduced due to inwards-recessed torsion spring mounting. The torsional spring installation clamping groove can limit the swing position of the injector hook, so that the injector hook cannot be tilted too high under the elasticity of the torsional spring, and the inclined plane of the hook can be aligned to the cross rod of the injector push rod. The number of torsion springs may be 2. In addition, the torsional spring can be replaced by other elastic components, and the function is to ensure that the injector hook keeps a certain posture under the action of elastic force when moving around the shaft.
Optionally, the bone cement injection device may further comprise a force sensor positioned between the injector top block and the sliding bracket. One side of the sliding support is connected with the force sensor, the other side of the sliding support is provided with a screw-nut mounting hole, a screw-nut can be embedded in the screw-nut mounting hole, and the screw-nut and the sliding support are fixed through screws. Alternatively, the force sensor may be located between the syringe ram and the syringe top block. The bottom of the sliding support is provided with a sliding block mounting hole, and the sliding block mounting hole can be mounted on a sliding block of the base through screws and can do linear reciprocating motion under the limitation of the sliding rail and the sliding block. Limiting structures are arranged on two sides of the sliding support, so that the sliding support cannot rotate towards two sides and can keep an upright state. The limiting structure can be a base side shell.
The center line of the push rod of the injector, the circle center of the arc-shaped surface of the U-shaped groove, the projection of the circle center of the shaft hole and the center line of the mounting hole of the force sensor are almost on the same straight line, so that the balanced stress is ensured.
The motor and the sensor of the bone cement injection device are in signal connection with the control device. The control device is used for controlling the starting and the rotating direction of the motor. Specifically, according to the injection amount of the bone cement and the volume of the needle cylinder, the control device calculates the injection scale of the push rod, so that the working time of the motor is controlled, and the injection of the bone cement with the preset dosage is controlled. In addition, the control device also receives signals of the sensor and controls the power and the rotating speed of the motor according to the signals of the sensor, so that the injection force of the bone cement injection process is kept within a preset range.
To facilitate understanding of the solution of the embodiments of the present invention and the effects thereof, a specific application example is given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
Referring to fig. 1 to 8, a bone cement injection apparatus 100 of the present embodiment includes: a base 1; the needle cylinder clamping groove 2 is arranged at the front end of the base 1 and used for mounting a needle cylinder 7 of an injector; the motor 4 is arranged at the rear end of the base 1 through a motor fixing seat 10; screw rod 14 and sliding bracket 11 threaded connection, sliding bracket 11 includes slider 12 and slide rail 13, and slide rail 13 sets up on base 1, and slider 12 is connected in sliding bracket 11's bottom, is connected with slide rail 12 cooperation. The base 1 is provided with a connection 5 for connection to a support or a robot arm. The output shaft of the motor 4 is connected to one end of the lead screw 11 through a coupling 16. The screw rod 11 can rotate forward or backward under the driving of the rotation of the output shaft of the motor 4, so as to drive the sliding bracket 11 to move forward or backward along the sliding rail 13.
The sliding support 11 further comprises a top block 3 which is arranged on one side of the sliding support 11 and is connected with an end cross rod 20 of the injector push rod 9. When the sliding support 11 moves forward or backward along the sliding rail 13, the sliding block 3 drives the cross rod 20 of the injector push rod 9 to move forward or backward, thereby completing the functions of injecting and drawing the injector.
Specifically, one side of the top block 3 facing the injector push rod 9 is a plane structure, and one side of the top block facing away from the injector push rod 9 is provided with a threaded mounting hole for mounting to the sliding bracket 11. The top block 3 comprises a hook 19 at a side of the top block 3 facing the syringe plunger 9, the hook 19 being detachably connectable with a crossbar 20 of the syringe plunger 9. The hook 19 adopts a double-body hook-shaped structure, the front end of the hook body is a large-angle inclined molded surface, a U-shaped groove with an upward opening is arranged in the middle of the hook body, and the U-shaped groove can be matched with a cross rod 20 at the end part of a push rod of the injector. The depth of the U-shaped groove can fix the cross bar 20 at the end part of the push rod of the injector in the front-back direction. The rear part of the hook body is provided with a through hole, and a shaft 21 passes through the through hole. The through-hole both sides of coupler body are provided with the torsional spring mounting groove, and axle 21 passes couple and torsional spring 22, rotationally is connected to kicking block 3 on, and torsional spring 22 is located the torsional spring mounting groove. The top block 3, the hook 19 and the injector push rod 9 are arranged on the same straight line.
In this embodiment, the needle cylinder engaging groove 2 is a semicircular engaging groove. The needle cylinder 7 of the bone cement injector is clamped in the needle cylinder clamping groove 2, and the needle cylinder clamping groove cover plate 6 covers the needle cylinder clamping groove 2. The injector handle 8 is clamped in the side wall bayonets at the two sides of the needle cylinder clamping groove 2, so that the needle cylinder 7 is kept stable in the needle cylinder clamping groove 2.
The bone cement injection device 100 further comprises a sensor 18 located between the top block 3 and the sliding bracket 11. One side of the sliding support 11 is connected with the sensor 18, the other side of the sliding support is provided with a lead screw nut mounting hole, a lead screw nut can be embedded in the lead screw nut mounting hole, the lead screw nut and the sliding support 11 are fixed through screws, and the outer surface of the sliding support is sealed by a lead screw nut sealing cover 17. The screw rod 14 is in threaded connection with the screw rod nut, one end of the screw rod 14 is connected with an output shaft of the motor 4, and the other end of the screw rod 14 is connected to the far-end side wall of the base through a bearing, so that the screw rod 11 can keep stable rotation. A screw bearing 15 may also be provided near the coupling 16 so that the end of the screw 11 is aligned with the coupling 16 and the transmission state is stable. The bottom of the sliding support 11 is provided with a mounting hole of a sliding block 12, and the sliding support can be mounted on the sliding block 12 of the base through screws and can do linear reciprocating motion under the limitation of a sliding rail 13 and the sliding block 12. The side housing of the base 11 can be used as a limiting structure on two sides of the sliding bracket 11, so that the sliding bracket 11 cannot rotate towards two sides and can keep an upright state during reciprocating motion.
The operation of the bone cement injection device 100 of the present embodiment is as follows:
a. before the injector is loaded, the sliding support 11 is driven by the motor 4 and the screw rod 14 to move to the farthest position, after the injector is loaded, the motor 4 and the screw rod 14 drive the sliding support 11 to move forwards, the front end inclined plane of the hook 19 firstly contacts the cross rod 20 of the injector push rod 9, and under the action of the inclined plane, the hook 19 is deflected downwards against the elasticity of the torsion spring 22. When the cross bar 20 of the syringe push rod 9 moves to the position of the U-shaped groove of the hook 19, the hook 19 bounces upwards under the action of the torsion spring 22, so that the cross bar 20 of the syringe push rod 9 is limited in the U-shaped groove, and the syringe push rod 9 is completely loaded.
b. When the push-injection action is carried out, the motor 4 and the screw rod 14 drive the sliding support 11 to move forwards, the plane of the front end of the ejector block 3 contacts the cross rod 20 of the injector push rod 9, the injector push rod 9 moves forwards passively, and the sensor 18 monitors the push-injection pressure.
c. When the pulling action is carried out, the motor 4 and the screw rod 14 drive the sliding support 11 to move backwards, at the moment, the front side of the U-shaped groove of the hook 19 contacts the cross rod 20 of the injector push rod 9 to drive the injector push rod 9 to move backwards, and the sensor 18 monitors the pulling force.
Referring to fig. 9 to 12, a bone cement injection robot according to an embodiment of the present invention includes: an active mechanical arm 200; a bone cement injection device 100 provided at the front end of the driving robot arm 200; the device comprises a patient positioner 301, an injection device positioner 302 and a tracking and positioning device 300, wherein the patient positioner 301 is arranged on the limb of a patient, the injection device positioner 302 is arranged on the bone cement injection device 100, and the tracking and positioning device 300 is used for tracking and positioning the poses of the patient positioner 301 and the injection device positioner 302. In this embodiment, the patient positioner 301 and the injection device positioner 302 include a cradle and four optical positioning spheres disposed on the cradle coplanar but non-collinear. An injection device positioner 302 is mounted on the connector 5 and a patient positioner 301 is secured in the patient's bone tissue by bone pins.
The control device (not shown) is in signal connection with the active mechanical arm 200, the bone cement injection device 100 and the positioning system, receives the positioning signal sent by the positioning system, controls the active mechanical arm 200 to move, moves the bone cement injection device 100 to a preset position, and controls the bone cement injection device 100 to puncture and inject bone cement.
The bone cement injection device 100 is disposed at the front end of the active robot arm 200, the active robot arm 200 is disposed beside the operating table 400, the tracking and positioning device 300 is disposed beside the operating table 400, and the patient positioner 301 and the injection device positioner 302 can be detected.
The active mechanical arm 200 is provided at one end with a coupling device 202, and detachably and quickly coupled with the bone cement injection device 100 through the coupling device 202. The other end of the active mechanical arm 200 is provided with a bed clamp 201, and is connected to the operating bed 400 through the bed clamp 201.
To facilitate understanding of the solution of the embodiments of the present invention and the effects thereof, a specific application example is given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
Before the operation, the patient is subjected to radiation imaging, the bone tissue structure of the pathological change part is reconstructed, the operation path is planned, and the operation path file is led into the control device in advance.
The patient positioner 301 is first fixed in the bone tissue of the patient by bone pins during the operation, so that the patient positioner 301 has no relative movement with the bone tissue of the lesion site.
Next, intraoperative bone tissue image reconstruction is performed, after which the patient's body remains as immobile as possible.
The 7-degree-of-freedom active robot arm 200 is fixed to the side of the operating table 400, and the bone cement injection device 100 is fixed to the distal end of the active robot arm 200 by the connection device 202.
Starting the positioning system, and firstly, correcting the system position. The control device controls the 7-degree-of-freedom active mechanical arm 200 to automatically align and puncture through a preoperatively planned path, the bone cement injection device 100 injects a certain amount of bone cement after the puncture needle 23 reaches a preset position, the active mechanical arm 200 restores to a zero position after fluoroscopy is satisfied again, and the operation is completed.
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is for the purpose of illustrating the benefits of embodiments of the invention only, and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A bone cement injection robot, comprising:
an active mechanical arm;
the bone cement injection device is arranged at the front end of the driving mechanical arm;
the positioning system comprises a patient positioner, an injection device positioner and a tracking positioning device, wherein the patient positioner is arranged on the limb of a patient, the injection device positioner is arranged on the bone cement injection device, and the tracking positioning device is used for tracking and positioning the poses of the patient positioner and the injection device positioner;
and the control device is in signal connection with the driving mechanical arm, the bone cement injection device and the positioning system, receives a positioning signal sent by the positioning system, controls the driving mechanical arm to move, moves the bone cement injection device to a preset position, and controls the bone cement injection device to puncture and inject bone cement.
2. The bone cement injection robot according to claim 1, further comprising a remote operation device in signal connection with the control device for remotely operating the bone cement injection robot.
3. The bone cement injection robot according to claim 1, wherein the bone cement injection device comprises:
a base;
the syringe mounting part is arranged at the front end of the base and is used for bearing a syringe;
the motor is arranged at the rear end of the base;
and the push-pull part is arranged between the motor and the injector, and the driving force output by the motor is transmitted to the injector push rod through the push-pull part.
4. The bone cement injection robot according to claim 3, wherein the push-pull part includes a screw rod and a sliding bracket, the screw rod being threadedly connected with the sliding bracket;
the sliding support comprises a sliding block and a sliding rail, the sliding rail is arranged on the base, and the sliding block is connected to the bottom of the sliding support and is connected with the sliding rail in a matched mode.
5. The bone cement injection robot according to claim 4, wherein the sliding bracket further comprises a top block provided at one side of the sliding bracket to be connected with an end of a syringe push rod;
one end of the screw rod is connected with an output shaft of the motor, and the other end of the screw rod is connected to the side wall of the base through a bearing.
6. The bone cement injection robot according to claim 5, wherein the top block further comprises a hook, a shaft, and a torsion spring, the shaft passing through the hook and the torsion spring, rotatably connected to the top block.
7. The bone cement injection robot according to claim 4, wherein the sliding bracket is provided with a limiting structure at both sides thereof so that the sliding bracket cannot rotate to both sides.
8. The bone cement injection robot according to claim 3, further comprising a sensor between the push-pull part and the injector push rod.
9. The bone cement injection robot according to claim 8, wherein the motor and the sensor are in signal connection with the control device, and the control device receives signals from the sensor and controls the start, stop, rotation direction and rotation speed of the motor.
10. The bone cement injection robot according to claim 7, wherein the top block, the hook, and the injector push rod are arranged in a straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211451166.6A CN115670629A (en) | 2022-11-20 | 2022-11-20 | Bone cement injection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211451166.6A CN115670629A (en) | 2022-11-20 | 2022-11-20 | Bone cement injection robot |
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| CN115670629A true CN115670629A (en) | 2023-02-03 |
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| CN202211451166.6A Pending CN115670629A (en) | 2022-11-20 | 2022-11-20 | Bone cement injection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117462230A (en) * | 2023-12-27 | 2024-01-30 | 北京铸正机器人有限公司 | Bone cement injection system with pressure relief function and robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117462230A (en) * | 2023-12-27 | 2024-01-30 | 北京铸正机器人有限公司 | Bone cement injection system with pressure relief function and robot system |
| CN117462230B (en) * | 2023-12-27 | 2024-03-12 | 北京铸正机器人有限公司 | Bone cement injection system with pressure relief function and robot system |
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