CN117297708B - Respiration-follow-up ultrasonic bone knife end effector - Google Patents

Respiration-follow-up ultrasonic bone knife end effector Download PDF

Info

Publication number
CN117297708B
CN117297708B CN202311344428.3A CN202311344428A CN117297708B CN 117297708 B CN117297708 B CN 117297708B CN 202311344428 A CN202311344428 A CN 202311344428A CN 117297708 B CN117297708 B CN 117297708B
Authority
CN
China
Prior art keywords
sleeve
base
outer sleeve
fixing piece
knife
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202311344428.3A
Other languages
Chinese (zh)
Other versions
CN117297708A (en
Inventor
李危石
李卓夫
宋雄康
季旭全
刘洪升
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Zhuzheng Robot Co ltd
Beijing Zhuzheng Robot Co ltd
Peking University Third Hospital
Original Assignee
Suzhou Zhuzheng Robot Co ltd
Beijing Zhuzheng Robot Co ltd
Peking University Third Hospital
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Zhuzheng Robot Co ltd, Beijing Zhuzheng Robot Co ltd, Peking University Third Hospital filed Critical Suzhou Zhuzheng Robot Co ltd
Priority to CN202311344428.3A priority Critical patent/CN117297708B/en
Publication of CN117297708A publication Critical patent/CN117297708A/en
Application granted granted Critical
Publication of CN117297708B publication Critical patent/CN117297708B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1633—Sleeves, i.e. non-rotating parts surrounding the bit shaft, e.g. the sleeve forming a single unit with the bit shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/162—Chucks or tool parts which are to be held in a chuck
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1622—Drill handpieces
    • A61B17/1624—Drive mechanisms therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1659—Surgical rasps, files, planes, or scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Abstract

The invention relates to the technical field of medical equipment, in particular to a respiratory follow-up ultrasonic bone knife end effector, which comprises: the connecting mechanism is fixedly connected with the tail end of the mechanical arm; the motor executing mechanism comprises an executing base, a driving motor and a knife handle fixing piece, wherein the driving motor and the knife handle fixing piece are arranged on the executing base, the executing base is in sliding connection with the connecting mechanism, the driving motor is in transmission connection with the knife handle fixing piece, the knife handle fixing piece is used for fixing an ultrasonic bone knife, and the driving motor is used for driving the knife handle fixing piece to move relative to the executing base so as to control the ultrasonic bone knife to cut; the sleeve mechanism comprises a main sleeve and an outer sleeve, the main sleeve is fixedly connected with the execution base, the outer sleeve is sleeved on the outer side of the main sleeve, one end of the outer sleeve is abutted against the bony spur, and the outer sleeve can rotate relative to the main sleeve to change the abutting position of the outer sleeve and the bony spur. So, the whole device can respond to the breathing action fast for the osteotome can be along with patient's breathing motion together, and the cutting is more accurate, ensures operation security.

Description

Respiration-follow-up ultrasonic bone knife end effector
Technical Field
The invention relates to the technical field of medical appliances, in particular to a respiratory follow-up ultrasonic bone knife end effector.
Background
When the bone spur resection operation is performed, the operation is performed through intelligent equipment such as a navigation and intelligent robot, and the like, and the device has the advantages of high operation precision, quick positioning, capability of guiding doctor operation and the like, but in the tracking process, a certain time delay still exists from image acquisition to computer processing to instruction issuing, and finally mechanical arm execution; therefore, when a patient breathes, the operation position can move up and down, although the positioning mark can be adjusted along with the breathing change of the patient, the positioning mark is delayed, so that the positioning error can occur, the phenomenon that the ultrasonic bone knife is controlled to cut the bone spur is shallow or deep, the operation cannot be accurately completed, the nerve and the like under the bone spur can be injured when the ultrasonic bone knife is controlled to cut the bone spur, and the operation safety cannot be ensured.
Disclosure of Invention
The present invention aims to solve at least one of the problems in the background art and provides a respiratory-driven ultrasonic osteotome end effector.
To achieve the above object, the present invention provides a breath-actuated ultrasonic osteotome end effector comprising:
the connecting mechanism is fixedly connected with the tail end of the mechanical arm;
the motor executing mechanism comprises an executing base, a driving motor and a knife handle fixing piece, wherein the driving motor and the knife handle fixing piece are installed on the executing base, the executing base is in sliding connection with the connecting mechanism, the driving motor is in transmission connection with the knife handle fixing piece, the knife handle fixing piece is used for fixing an ultrasonic bone knife, and the driving motor is used for driving the knife handle fixing piece to move relative to the executing base so as to control the ultrasonic bone knife to cut;
the sleeve mechanism comprises a main sleeve and an outer sleeve, the main sleeve is fixedly connected with the execution base, the outer sleeve is sleeved on the outer side of the main sleeve, one end of the outer sleeve is abutted to the bony spur, and the outer sleeve can rotate relative to the main sleeve to change the abutting position of the outer sleeve and the bony spur.
Preferably, the motor executing mechanism further comprises a transmission structure and a first quick connector;
the transmission structure comprises a screw rod connected with the driving motor and a first sliding block arranged on the screw rod, and the first sliding block is used for converting the rotation motion of the screw rod into linear motion;
the first quick connector is sleeved on the side wall of the execution base and moves back and forth relative to the side wall of the execution base, one end of the first quick connector is fixedly connected with the handle fixing piece, and the other end of the first quick connector is fixedly connected with the first sliding block;
the driving motor is used for controlling the screw rod to rotate, and the first sliding block moves linearly along the screw rod to drive the ultrasonic bone knife on the knife handle fixing piece to move.
Preferably, the connecting mechanism comprises a bracket, a fixing piece and a bolt, wherein the fixing piece and the bolt are installed on the bracket;
the execution base is mounted on the bracket through the bolt;
the support is fixedly connected with the tail end of the mechanical arm through the fixing piece.
Preferably, a first spring is provided between the main sleeve and the outer sleeve, the outer sleeve being telescopically movable relative to the main sleeve.
Preferably, the connecting ends of the main sleeve and the outer sleeve are engaged with each other;
one end of the first spring is abutted with the connecting end, and the other end of the first spring is abutted with the top of the outer sleeve.
Preferably, a first sliding rail is arranged on the side surface of the execution base facing the first sliding block, and the first sliding block is connected with the first sliding rail in a matching way.
Preferably, a second sliding rail is arranged on the side surface of the execution base facing the bracket, a second sliding block is arranged on the bracket, and the second sliding block is connected with the second sliding rail in a matching way;
the second sliding block and the bolt are arranged on the same plane of the bracket.
Preferably, a second quick connector is further arranged at the connection part of the execution base and the main sleeve;
the second quick connector comprises a sleeve base fixed on the execution base and a base telescopic rod arranged in the sleeve base;
the main sleeve is fixedly connected with the sleeve base through the base telescopic rod.
Preferably, the motor executing mechanism further comprises a limiting piece arranged on the executing base;
the limiting piece is positioned at the bottoms of the first sliding rail and the second sliding rail respectively;
the limiting piece limits the movement of the first sliding block and the second sliding block.
Preferably, a second spring is arranged on the bolt, and the second spring is used for keeping the connecting mechanism in an initial position.
Based on the above, the invention has the beneficial effects that:
1. according to the scheme, one end of the connecting mechanism is fixedly connected with the tail end of the mechanical arm, the other end of the connecting mechanism is in sliding connection with the motor executing mechanism, the sleeve mechanism is arranged at the same time, one end of the connecting mechanism is abutted against the bony spur of a patient, the other end of the connecting mechanism is fixedly connected with the motor executing mechanism, the motor executing mechanism is fixedly provided with a driving motor and an ultrasonic bone knife, and the ultrasonic bone knife can pass through the sleeve mechanism to be in contact with the bony spur;
when the ultrasonic bone knife is used, the sleeve mechanism and the motor executing mechanism can move along with the respiration of a patient along with the respiration of the patient, the tail end of the mechanical arm is not influenced, the ultrasonic bone knife can be accurately cut while the positioning of the mechanical arm navigation system is not influenced, the problem of the change of the cutting depth of the ultrasonic bone knife caused by the respiration change of the patient is solved, and the operation is safer;
2. according to the scheme, the sleeve mechanism comprises the main sleeve and the outer sleeve, the outer sleeve can be abutted with the bony spur of a patient, the outer sleeve is sleeved on the main sleeve, the connecting ends of the outer sleeve and the main sleeve are meshed with each other, a first spring is arranged between the outer sleeve and the main sleeve, a doctor can pull the outer sleeve in a direction away from the main sleeve to compress the spring, so that the connecting ends of the outer sleeve and the main sleeve are separated, the abutting angle of the outer sleeve and the bony spur can be changed at will through rotating the outer sleeve, free adjustment is carried out, and after adjustment is completed, the outer sleeve is contracted through the elastic action of the spring, so that the connecting ends of the outer sleeve and the bony spur are meshed again.
Drawings
FIG. 1 schematically illustrates a schematic overall construction of a breath-actuated ultrasonic bone blade end effector in accordance with one embodiment of the present invention;
FIG. 2 schematically illustrates a structural view of a connection mechanism according to an embodiment of the present invention;
FIG. 3 schematically illustrates a schematic construction of a motor actuator according to one embodiment of the present invention;
FIG. 4 schematically illustrates a sleeve mechanism according to one embodiment of the present invention;
FIG. 5 schematically illustrates a schematic diagram of an alternative view of a motor actuator according to one embodiment of the present invention;
FIG. 6 schematically illustrates a second quick connector according to one embodiment of the present invention;
FIG. 7 schematically illustrates a structure of a base telescoping pole according to an embodiment of the present invention;
description of the drawings: the device comprises a connecting mechanism 10, a bracket 101, a fixing member 102, a bolt 103, a second sliding block 104, a second spring 105, a motor executing mechanism 20, an executing base 201, a driving motor 202, a tool shank fixing member 203, a transmission structure 204, a screw 2041, a first sliding block 2042, a first quick connector 205, a first sliding rail 206, a second sliding rail 207, a limiting member 208, a sleeve mechanism 30, a main sleeve 301, an outer sleeve 302, a second spring 303, a second quick connector 304, a sleeve base 3041, a base telescopic rod 3042, a sliding rod 3021, a clamping end 30122 and a compression end 30423.
Detailed Description
The present disclosure will now be discussed with reference to exemplary embodiments. It should be understood that the embodiments discussed are merely to enable those of ordinary skill in the art to better understand and thus practice the teachings of the present invention and do not imply any limitation on the scope of the invention.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment.
FIG. 1 schematically illustrates a schematic overall structure of a breath-actuated ultrasonic bone blade end effector in accordance with one embodiment of the present invention, as shown in FIG. 1, comprising:
the connecting mechanism 10 is fixedly connected with the tail end of the mechanical arm;
the motor executing mechanism 20 comprises an executing base 201, a driving motor 202 and a knife handle fixing piece 203, wherein the driving motor 202 and the knife handle fixing piece 203 are arranged on the executing base 201, the executing base 201 is in sliding connection with the connecting mechanism 10, the driving motor 202 is in transmission connection with the knife handle fixing piece 203, the knife handle fixing piece 203 is used for fixing an ultrasonic bone knife, and the driving motor 202 is used for driving the knife handle fixing piece 203 to move relative to the executing base 201 so as to control the ultrasonic bone knife to cut;
the sleeve mechanism 30 comprises a main sleeve 301 and an outer sleeve 302, the main sleeve 301 is fixedly connected with the execution base 201, the outer sleeve 302 is sleeved outside the main sleeve 301, one end of the outer sleeve 302 is abutted against the bony spur, and the outer sleeve 302 can rotate relative to the main sleeve 301 to change the abutting position of the outer sleeve 302 and the bony spur.
Specifically, in the conventional technology, when the mechanical arm controls the bone knife to cut, the patient can change the cutting position in a fluctuation way due to the breathing of the mechanical arm, and the navigation system cannot display the real motion state of the bone in the operation of the patient, and still positions the bone according to the preset coordinates, so that the bone knife is often cut or too deeply or too shallowly, the cutting cannot be accurately completed, and nerves or spinal cords under the cone plate can be possibly damaged;
in order to solve the above-mentioned object, the present invention provides a respiratory-driven ultrasonic bone knife end effector, by arranging a sleeve mechanism 30 to be abutted against the bone of a patient, the sleeve mechanism 30 is fixedly connected with a motor executing mechanism 20, the motor executing mechanism 20 is slidably connected with a connecting mechanism 10, the connecting mechanism 10 is fixedly connected with the tail end of a mechanical arm, when the bone of the patient fluctuates, the sleeve mechanism 30 and the motor executing mechanism 20 can slide relative to the connecting mechanism 10, so that the motor executing mechanism 20 can follow the respiration of the patient while the mechanical arm is not damaged to be positioned, the bone knife mounted on the motor executing mechanism 20 can be accurately cut, the whole device can rapidly respond to the respiratory action of the patient, and the surgical safety can be fully ensured.
Further, fig. 2 schematically illustrates a structural schematic diagram of a connection mechanism according to an embodiment of the present invention, and fig. 3 schematically illustrates a structural schematic diagram of a motor actuator according to an embodiment of the present invention, as shown in fig. 2 and 3:
the motor actuator 20 further includes a transmission 204 and a first quick coupler 205;
the transmission structure 204 comprises a screw 2041 connected with the driving motor 202 and a first sliding block 2042 arranged on the screw 2041, wherein the first sliding block 2042 is used for converting the rotary motion of the screw 2041 into linear motion;
the first quick connector 205 is sleeved on the side wall of the execution base 201, and moves reciprocally relative to the side wall of the execution base 201, one end of the first quick connector 205 is fixedly connected with the tool handle fixing piece 203, and the other end is fixedly connected with the first sliding block 2042;
the driving motor 202 controls the screw 2041 to rotate, and the first sliding block 2042 moves linearly along the screw 2041 to drive the ultrasonic bone knife on the knife handle fixing piece 203 to move.
Specifically, as shown in fig. 3, the execution base 201 has a rectangular parallelepiped structure, the driving motor 202 is fixed to the top of the execution base 201, and the screw 2041 is located on the center line of the execution base 201;
the driving motor 202 is a hybrid linear stepper motor;
two opposite side walls of the execution base 201 are respectively connected with the side surfaces of the first sliding block 2042, so that when the screw rod 2041 is driven to rotate by the driving motor 202, the first sliding block 2042 can slide along the inner wall of the execution base 201, and further the knife handle fixing piece 203 fixedly connected with the first sliding block 2042 is controlled to vertically reciprocate, so that ultrasonic bone knife cutting is controlled.
Further, as shown in fig. 2, the connection mechanism 10 includes a bracket 101, a fixing member 102 mounted on the bracket 101, and a bolt 103;
the execution base 201 is mounted on the bracket 101 through bolts 103;
the bracket 101 is fixedly connected with the tail end of the mechanical arm through a fixing piece 102.
Specifically, the bracket 101 is a cuboid, the bolt 103 is inserted into the bracket 101, one end of the bolt 103 extends out from the bottom of the bracket 101, and the extended end of the bolt 103 and the mounting end to be inserted into the execution base 201 realize the fixed connection of the bracket 101 and the execution base 201.
The fixing member 102 is configured as a device that is matched with the end structure of the mechanical arm, and when the fixing member 102 is fixedly connected with the end of the mechanical arm, the robot operates the whole device to perform operation.
Further, fig. 4 schematically illustrates a sleeve mechanism according to an embodiment of the present invention, and as shown in fig. 4, a first spring 303 is provided between a main sleeve 301 and an outer sleeve 302, and the outer sleeve 302 is capable of performing telescopic movement with respect to the main sleeve 301.
The connecting ends of the main sleeve 301 and the outer sleeve 302 are engaged with each other;
one end of the first spring 303 abuts against the connection end, and the other end abuts against the top of the outer sleeve 302.
Specifically, the main sleeve 301 and the outer sleeve 302 are in a tubular structure, a cavity for the ultrasonic osteotome to pass through is formed in the main sleeve 301, the main sleeve 301 is used for providing an installation seat for the outer sleeve 302, meanwhile, the internal cavity of the main sleeve 301 can also isolate wound tissues of a patient to protect the ultrasonic osteotome, the outer sleeve 302 is sleeved outside the main sleeve 301, a first spring 303 is arranged between the main sleeve 301 and the outer sleeve, and the first spring 303 is fixedly connected with the top of the outer sleeve 302 and one end of the meshing part of the main sleeve 301 and the outer sleeve 302 respectively;
after the outer sleeve 302 and the main sleeve 301 are mounted, the outer sleeve 302 can be pulled in a direction away from the main sleeve 301, so that the outer sleeve 302 moves downwards, meanwhile, the first spring 303 contracts, the meshing positions of the outer sleeve 302 and the main sleeve 301 are separated, at the moment, the outer sleeve 302 can be rotated to change the abutting position and the abutting angle of the outer sleeve 302 and the bone spur, a better fixing effect is achieved, after the outer sleeve 302 is changed in position, the outer sleeve 302 is not pulled any more, and the outer sleeve 302 moves upwards through the elastic effect of the first spring 303, so that the outer sleeve 302 is continuously connected with the main sleeve 301 in a meshing mode.
The engagement between the outer sleeve 302 and the main sleeve 301 ensures that the relative position between the two sleeves does not change.
Meanwhile, one end of the outer sleeve 302, which is abutted against the bony spur of the patient, is also provided with a zigzag shape, so that the shape of the bone can be more matched, and the outer sleeve 302 is not easy to slide after being abutted against the bone.
Further, fig. 5 schematically illustrates a schematic structural view of another view of the motor actuator according to an embodiment of the present invention, as shown in fig. 3 and 5:
a first slide rail 206 is provided on a side of the execution base 201 facing the first slide block 2042, and the first slide block 2042 is coupled with the first slide rail 206.
A second slide rail 207 is arranged on the side surface of the execution base 201 facing the bracket 101, a second slide block 104 is arranged on the bracket 101, and the second slide block 104 is connected with the second slide rail 207 in a matching way;
the second slider 104 is disposed on the same plane as the bolt 103 in the bracket 101.
Specifically, the first sliding rail 206 and the second sliding rail 207 are both longitudinally disposed, so that the first sliding block 2042 and the second sliding block 104 can vertically reciprocate on the tracks thereof.
The side surface of the execution base 201, on which the second slide rail 207 is arranged, is further provided with a mounting component, the mounting component is located at the bottom of the second slide rail 207, and after the bolt 103 is inserted into the through hole in the mounting component, the nut is screwed down, so that the execution base 201 is connected with the second slide rail 207 through the second slide block 104, and meanwhile, the execution base 201 is supported through the nut, so that mounting is realized.
Further, fig. 6 schematically illustrates a structural diagram of a second quick connector according to an embodiment of the present invention, and fig. 7 schematically illustrates a structural diagram of a base telescopic rod according to an embodiment of the present invention, as shown in fig. 6 and 7:
a second quick connector 304 is also provided at the junction of the execution base 201 and the main sleeve 301;
the second quick connector 304 includes a sleeve base 3041 fixed to the execution base 201, and a base expansion link 3042 provided inside the sleeve base 3041;
the main sleeve 301 is fixedly connected to the sleeve base 3041 by a base telescopic rod 3042.
Specifically, the base telescopic rod 3042 is disposed in the sleeve base 3041, the base telescopic rod 3042 includes a sliding rod 3021, a clamping end 30122 and a compression end 3023, a hole is disposed in the middle of the clamping end 30122, the sliding rod 3021 can be inserted into the hole, the clamping end 3042 can slide along the sliding rod 3021, a third spring (not shown in the figure) is disposed on the sliding rod 3021, two ends of the third spring are respectively abutted with a bump 30240 and the clamping end 30122 in the middle of the sliding rod 3021, and the third spring can enable the clamping end 30122 to recover an initial state.
The compression end 30423 and the clamping end 30422 are integrally connected, and the compression end 30423 can be pressed to enable the two compression ends 30423 to be close to each other, so that the clamping ends 30122 at the two ends of the sliding rod 3021 can be close to each other to move.
The clamping end 30122 is set to be an arc-shaped surface at the bottom and a planar structure at the top, when the main sleeve 301 and the base telescopic rod 3042 are installed, the main sleeve 301 can touch the arc-shaped surface of the clamping end 30122, along with the installation, the main sleeve 301 slides along the arc-shaped surface and extrudes the clamping end 30122, so that the two clamping ends 30122 are close to each other, the main sleeve 301 smoothly passes through the clamping end 30122, after the main sleeve 301 moves to a proper position, the openings at the two sides of the installation end of the main sleeve 301 can enable the clamping end 30122 to be ejected out by the elastic force of the third spring, the top plane of the clamping end 30122 limits the movement of the main sleeve 301, the main sleeve 301 is prevented from sliding down, and the installation of the main sleeve 301 and the sleeve base 3041 is further realized.
When the main sleeve 301 is disassembled, the compression end 30423 is manually pressed, so that the two clamping ends 30422 are controlled to be close to each other, and the top plane of the clamping end 30122 does not limit the movement of the main sleeve 301 any more, so that the main sleeve 301 is disassembled.
Further, as shown in fig. 3:
the motor actuator 20 further includes a stopper 208 provided on the actuator base 201;
the limiting piece 208 is respectively positioned at the bottoms of the first sliding rail 206 and the second sliding rail 207;
the limiting member 208 limits the movement of the first slider 2042 and the second slider 104.
Specifically, the limiting member 208 may be configured as a square structure, and when the first slider 2042 or the second slider 104 moves downward, the top surface of the limiting member 208 is touched, so that the limiting effect cannot be achieved due to the fact that the limiting member cannot move downward;
the limiting piece 208 may also be provided with an elastic structure, and when the first sliding block 2042 or the second sliding block 104 touches the top surface of the limiting piece 208, the stopping of the first sliding block 2042 and the second sliding block 104 can be buffered, so that damage caused by direct collision of two parts is prevented.
Meanwhile, a limiting member 208 may be disposed on top of the first sliding rail 206 to prevent the first sliding block 2042 from colliding with the execution base 201.
Further, as shown in fig. 2, a second spring 105 is provided on the bolt 103, and the second spring 105 is used for keeping the connection mechanism 10 at an initial position, so that the navigation positioning system of the mechanical arm is positioned accurately.
And, when the patient exhales, the motor actuating mechanism 20 can move downwards relative to the connecting mechanism 10, and when the patient inhales, the motor actuating mechanism 20 can be jacked up by the bone spur to move upwards, if the second spring 105 is not arranged, when the bone spur jacks up the motor actuating mechanism 20, the bone spur can be given a larger pressure due to the dead weight of the equipment, and the second spring 105 is arranged on the bolt 103, when the patient inhales the bone spur jack up equipment, the pressure at the bone spur of the patient can be relieved by the extension of the second spring 105, and the operation is facilitated.
In summary, in the device of the present invention, one end of the connecting mechanism 10 is fixedly connected with the tail end of the mechanical arm, the other end is slidably connected with the motor executing mechanism 20, and meanwhile, a sleeve mechanism 30 is provided, one end of the sleeve mechanism is abutted against the bony spur of the patient, the other end of the sleeve mechanism is fixedly connected with the motor executing mechanism 20, a driving motor 202 and an ultrasonic bone knife are fixed on the motor executing mechanism 20, and the ultrasonic bone knife can pass through the sleeve mechanism 30 to contact with the bony spur;
when the ultrasonic bone knife cutting device is used, as a patient breathes, the sleeve mechanism 30 and the motor executing mechanism 20 can move along with the patient breathing, the tail end of the mechanical arm cannot be influenced, the positioning of the mechanical arm navigation system is not influenced, the ultrasonic bone knife cutting is accurate, the problem of ultrasonic bone knife cutting depth change caused by the patient breathing change is solved, and the operation is safer.
Meanwhile, the sleeve mechanism 30 comprises a main sleeve 301 and an outer sleeve 302, the outer sleeve 302 can be abutted against the bony spur of a patient, the outer sleeve 302 is sleeved on the main sleeve 301, the connecting ends of the outer sleeve 302 and the main sleeve 301 are meshed with each other, a first spring 303 is arranged between the outer sleeve 302 and the main sleeve 301, a doctor can pull the outer sleeve 302 in a direction far away from the main sleeve 301 to compress the first spring 303, so that the connecting ends of the outer sleeve 302 and the main sleeve 301 are separated, the abutting angle of the outer sleeve 302 and the bony spur can be changed at will through rotating the outer sleeve 302, free adjustment is carried out, and after adjustment is completed, the outer sleeve 302 is contracted through the elastic action of the first spring 303, and the connecting ends of the outer sleeve 302 are meshed again.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
It should be understood that, the sequence numbers of the steps in the summary and the embodiments of the present invention do not necessarily mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present invention.

Claims (6)

1. A breath-actuated ultrasonic osteotome end effector, comprising:
the connecting mechanism is fixedly connected with the tail end of the mechanical arm;
the motor executing mechanism comprises an executing base, a driving motor and a knife handle fixing piece, wherein the driving motor and the knife handle fixing piece are installed on the executing base, the executing base is in sliding connection with the connecting mechanism, the driving motor is in transmission connection with the knife handle fixing piece, the knife handle fixing piece is used for fixing an ultrasonic bone knife, and the driving motor is used for driving the knife handle fixing piece to move relative to the executing base so as to control the ultrasonic bone knife to cut;
the sleeve mechanism comprises a main sleeve and an outer sleeve, the main sleeve is fixedly connected with the execution base, the outer sleeve is sleeved on the outer side of the main sleeve, one end of the outer sleeve is abutted with the bony spur, and the outer sleeve can rotate relative to the main sleeve so as to change the abutting position of the outer sleeve and the bony spur;
a first spring is arranged between the main sleeve and the outer sleeve, the outer sleeve can perform telescopic motion relative to the main sleeve, the connecting ends of the main sleeve and the outer sleeve are meshed with each other, one end of the first spring is abutted with the connecting end, and the other end of the first spring is abutted with the top of the outer sleeve;
the connecting mechanism comprises a bracket, a fixing piece and a bolt, wherein the fixing piece and the bolt are arranged on the bracket, the execution base is arranged on the bracket through the bolt, and the bracket is fixedly connected with the tail end of the mechanical arm through the fixing piece;
a second sliding rail is arranged on the side surface of the execution base, which faces the support, a second sliding block is arranged on the support, and the second sliding block is connected with the second sliding rail in a matched mode;
the second sliding block and the bolt are arranged on the same plane of the bracket.
2. The breath-actuated ultrasonic bone knife end effector of claim 1, wherein the motor actuator further comprises a transmission and a first quick connector;
the transmission structure comprises a screw rod connected with the driving motor and a first sliding block arranged on the screw rod, and the first sliding block is used for converting the rotation motion of the screw rod into linear motion;
the first quick connector is sleeved on the side wall of the execution base and moves back and forth relative to the side wall of the execution base, one end of the first quick connector is fixedly connected with the handle fixing piece, and the other end of the first quick connector is fixedly connected with the first sliding block;
the driving motor is used for controlling the screw rod to rotate, and the first sliding block moves linearly along the screw rod to drive the ultrasonic bone knife on the knife handle fixing piece to move.
3. The respiratory-follower ultrasonic bone knife end effector as claimed in claim 2, wherein a first slide rail is disposed on a side of the actuation base facing the first slide block, the first slide block being cooperatively coupled to the first slide rail.
4. A breath-actuated ultrasonic bone knife end effector as claimed in claim 3, further comprising a second quick connector at the junction of said actuating base and said main sleeve;
the second quick connector comprises a sleeve base fixed on the execution base and a base telescopic rod arranged in the sleeve base;
the main sleeve is fixedly connected with the sleeve base through the base telescopic rod.
5. The breath-actuated ultrasonic bone knife end effector of claim 4, wherein the motor actuator further comprises a stop member disposed on the actuation base;
the limiting piece is positioned at the bottoms of the first sliding rail and the second sliding rail respectively;
the limiting piece limits the movement of the first sliding block and the second sliding block.
6. The breath-actuated ultrasonic bone blade end effector of claim 1, wherein the bolt is provided with a second spring for maintaining the attachment mechanism in an initial position.
CN202311344428.3A 2023-10-18 2023-10-18 Respiration-follow-up ultrasonic bone knife end effector Active CN117297708B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311344428.3A CN117297708B (en) 2023-10-18 2023-10-18 Respiration-follow-up ultrasonic bone knife end effector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311344428.3A CN117297708B (en) 2023-10-18 2023-10-18 Respiration-follow-up ultrasonic bone knife end effector

Publications (2)

Publication Number Publication Date
CN117297708A CN117297708A (en) 2023-12-29
CN117297708B true CN117297708B (en) 2024-04-02

Family

ID=89237088

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311344428.3A Active CN117297708B (en) 2023-10-18 2023-10-18 Respiration-follow-up ultrasonic bone knife end effector

Country Status (1)

Country Link
CN (1) CN117297708B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103284784A (en) * 2013-05-22 2013-09-11 苏州爱得科技发展有限公司 Surgical reduction table
CN112754563A (en) * 2021-01-18 2021-05-07 常州安康医疗器械有限公司 Minimally invasive endoscopic stapler with anti-slip handle
CN113262050A (en) * 2021-05-13 2021-08-17 北京铸正机器人有限公司 Two-degree-of-freedom tail end execution device
CN218045273U (en) * 2022-02-15 2022-12-16 杭州三坛医疗科技有限公司 Supersound osteotome connection structure, supersound bone cutting robot and platform truck
CN115670675A (en) * 2022-10-12 2023-02-03 武汉大学 Double-arm puncture robot system integrating ultrasonic information and tactile information
CN116421274A (en) * 2023-05-16 2023-07-14 北京航空航天大学 Ultrasonic surgical instrument for laminectomy

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103284784A (en) * 2013-05-22 2013-09-11 苏州爱得科技发展有限公司 Surgical reduction table
CN112754563A (en) * 2021-01-18 2021-05-07 常州安康医疗器械有限公司 Minimally invasive endoscopic stapler with anti-slip handle
CN113262050A (en) * 2021-05-13 2021-08-17 北京铸正机器人有限公司 Two-degree-of-freedom tail end execution device
CN218045273U (en) * 2022-02-15 2022-12-16 杭州三坛医疗科技有限公司 Supersound osteotome connection structure, supersound bone cutting robot and platform truck
CN115670675A (en) * 2022-10-12 2023-02-03 武汉大学 Double-arm puncture robot system integrating ultrasonic information and tactile information
CN116421274A (en) * 2023-05-16 2023-07-14 北京航空航天大学 Ultrasonic surgical instrument for laminectomy

Also Published As

Publication number Publication date
CN117297708A (en) 2023-12-29

Similar Documents

Publication Publication Date Title
US9027431B2 (en) Remote centre of motion positioner
EP3995097B1 (en) Smart support arm for head surgery with touch sensitive control
CA2117437C (en) Powered surgical retractor
EP3485838A1 (en) Constant force spring with active bias
DE102015104819B4 (en) Holding arm for medical purposes with removable operating device, and operating device therefor
EP2008605A1 (en) A hybrid manual-robotic system for controlling the position of an instrument
US20210128262A1 (en) Repositioning system for a remotely controllable manipulator and related methods
US20220346892A1 (en) Orthopedic surgical device and orthopedic surgical robot system
CN109259865B (en) Intelligent minimally invasive spine surgery robot
CN104000640A (en) Master-slave same-structure teleoperation fracture reduction mechanism
EP4013331A1 (en) A hybrid, direct-control and robotic-assisted surgical system
CN117297708B (en) Respiration-follow-up ultrasonic bone knife end effector
CN212853600U (en) Puncture surgery robot device with breathing following function
US20210114236A1 (en) Surgical robotic systems
CN111821001A (en) Puncture surgery robot device with breathing following function
JP2023524138A (en) surgical robot system
WO2022006716A1 (en) Intelligent osteotomy system and osteotomy device
WO2024055414A1 (en) Force feedback mechanism, master end control device, and interventional surgery robot
CN116421274A (en) Ultrasonic surgical instrument for laminectomy
CN211583476U (en) Vertical telescopic joint and minimally invasive surgery robot with same
CN212592301U (en) Intelligent bone cutting system and bone cutting device
CN209107951U (en) Orthopedic robot
CN111870334A (en) Supplementary injection arm of bone cement
CN215994239U (en) Surgical robot, main operating table, adjusting mechanism and adjusting part and ball pair structure thereof
CN218761201U (en) Sliding table brake mechanism and laparoscopic surgery robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant