CN219480237U

CN219480237U - Actuator and surgical system

Info

Publication number: CN219480237U
Application number: CN202223222806.4U
Authority: CN
Inventors: 张大海; 闫钧
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-12-02
Filing date: 2022-12-02
Publication date: 2023-08-08
Anticipated expiration: 2032-12-02

Abstract

The application discloses executor and operation system, the executor includes: an actuator body; a drill bit for circumferential rotation for drilling; the power mechanism is connected with the proximal end of the drill bit and can move linearly relative to the actuator body, and the power mechanism is used for driving the drill bit to rotate circumferentially and can drive the drill bit to feed in the linear movement process; and the sleeve is sleeved outside the distal end of the drill bit and is arranged on the actuator body and used for guiding the drill bit in the drilling process. The utility model provides an executor, its power unit can drive drill bit circumference rotation in order to realize drilling, thereby the sleeve can lead the drill bit and avoid the drill bit to take place to crooked in drilling process at the drilling in-process. And because the power mechanism is in sliding fit with the actuator body, the actuator body can guide the power mechanism in the feeding process of the drill bit, so that the drill bit can be fed in a planned path.

Description

Actuator and surgical system

Technical Field

The application belongs to the technical field of medical equipment, and particularly relates to an actuator and a surgical system using the actuator.

Background

The internal fixation technology of the pedicle screw is a common means in spinal operations such as scoliosis correction operation, vertebral fracture treatment operation, spinal fusion operation and the like. Pedicle screw internal fixation requires drilling holes at the spinal pedicle, after which bone screws are implanted.

Spinal robots offer several advantages over traditional artificial spinal procedures in performing spinal procedures, including reduced surgeon fatigue and tremor, while providing stability to the instrument through a fixed working angle, thereby improving accuracy and precision. And can effectively reduce the perspective times and time of the doctor and the patient in the operation and reduce the radiation dose of the doctor and the patient. In particular, a spinal robotic-assisted surgery system generally includes an actuator, a robot arm on which the actuator is mounted, a positioning system (also referred to as a navigation system), and a controller. Wherein, the actuator is provided with a surgical tool for acting on the affected part. The robotic arm corresponds to the doctor's arm, assisting the doctor in moving the effector or surgical tool to the target location. The positioning system corresponds to the eye of a physician for positioning an actuator or surgical tool. The controller corresponds to the brain of a doctor and is used for controlling the robot arm to move according to the operation plan. Through the arrangement of the spine robot auxiliary operation system, the vertebral pedicle can be drilled and the nails can be placed more accurately.

Currently common spinal robots are typically provided with a guide sleeve that is held by a robot arm. When performing surgery, a doctor needs to manually drill holes by holding a drilling tool under the guidance and the positioning of a guide sleeve.

Disclosure of Invention

The application aims at least solving one of the technical problems existing in the prior art and provides an actuator and a surgical system using the actuator.

In a first aspect, there is provided an actuator for performing a predetermined action under the grip of a robotic arm, comprising:

an actuator body;

a drill bit for circumferential rotation for drilling;

the power mechanism is connected with the proximal end of the drill bit and can move linearly relative to the actuator body, and the power mechanism is used for driving the drill bit to rotate circumferentially and can drive the drill bit to feed in the linear movement process;

and the sleeve is sleeved outside the distal end of the drill bit and is arranged on the actuator body and used for guiding the drill bit in the drilling process.

In a first possible implementation, the direction of the linear movement has a predetermined angle with the axis of the end arm of the robotic arm.

With reference to the foregoing possible implementation manner, in a second possible implementation manner, the predetermined included angle is 90 degrees.

With reference to the foregoing possible implementation manner, in a third possible implementation manner, the actuator body includes a first assembling structure and a second assembling structure, where the first assembling structure is used for assembling the power mechanism, and the second assembling structure is used for assembling the sleeve.

In combination with the foregoing possible implementation manner, in a fourth possible implementation manner, the first assembly structure and the second assembly structure are located at opposite ends of the actuator body in the first direction, respectively.

In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, a guide hole is provided in the first assembly structure, and the guide hole is disposed along an axial direction of the drill bit, and is configured to accommodate the power mechanism and allow the power mechanism to move linearly along the guide hole.

With reference to the foregoing possible implementation manner, in a sixth possible implementation manner, the actuator further includes a first tracer, where the first tracer is provided on the power mechanism, and is used to locate a position of the drill bit.

With reference to the foregoing possible implementation manner, in a seventh possible implementation manner, the actuator further includes a second tracer, where the second tracer is disposed on the actuator body and is used to locate the position of the sleeve.

With reference to the foregoing possible implementation manner, in an eighth possible implementation manner, the actuator further includes a six-dimensional force sensor, and the actuator body is connected to the robot arm through the six-dimensional force sensor, and is configured to detect a stress condition of the actuator body.

In a second aspect, there is provided a surgical system comprising an actuator as described hereinbefore; and

a robot arm for carrying the actuator;

a positioning system for positioning the position of the actuator or the power mechanism;

and the controller is used for controlling the robot arm and/or the actuator to execute the operation according to a preset operation plan.

The technical scheme of the application has the following beneficial technical effects:

the executor of this application embodiment, its power unit can drive drill bit circumference rotation in order to realize drilling, thereby the sleeve can guide the drill bit and avoid the drill bit to take place crooked in drilling process at the drilling in-process. And because power unit and executor body sliding fit, in the in-process that realizes the drill bit feeding through removing power unit, the executor body can lead power unit to guarantee that the drill bit can feed with planning the route.

Drawings

FIG. 1 is a schematic illustration of an actuator in an exemplary embodiment of the present application;

FIG. 2 is a schematic diagram of a state change of an actuator in an exemplary embodiment of the present application;

FIG. 3 is a schematic diagram of a surgical system in an exemplary embodiment of the present application;

in the figure, 1, an actuator; 10. an actuator body; 11. a first mounting structure; 12. a second mounting structure; 13. a groove; 20. a drill bit; 30. a power mechanism; 40. a sleeve; 50. a first tracer; 60. a second tracer; 70. a six-dimensional force sensor; 2. a robotic arm; 3. a positioning system; 4. and a controller.

Detailed Description

Embodiments of the present application are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the present application and are not intended to limit the scope of the application, i.e., the application is not limited to the embodiments described.

In the description of the present application, it is to be noted that, unless otherwise indicated, the meaning of "plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like indicate an orientation or positional relationship merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The "vertical" is not strictly vertical but is within the allowable error range. "parallel" is not strictly parallel but is within the tolerance of the error.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present application can be understood as appropriate by one of ordinary skill in the art.

For a better understanding of the present application, embodiments of the present application are described below in connection with fig. 1 to 3.

Fig. 1 is a schematic structural view of an actuator according to an exemplary embodiment of the present application. Fig. 2 is a schematic diagram illustrating a state change of an actuator according to an exemplary embodiment of the present application. Fig. 3 is a schematic structural view of a surgical system in an exemplary embodiment of the present application.

Referring to fig. 1 to 2, an embodiment of the present application provides an actuator 1 for performing a predetermined action under the grip of a robot arm 2, including an actuator body 10, a drill bit 20, a power mechanism 30, and a sleeve 40.

The actuator body 10 is used for connecting the tail end of the robot arm 2.

Drill bit 20 for circumferential rotation for drilling.

And the power mechanism 30 is connected with the proximal end of the drill bit 20 and can move linearly relative to the actuator body 10, and the power mechanism 30 is used for driving the drill bit 20 to rotate circumferentially and can drive the drill bit 20 to feed in the linear movement process.

A sleeve 40, which is sleeved outside the distal end of the drill bit 20 and is provided on the actuator body 10, is used to guide the drill bit 20 during the drilling process.

It will be appreciated that the power mechanism 30 of the actuator 1 may be configured to drive the drill bit 20 to rotate circumferentially to drill the drill bit 20, and may be configured to move linearly relative to the actuator body 10 to effect feeding of the drill bit 20. In addition, since the power mechanism 30 is slidably matched with the actuator body 10, the actuator body 10 can also guide the power mechanism 30 during the linear movement, so that the drill bit 20 can be fed in a planned path.

In this embodiment, the power mechanism 30 may be an electric drill that includes a motor, a drill chuck, and a reduction gear connecting the motor and the drill chuck. Wherein the power mechanism 30 is connected with the drill bit 20 through the drill chuck, and after the motor is started, the power mechanism can drive the drill chuck to rotate through the reduction transmission gear, so that the drill bit 20 is rotated.

In some embodiments, drill bit 20 extends in a direction that makes a predetermined angle with the axis of the end arm of robotic arm 2. Illustratively, the predetermined angle may be 90 degrees, i.e. the drill bit 20 extends in a direction perpendicular to the axis of the end arm of the robotic arm 2.

It should be noted that, the angle between the extending direction of the drill 20 and the axis of the end arm of the robot arm 2 may be set according to practical requirements, and is not limited to the above-discussed embodiment. For example, the predetermined angle may be 0 degrees, i.e. the power mechanism 30 may be movable along the axis of the end of the robotic arm 2.

In some embodiments, the actuator body 10 includes a first mounting structure 11 for mounting the power mechanism 30 and a second mounting structure 12 for mounting the sleeve 40.

As shown in fig. 1, the first and second mounting structures 11 and 12 are illustratively positioned at axially opposite ends of the actuator body 10, respectively, with a space between the first and second mounting structures 11 and 12 that can receive the drive end of the power mechanism 30 and allow the drive end of the power mechanism 30 to move within the recess 13.

As shown in fig. 1, the side of the actuator body 10 facing away from the robot arm 2 is illustratively provided with a recess 13, the recess 13 separating the actuator body 10 into a connected first mounting structure 11 and second mounting structure 12. That is, the first and second fitting structures 11 and 12 are disposed at opposite sides of the recess 13, respectively, and the recess 13 forms a space between the first and second fitting structures 11 and 12, and the driving end of the driving unit 30 is inserted into the recess 13 from one side of the recess 13 during the linear movement.

In the present embodiment, the actuator body 10 is connected to the robot arm 2 through the first fitting structure 11.

As shown in fig. 1, illustratively, a guide hole is provided in the first fitting structure 11, the guide hole being provided along the axial direction of the drill bit 20 for accommodating the power mechanism 30 and allowing the power mechanism 30 to move linearly along the guide hole.

It will be appreciated that the pilot hole is in a clearance fit with the power mechanism 30, and that feeding of the drill bit 20 can be achieved as the power mechanism 30 moves linearly along the pilot hole. And, the pilot holes can guide the power mechanism 30, thereby ensuring that the drill bit 20 can be fed in a planned path.

As shown in fig. 1, the second mounting structure 12 is illustratively provided with mounting holes therein, which are provided along the axial direction of the drill bit 20 for receiving the sleeve 40 to fix it relative to the actuator body 10.

It should be noted that the manner of setting the actuator 1 may be set according to actual requirements, and is not limited to the above-discussed embodiments.

In some embodiments, the actuator 1 further comprises a first tracer 50, the first tracer 50 being provided on the power mechanism 30 for locating the position of the drill bit.

In some embodiments, the actuator 1 further comprises a second tracer 60, the second tracer 60 being provided on the actuator body 10 for locating the position of the sleeve 40.

The second tracer 60 may be disposed at any position on the actuator body 10. Preferably, the second tracer 60 is disposed at a location of the actuator body 10 that is proximate to the sleeve 40. For example, the second tracer 60 is provided on the second mounting structure 12, which may facilitate direct positioning of the sleeve 40, and may also reduce the detection distance, thereby reducing positioning errors.

In some embodiments, the actuator 1 further comprises a six-dimensional force sensor 70, and the actuator body 10 is connected to the robot arm 2 through the six-dimensional force sensor 70, for detecting the stress condition of the actuator body 10. For example, the six-dimensional force sensor 70 may monitor the drilling force value and deflection torque of the actuator 1 in real time during drilling.

When the actuator 1 of the embodiment of the application is used for drilling operation, the robot arm moves the actuator 1 to a planning position according to a preset operation plan during operation, the distal end of the sleeve 40 butts against the drilling position, the power mechanism 30 is started, then an operator moves the power mechanism 30 linearly or the power mechanism 30 moves linearly relative to the actuator body automatically, and the power mechanism 30 drives the drill bit 20 to feed. During linear movement of the power mechanism 30, the body of the actuator 10 provides guidance for movement of the power mechanism 30, and the drill bit 20 passes through the sleeve 40 and drills a hole under the guidance of the sleeve 40.

In the actuator 1, the power mechanism 30 can drive the drill bit 20 to rotate circumferentially to realize drilling, and the sleeve 40 can guide the drill bit 20 during drilling so as to avoid bending of the drill bit 20 during drilling. And, since the power mechanism 30 is slidably engaged with the actuator body 10, the actuator body 10 can guide the power mechanism 30 in the process of feeding the drill bit 20 by moving the power mechanism 30, thereby ensuring that the drill bit 20 can be fed in a planned path.

Referring to fig. 3, an embodiment of the present application further provides a surgical system, including:

the actuator 1 described above;

a robot arm 2 for mounting the actuator 1;

a positioning system 3 for positioning the position of the actuator 1 or the power mechanism 30;

a controller 4 for controlling the robotic arm and/or the actuator 1 to perform a procedure according to a predetermined procedure plan.

The surgical system of this embodiment includes the actuator 1 described above, the power mechanism 30 of which can drive the drill bit 20 to rotate circumferentially to achieve drilling, and the sleeve 40 can guide the drill bit 20 during drilling to avoid bending of the drill bit 20 during drilling. And, since the power mechanism 30 is slidably engaged with the actuator body 10, the actuator body 10 can guide the power mechanism 30 in the process of feeding the drill bit 20 by moving the power mechanism 30, thereby ensuring that the drill bit 20 can be fed in a planned path.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims

1. An actuator for performing a predetermined action under the grip of a robotic arm, comprising:

an actuator body;

a drill bit for circumferential rotation for drilling;

2. The actuator of claim 1, wherein the direction of linear movement is at a predetermined angle to the axis of the distal arm of the robotic arm.

3. The actuator of claim 2, wherein the predetermined included angle is 90 degrees.

4. The actuator of claim 1, wherein the actuator body includes a first mounting structure for mounting the power mechanism and a second mounting structure for mounting the sleeve.

5. The actuator of claim 4, wherein the first and second mounting structures are located at opposite ends of the actuator body in a first direction, respectively.

6. The actuator of claim 4, wherein a pilot hole is provided in the first mounting structure, the pilot hole being disposed in an axial direction of the drill bit for receiving the power mechanism and allowing the power mechanism to move linearly along the pilot hole.

7. The actuator of claim 1, further comprising a first tracer disposed on the power mechanism for locating the position of the drill bit.

8. The actuator of claim 1, further comprising a second tracer disposed on the actuator body for locating the position of the sleeve.

9. The actuator of claim 1, further comprising a six-dimensional force sensor, wherein the actuator body is coupled to the robotic arm via the six-dimensional force sensor for detecting a force condition of the actuator body.

10. A surgical system comprising the actuator of any one of claims 1-9; and

a robot arm for carrying the actuator;