TWI677317B - Orthopaedic surgery assistance system and end effector - Google Patents

Abstract

An orthopedic surgery assistance system includes: a multi-axis robotic arm module; at least one end effector includes: two linear actuation elements, two actuation element encoders, a central ring structure, a connector, and a force / torque A sensing element; a guidance and positioning module; and a remote-control surgery module, whereby a user draws the multi-axis robot arm and the end effector according to the real-time three-dimensional model, so that the multi-axis robot arm can A translational and rotational movement in the axial direction, and the end effector's rotational movement in two degrees of freedom at the actuating end.

Description

Orthopaedic surgery assistance system and end effector

The invention relates to a terminal effector, and in particular to a terminal effector of an orthopaedic surgery assistance system.

At present, in orthopedic trauma reduction surgery, the minimally invasive method accounts for about 60% of the whole, which has become the mainstream method. The domestic surgical location is the most hip fractures, followed by the long bones and wrists of the limbs. The most potential need for machine assistance The site is the pelvic cavity. The main problems faced by physicians at the clinical end of surgery are: (1) C-Arms that must be photographed continuously during the reduction process, resulting in large radiation exposure between the physician and the patient; (2) large surrounding tissue resistance (average needs about> 100N force), it is easy for the doctor to accumulate fatigue during the operation and affect the quality of the operation; (3) C-Arm cannot know the image of the cross section of the tissue, and the axial alignment is not easy.

U.S. Patent Publication No. US20140379038A1 discloses a fracture reduction system for anatomy in which first and second manipulators and optionally a third manipulator are attached to fragments of a fracture to pass, for example, to a Schanz nail (Schanz pin) for percutaneous attachment. The processing system determines according to one or more medical images of the fracture, correctly repositions and aligns the fracture fragments, and performs rotation and translation of the bone fragments. The processing system provides the controller with motion reference signals (position, speed, acceleration, and force) and the coordinated actuation of various operators. However, in the prior art, the movement of six linear actuation elements is used to achieve the operation of the front end rotation degree of freedom. Due to the large number of actuation elements, the volume and weight are large, and the cost is high.

Therefore, there is a need to provide an orthopaedic surgery assistance system and an end effector to solve the aforementioned problems.

It is an object of the present invention to provide an orthopaedic surgery assistance system, which The end effector adopts dual actuators and a central ring mechanism to achieve the two rotational degrees of freedom and weight reduction at the application end.

According to the above object, the present invention provides an orthopaedic surgery assistance system, including: a multi-axis robotic arm module including at least one multi-axis robotic arm for providing a plurality of axial translation and rotation motions; at least one end effect The actuator is disposed at the front end of one of the multi-axis robotic arms and includes: two linear actuators, each including a driving rod; two actuator encoders, which are respectively connected to the rear ends of the two linear actuators, For sensing the position of the end effector to provide information on the position of the end effector; a central ring structure mechanically connected to the two driving rods of the two linear actuating elements for driving the two drives Two linear movements of the rod are converted into two degrees of freedom rotational movement; a connector is provided at the front end of the central ring structure for holding a tool; and a force / torque sensing element is provided at the connector Inside, it is used to sense the positive force and torque value of the interaction between one application end of the tool and the surrounding environment; a guidance and positioning module scans the image of the application end and converts the image from two-dimensional to three To generate an instant three-dimensional model of the application end; and a remote-control surgery module electrically connected to the guidance and positioning module, the multi-axis robotic arm, and the end effector, so that the user performs Traction the multi-axis robotic arm and the end effector, so that the multi-axis robotic arm translates and rotates in multiple axial directions to the application end, and the end effector rotates in two degrees of freedom at the application end. .

The orthopaedic surgery assistance system of the present invention will be designed and developed for orthopedic clinical trauma reduction surgery, and its advantages are: (1) the end effector of the present invention uses dual actuators in conjunction with the internal central ring mechanism to achieve the pitch of the acting end (Pitch ) And Yaw, two goals of rotational freedom and light weight; (2) The present invention integrates six degrees of freedom of forward force and torque sensing elements, which can immediately sense the reduction process of the bone to surrounding soft tissue Force, establish a force sensing and warning mechanism to achieve safe trauma reduction assistance; (3) the connector of the end effector of the present invention can be installed with bone screws (such as orthopedic Schanz Screw or other instruments), It is connected with the broken bone in the body in a minimally invasive manner in vitro and performs direct and independent movement operations, and assists the physician with the guidance and positioning module during the operation.

1‧‧‧ Orthopedic surgery assist system

10‧‧‧Multi-axis robotic arm module

11‧‧‧Multi-axis robotic arm

111‧‧‧Front

12‧‧‧ end effector

120a‧‧‧ linear actuator

120b‧‧‧ linear actuator

121a‧‧‧Driver

121b‧‧‧Drive lever

122a‧‧‧Actuating element encoder

122b‧‧‧Actuating element encoder

123‧‧‧Central ring structure

1230‧‧‧ Central ring body

1231‧‧‧Pitching linkage

1232‧‧‧Swaying link member

1234‧‧‧Front

124‧‧‧Connector

125‧‧‧ Force / Torque Sensing Element

13‧‧‧Guide positioning module

131‧‧‧scanning unit

132‧‧‧software unit

14‧‧‧Remote Surgical Module

141‧‧‧Screen

142‧‧‧Three-dimensional controller

143‧‧‧ Gesture Action Controller

2‧‧‧Tools

21‧‧‧ Shi Zuo

P1‧‧‧Pitch motion

Y1‧‧‧ yaw movement

X, Y, Z‧‧‧ axial translation

Xθ, Yθ, Zθ‧‧‧ axial rotation

FIG. 1 is a schematic diagram of an orthopaedic surgery assistance system according to an embodiment of the present invention.

FIG. 2 is a schematic perspective view of a multi-axis robotic arm and an end effector according to an embodiment of the present invention.

FIG. 3 is a combined perspective view of an end effector according to an embodiment of the present invention.

FIG. 4 is an exploded perspective view of an end effector according to an embodiment of the present invention.

In order to make the foregoing objects, features, and characteristics of the present invention more comprehensible, the related embodiments of the present invention are described in detail below with reference to the drawings.

FIG. 1 is a schematic diagram of an orthopaedic surgery assistance system according to an embodiment of the present invention. The orthopedic surgery assistant system can be applied to orthopedic clinical trauma reduction surgery. Please refer to FIG. 1 and FIG. 2, the orthopedic surgery assistance system 1 includes a multi-axis robotic arm module 10, at least one end effector 12, a guidance and positioning module 13, and a remote-controlled surgery module 14. The multi-axis robotic arm module 10 includes at least one multi-axis robotic arm 11 for providing a plurality of axial translation and rotation actions. The multi-axis robotic arm 11 can be a six-axis robotic arm, which is used to provide three axial translations X, Y, Z and three axial rotations Xθ, Yθ, Zθ, of which six axial directions can also be regarded as six degrees of freedom. . For example, the series-connected six-axis robotic arm has variable impedance control. The physician can pull the six-axis robotic arm and provide it with stable power, maintenance and limited position auxiliary functions during surgery.

Please refer to FIG. 2, FIG. 3 and FIG. 4. The end effector 12 is disposed at the front end 111 of the multi-axis robot arm 11 and includes: two linear actuators 120 a, 120 b, two actuator encoders 122 a, 122b, a central ring structure 123, a connector 124, and a force / torque sensing element 125. The two linear actuators 120a and 120b include a driving rod 121a and 121b, respectively. The two actuating element encoders 122a, 122b are respectively connected to the rear ends of the two linear actuating elements 120a, 120b, and are used to sense the positions of the end effectors 120a, 120b to provide the end effectors 122a, 122b. Location information. The central ring structure 123 is mechanically connected to the two driving rods 121a, 121b of the two linear actuating elements 120a, 120b to convert the two linear motions of the two driving rods 121a, 121b into a two-degree-of-freedom rotary motion. The two-degree-of-freedom rotation motions are a pitch motion P1 and a yaw motion Y1.

In detail, the central ring structure 123 of the end effector 12 includes a central ring body 1230, a pitch linkage member 1231, and a yaw linkage member 1232. One end of the pitch linkage member 1231 and the yaw linkage member 1232 are respectively pivoted. Connected to the central ring body 1230, the other ends of the pitch linkage member 1231 and the yaw linkage member 1232 are connected to the two driving rods 121a, 121b of the two linear actuation elements 120a, 120b, respectively, whereby the two The driving rods 121 a and 121 b drive the central ring body 1230 to perform a pitching motion P1 and a yaw motion Y1. For example, when the driving rod 121a of the linear actuating element 120a only drives the pitch linkage member 1231, since the center ring body 1230 can be regarded as being pivotally connected to the left and right sides, the center ring body 1230 will generate a pitching motion P1 at this time. ; Similarly, when the driving rod 121b of the linear actuating element 120b only drives the yaw linkage member 1232, since the central ring body can be regarded as being pivotally connected to the upper and lower sides, the central ring body 1230 will be biased at this time. Pendulum movement Y1.

The connector 124 is disposed at the front end 1234 of the central ring structure 123 and is used to clamp a tool 2 (such as a bone screw). For example, the connector 124 has a jaw clamping design, which can clamp a bone nail.

The force / torque sensing element 125 is disposed in the connector 124 to sense the interactive forward force and torque value of an application end 21 of the tool 2 and the surrounding environment. The force / torque sensing element 125 may be a six-axis force / torque sensor. For example, the force / torque sensing element 125 provides real-time display of the interactive forward force and torque sensing values (a total of six degrees of freedom) of the broken bone and surrounding soft tissue, and provides a physician's quantitative data reference and data accumulation between subsequent operations.

Therefore, the end effector 12 can use two linear actuators 120a and 120b to drive the pitch linkage member and the yaw linkage member of the central ring mechanism 123 to achieve the two degrees of rotation freedom and light weight of the application end 21. aims.

Please refer to FIG. 1 again, the guide positioning module 13 scans the application end 21, and convert the image from two-dimensional (2D) to three-dimensional (3D) to generate an instant three-dimensional (3D) model of the application end 21. In detail, the guidance and positioning module 13 includes a scanning unit 131 and a software unit 132. The scanning unit 131 scans the image of the application end 21, and the software unit 132 converts the image from two-dimensional (2D) into Three-dimensional (3D) to generate an instant three-dimensional (3D) model of the cast end. Therefore, the guidance and positioning module 13 has the function of two-dimensional (2D) to three-dimensional (3D) conversion of medical images, providing the generation of real-time three-dimensional (3D) bone fracture models, showing the relative position of broken bones in the body, and providing physicians with Relative position reference and visual feedback.

The remote operation module 14 is electrically connected to the guiding and positioning module 13, the multi-axis robot arm 11 and the end effector 12 by, for example, a bus line method or a wireless network method. Doctor) according to the real-time three-dimensional (3D) model, the multi-axis robot arm 11 and the end effector 12 are pulled, so that the multi-axis robot arm 11 performs a plurality of axial translational and rotational movements on the application end 21 (such as three Axial translation X, Y, Z and three axial rotations Xθ, Yθ, Zθ), and the end effector 12 performs a two-degree-of-freedom rotational motion on the application end 21 (e.g., pitch motion and deflection (Yaw movement). For example, the remote operation module 14 includes a screen 141 through which the relative position of the broken bone in the body is displayed. The remote operation module 14 uses a three-dimensional (3D) controller 142 or an intuitive gesture controller 143 to enable the multi-axis robotic arm 11 to perform three degrees of freedom translation and rotation of three degrees of freedom on the broken bone. In addition, the end effector 12 performs a two-degree-of-freedom rotary motion on the broken bone to provide a physician with a precise and labor-saving reset function.

According to the orthopedic clinical trauma reduction operation of this embodiment, in step 1: the surgeon (for example, a physician) applies orthopedic bone nails (for example, Schanz Screws to Zi's bone screws) to the broken body of the patient in a minimally invasive manner before the operation. bone. In step 2: the positioning marks of the guiding and positioning module are applied to the individual broken bones, and then the medical image scanning of the pre-operative scanning unit and the two-dimensional conversion of the software unit into a three-dimensional calculation generate a three-dimensional (3D) broken bone ) Stereoscopic image model. In step 3: the six-axis robotic arm and its end effector in the towable low impedance mode are connected and fixed with the bone screw. In step 4: After the bone nail is fixed, the doctor can use the remote operation module to perform the remote operation. In the surgical mode, accurate bone restoration and fixation are performed through the controller and sensory feedback information.

The orthopaedic surgery assistance system of the present invention will be designed and developed for orthopedic clinical trauma reduction surgery, and its advantages are: (1) the end effector of the present invention uses dual actuators in conjunction with the internal central ring mechanism to achieve the pitch of the acting end (Pitch ) And Yaw, two goals of rotational freedom and light weight; (2) The present invention integrates six degrees of freedom of forward force and torque sensing elements, which can immediately sense the reduction process of the bone to surrounding soft tissue Force, establish a force sensing and warning mechanism to achieve safe trauma reduction assistance; (3) the connector of the end effector of the present invention can be installed with bone screws (such as orthopedic Schanz Screw or other instruments), It is connected with the broken bone in the body in a minimally invasive manner in vitro and performs direct and independent movement operations, and assists the physician with the guidance and positioning module during the operation.

In summary, it is only a description of the preferred implementations or examples of the technical means adopted by the present invention to solve the problem, and is not intended to limit the scope of patent implementation of the present invention. That is, all changes and modifications that are consistent with the meaning of the scope of patent application of the present invention, or made according to the scope of patent of the present invention, are covered by the scope of patent of the present invention.

Claims (10)

An orthopedic surgery assistance system includes: a multi-axis robotic arm module including at least one multi-axis robotic arm for providing multiple axial translation and rotation actions; and at least one end effector provided on the multi-axis robot A front end of one of the arms, and includes: two linear actuating elements, each including a driving rod; two actuating element encoders, respectively connected to the two linear actuating elements, for sensing the position of the end effector To provide information on the position of the end effector; a central ring structure mechanically connected to the two driving rods of the two linear actuation elements to convert the two linear motions of the two driving rods into two Rotating motion in degrees of freedom; a connector disposed at the front end of the central ring structure for holding a tool; and a force / torque sensing element disposed in the connector for sensing one of the tools Interactive positive force and torque values of the application end and the surrounding environment; a guidance and positioning module that scans the image of the application end and converts the image from two-dimensional to three-dimensional to generate an instant three-dimensional model of the application end; And a remote-control surgery module electrically connected to the guidance and positioning module, the multi-axis robot arm and the end effector, so that the user can tow the multi-axis robot arm and the end effector according to the real-time three-dimensional model To make the multi-axis robotic arm translate and rotate in multiple axial directions to the application end, and the end effector rotates in two degrees of freedom to the application end. The orthopaedic surgery assistance system according to item 1 of the scope of the patent application, wherein the two-degree-of-freedom rotation motion of the end effector to the application end is a pitch motion and a yaw motion. The orthopaedic surgery assistance system according to item 2 of the scope of patent application, wherein the central ring structure of the end effector includes a central ring body, a pitch linkage member, and a yaw linkage member, the pitch linkage member and the yaw linkage One end of the member is pivotally connected to the central ring body, and the other end of the pitch linkage member and the yaw linkage member are respectively connected to the two driving rods of the two linear actuation elements, whereby the two driving rods drive The central ring body performs pitching motion and yaw motion. The orthopedic surgery assist system according to item 2 of the patent application scope, wherein the force / torque sensing element is a six-axis force / torque sensor. The orthopaedic surgery assistance system described in item 1 of the patent application scope, wherein the multi-axis robotic arm is a six-axis robotic arm for providing three axial translations and three axial rotations. According to the orthopedic surgery assistance system described in the second item of the patent application scope, wherein the guidance and positioning module includes a scanning unit and a software unit, the scanning unit scans an image of the application end, and the software unit converts the image from two The dimensions are converted into three dimensions to produce an instant three-dimensional model of the cast end. An end effector includes: two linear actuation elements, each including a driving rod; two actuation element encoders, which are respectively connected to the two linear actuation elements, for sensing the position of the end effector, To provide information on the position of the end effector; a central ring structure mechanically connected to the two driving rods of the two linear actuation elements to convert the two linear motions of the two driving rods into two free movements Degree rotation motion; a connector provided at the front end of the central ring structure for holding a tool; and a force / torque sensing element provided in the connector for sensing an application end of the tool Interaction with the surrounding environment. Forward force and torque values. The end effector according to item 7 of the scope of the patent application, wherein the two-degree-of-freedom rotation motion of the end effector to the application end is a pitch motion and a yaw motion. The end effector according to item 8 of the scope of the patent application, wherein the central ring structure of the end effector includes a central ring body, a pitch linkage member, and a yaw linkage member, the pitch linkage member and the yaw linkage member One end is respectively pivotally connected to the central ring body, and the other end of the pitch linkage member and the yaw linkage member are respectively connected to the two driving rods of the two linear actuation elements, whereby the two driving rods drive the The central ring body performs pitching and yaw motions. The end effector according to item 7 of the patent application scope, wherein the force / torque sensing element is a six-axis force / torque sensor.