WO2017219207A1 - Robot destiné à assister une intervention chirurgicale osseuse - Google Patents

Robot destiné à assister une intervention chirurgicale osseuse Download PDF

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Publication number
WO2017219207A1
WO2017219207A1 PCT/CN2016/086424 CN2016086424W WO2017219207A1 WO 2017219207 A1 WO2017219207 A1 WO 2017219207A1 CN 2016086424 W CN2016086424 W CN 2016086424W WO 2017219207 A1 WO2017219207 A1 WO 2017219207A1
Authority
WO
WIPO (PCT)
Prior art keywords
drill
surgical
robot
bone drill
bone
Prior art date
Application number
PCT/CN2016/086424
Other languages
English (en)
Chinese (zh)
Inventor
孙东辉
石训军
黄伟
梁锡杰
Original Assignee
深圳市鑫君特智能医疗器械有限公司
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 深圳市鑫君特智能医疗器械有限公司 filed Critical 深圳市鑫君特智能医疗器械有限公司
Priority to PCT/CN2016/086424 priority Critical patent/WO2017219207A1/fr
Publication of WO2017219207A1 publication Critical patent/WO2017219207A1/fr

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • 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

Definitions

  • the present invention belongs to the field of medical equipment, and in particular to an orthopedic surgery robot.
  • the present invention provides an orthopedic surgical robot including a robot body and a mechanical arm fixed on the robot body, an intelligent bone drill fixed on the robot arm, a communication module, respectively, and a robot arm and communication a mechanical arm control module electrically connected to the module, an intelligent bone drill control module electrically connected to the intelligent bone drill and the communication module respectively, and a surgical robot electrical control module electrically connected to the intelligent bone drill control module and the mechanical arm control module, the smart
  • the bone drill includes a surgical drill, a guiding mechanism for the electric drill bit that is sleeved on the surgical drill, a propulsion mechanism, a binocular vision recognition system, a pressure sensor fixed on the surgical drill, and a bone drill controller, the surgical drill, the guiding mechanism, and the double Both the visual recognition system and the pressure sensor are mounted on the propulsion mechanism, and the bone drill controller is electrically connected to the surgical drill, the propulsion mechanism, the binocular vision recognition system, and the pressure sensor, respectively.
  • the surgical drill includes an electric drill and an electric drill motor that drives the electric drill, and the bone drill controller is electrically connected to the electric drill motor of the surgical drill.
  • the propulsion mechanism includes a bone drill base, a linear guide, a load platform, a drive motor, and a joint
  • the shaft and the ball screw, the linear guide and the ball screw are mounted on the bone drill base, the loading platform is fixed on the linear guide rail, the loading platform is connected with the nut on the ball screw through the connecting piece, and the driving motor is mounted on the bone drill
  • the load platform is driven by a drive motor through a coupling.
  • a surgical electric drill fixing plate is mounted on the loading platform, and the surgical electric drill is mounted on the surgical electric drill fixing plate through a pressure sensor.
  • the guiding mechanism is a sleeve that is mounted on the front end of the bone drill base and is sleeved on the electric drill of the surgical drill.
  • the binocular visual recognition system includes two cameras and a fixing base for fixing two cameras, and the two cameras are mounted on a lower portion of the front end of the bone drill base through a fixing base.
  • the mechanical arm is a six-axis mechanical arm.
  • the six-axis robot arm has six joint axes, and six servo motors directly drive the rotation of the six joint shafts through the harmonic reducer and the synchronous pulley.
  • the intelligent bone drill of the orthopedic surgery robot since the navigation guide device is replaced with an intelligent bone drill on the prior art orthopedic surgery robot, the intelligent bone drill of the orthopedic surgery robot includes a binocular vision recognition system, a bone drill controller and a binocular
  • the visual recognition system is electrically connected. Therefore, it is possible not only to allow the remote doctor to view the actual image of the surgical operation through the binocular visual recognition system, but also to perform coordinate positioning before the operation of the surgical robot through the binocular visual recognition system, specifically to identify and install through the binocular visual recognition system.
  • the icon on the surgical positioning device establishes the stereo coordinates of the surgical positioning device, and unifies the coordinates of the orthopedic robot and the intelligent bone drill into the stereo coordinates determined by the surgical positioning device, and guides the operation
  • the robot's robotic arm reaches the corresponding coordinate position and pose state. Therefore, the orthopedic surgical robot of the present invention can realize precise punching function on the basis of navigation, realize surgical operation, thereby improving the accuracy and stability of the operation, reducing the working intensity of the doctor, and avoiding factors such as human fatigue and mental stress on the operation. Interference.
  • 1 is an exploded view of an orthopedic surgical robot provided by an embodiment of the present invention.
  • 2 is a perspective view of an orthopedic surgical robot according to an embodiment of the present invention.
  • FIG 3 is an exploded view of an intelligent bone drill according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of an intelligent bone drill according to an embodiment of the present invention.
  • an orthopaedic surgical robot provided by an embodiment of the present invention includes a robot body 233 and a robot arm 232 fixed on the robot body 233, an intelligent bone drill 231 fixed on the robot arm 232, and a communication module. 235, a robot arm control module 239 electrically connected to the robot arm 232 and the communication module 235, an intelligent bone drill control module 236 electrically connected to the smart bone drill 231 and the communication module 235, respectively, and an intelligent bone drill control module 236 and a machine
  • the surgical robot electrical control module is electrically connected to the arm control module 239.
  • the robot arm 232 may specifically be a six-axis robot arm.
  • a six-axis robotic arm 232 is used to move the intelligent bone drill 231 to a designated surgical site.
  • the intelligent bone drill 231 is used to perform surgery on the patient.
  • the robot arm control module 239 is used to control the six-axis robot arm 232.
  • the intelligent bone drill control module 236 controls the intelligent bone drill 231.
  • the communication module 235 can be an Ethernet switch, and the Ethernet switch is used to connect the intelligent bone drill control module 236 and the robot arm control module 239 and the like to the external network.
  • the surgical robot electrical control module provides electrical control for the entire orthopaedic surgical robot.
  • the six-axis robot arm 232 has six joint axes, and six servo motors directly drive the rotation of the six joint shafts through a harmonic reducer, a synchronous pulley, and the like. Because the six-axis robot has six axes and six degrees of freedom, it is possible to reach the end position in any position within the range of motion of the joint of the base.
  • the six joint axes of the six-axis robot arm 232 adopt the same structure, and two servo motors of different sizes are used, wherein the rotating shaft (S-axis), the lower arm shaft (L-axis), and the upper arm shaft (U-axis) With a large servo motor, the wrist release shaft (R axis), the wrist swing axis (B axis) and the wrist rotary axis (T axis) use a small servo motor.
  • the size of the joint axis mimics the proportion of the human arm. In this way, it is convenient to reach any one of the reachable ranges in an arbitrary posture.
  • the six-axis robot arm 232 is mounted on the robot arm base of the robot body 233.
  • the end of the base of the robot arm is a flange, and the intelligent bone drill 231 is fixed to the six-axis robot arm 232 by a flange.
  • the intelligent bone drill 231 performs a surgical action after the six-axis robot arm 232 reaches the designated position.
  • the robot body 233 has three chromatic strips 244-shaped on the left and right sides, and can emit a plurality of different colors of light, which are respectively controlled by the robot arm control module 239 and the intelligent bone drill control module 236, and indicate the working state of the six-axis robot arm and The working state of the orthopedic robot.
  • the bottom of the robot body 233 is provided with four rollers 241, which can be easily moved using a crucible.
  • the bottom of the robot body 233 is also equipped with an electric foot support 242, and the DC motor drives the rise and fall of the foot support through the pulley.
  • a limited position 240 is mounted on the upper and lower sides of the electric foot support 242 to limit the range of motion of the electric foot support 242.
  • the control of the foot lift motor 243 is controlled by two buttons mounted at the rear of the robot body 233 to move the pusher 237.
  • a robot input power and control interface Below the rear of the robot body 233 is a robot input power and control interface, and is respectively provided with a power input interface 250, a power switch 249, and a network interface 248 connected to the outside.
  • the surgical robot electrical control module includes a power input socket, a power switch, a power filter, an isolation transformer 238, a foot button 246, a foot motor control circuit, a mechanical arm emergency stop 245, and an external emergency stop interface. 247 and so on.
  • the isolation transformer 238 isolates the power supply system of the orthopaedic surgical robot from the city network, enhances the electrical insulation between the orthopedic robot and the city network, and enhances the electrical safety of the orthopedic surgery robot.
  • the isolation transformer is mounted on the bottom of the orthopedic surgical robot mounting bracket.
  • the robot body 233 also includes an internal mounting bracket 234.
  • the mounting bracket 234 is a base for mounting other components of the surgical robot.
  • the intelligent bone drill of the orthopedic surgery robot includes a surgical electric drill 11, a guiding mechanism 12 of the electric drill bit that is sleeved on the surgical electric drill 11, a propulsion mechanism 13, and binocular vision.
  • An identification system 14, a pressure sensor 15 secured to the surgical drill 11, and a bone drill controller 16 are provided.
  • the surgical drill 11, the guiding mechanism 12, the binocular vision recognition system 14 and the pressure sensor 15 are all mounted on the propulsion mechanism 13, and the bone drill controller 16 is respectively associated with the surgical drill 11, the propulsion mechanism 13, the binocular vision recognition system 14, and the pressure sensor. 15 electrical connections.
  • the surgical drill 11 includes an electric drill bit 111 and an electric drill motor 112 that drives the electric drill bit 111 to operate.
  • Bone drill controller 1 6 is electrically connected to the electric drill motor 112 of the surgical drill 11.
  • the propulsion mechanism 13 includes a bone drill base 131, a linear guide 132, a load platform 133, a drive motor 134, a coupling 135, and a ball screw 136.
  • the linear guide 132 and the ball screw 136 are mounted on the bone drill base 131, and the carrier platform 133 is fixed to the linear guide 132, and the load platform 133 is coupled to the nut on the ball screw 136 through the connecting member.
  • the drive motor 134 is mounted at the rear end of the bone drill base 131, and the load platform 133 is driven by the drive motor 134 through the coupling 135 to perform linear reciprocation.
  • a surgical drill fixing plate 137 is mounted on the loading platform 133, and the surgical drill 11 is mounted on the surgical drill fixing plate 137 via a pressure sensor 15.
  • the force received by the surgical drill 11 during the operation can be received by the pressure sensor 15.
  • the structural density and the change of the surgical site of the surgical drill 11 can be determined, and the layer of the bone drill reaching the human body is estimated by comparing with the database parameters in the system. (Skin, muscle, fat, periosteum, bone, bone marrow), to avoid the occurrence of surgical accidents, thus providing surgery for the surgeon.
  • the surgical drill 11 is controlled by the drive motor 134 to travel and retreat.
  • the drive motor 134 employs a DC brushless reduction motor, and the frequency of the drive power of the drive motor 134 is controlled by the bone drill controller 16 to control the rotational speed of the drive motor 134 to control the speed at which the surgical drill 11 is advanced or retracted.
  • the phase sequence of the drive power can control whether the surgical drill is moving forward or backward.
  • the peer can measure the distance of advancement or retreat by measuring the number of rotations of the drive motor 134.
  • the guiding mechanism 12 is a sleeve of an electric drill bit that is sleeved on the front end of the bone drill base 131 and is sleeved on the electric drill 11 for guiding the advancement of the electric drill bit, and blocks the electric drill bit from contacting the muscle of the patient to prevent the patient from operating around the surgery. The muscles move together following the rotation of the electric drill bit.
  • the binocular vision recognition system 14 includes two cameras 141 and a mount 142 that fixes the two cameras 141, and the two cameras 141 are mounted to the lower portion of the front end of the bone drill base 131 through the mounts 142.
  • the camera 141 is connected to the surgical system via a network cable via a switch. The operator and the authorized person can view the real images of the two cameras 141 through the network, and can visually see the stereoscopic images through the 3D imaging system.
  • the binocular visual recognition system 14 can also perform coordinate positioning before the surgical robot moves.
  • the intelligent bone drill of the present invention has a binocular vision recognition system, it can not only allow the remote doctor to view the actual image of the surgical operation through the binocular visual recognition system, but also can identify the patient or the patient through the binocular visual recognition system.
  • Surgical positioning on the operating table identifies the icon on the device, establishes the stereo coordinates of the surgical positioning device, and orthopedics
  • the coordinates of the surgical robot and the intelligent bone drill are unified into the stereo coordinates determined by the surgical positioning indicator device, and the robot arm of the surgical robot is guided to reach the corresponding coordinate position and posture state.
  • the intelligent bone drill can be fixed on the six-axis robot arm of the orthopedic surgery robot through the mounting flange 17, and the drilling speed and depth can be accurately controlled according to the preoperative surgical planning, thereby reducing the deviation caused by the manual operation, The precision of the operation is guaranteed, and the labor intensity of the doctor is reduced.
  • the intelligent bone drill of the orthopedic surgery robot provided by the embodiment of the present invention is controlled by the bone drill controller 16 and the PC software, the bone drill controller 16 is externally placed on the intelligent bone drill, and the bone drill controller 16 passes through the bone drill base.
  • the control interface 18 of the 131 is coupled to an intelligent bone drill.
  • the bone drill controller 16 is primarily used for the control and measurement of surgical drills, 11 propulsion drills, and measurements of the pressure sensor 15.
  • the electric drill motor 112 and the driving motor 134 of the surgical drill 11 adopt a brushless DC motor and a built-in Hall sensor.
  • the frequency of the motor can be controlled by controlling the frequency of the motor input power, and the phase sequence of the motor input power source controls the forward and reverse rotation of the motor.
  • the speed of the motor is measured by a Hall sensor.
  • the bone drill controller 16 is connected to the PC via a network interface.
  • the PC can easily control the intelligent bone drill through dedicated software and can be connected to the binocular vision recognition system via the network.
  • the intelligent bone drill of the orthopedic surgery robot since the navigation guide device is replaced with an intelligent bone drill on the prior art orthopedic surgery robot, the intelligent bone drill of the orthopedic surgery robot includes a binocular vision recognition system, a bone drill controller and a binocular
  • the visual recognition system is electrically connected. Therefore, it is possible not only to allow the remote doctor to view the actual image of the surgical operation through the binocular visual recognition system, but also to perform coordinate positioning before the operation of the surgical robot through the binocular visual recognition system, specifically to identify and install through the binocular visual recognition system.
  • the icon on the surgical positioning device establishes the stereo coordinates of the surgical positioning device, and unifies the coordinates of the orthopedic robot and the intelligent bone drill into the stereo coordinates determined by the surgical positioning device, and guides the operation
  • the robot's robotic arm reaches the corresponding coordinate position and pose state. Therefore, the orthopedic surgical robot of the present invention can realize precise punching function on the basis of navigation, realize surgical operation, thereby improving the accuracy and stability of the operation, reducing the working intensity of the doctor, and avoiding factors such as human fatigue and mental stress on the operation. Interference.

Abstract

Robot destiné à assister une intervention chirurgicale osseuse comprenant un corps (233) de robot et un bras mécanique (232) fixé sur le corps (233) de robot, un foret intelligent (231) pour os, un module de communication (235), un module de commande (239) d'un bras mécanique, un module de commande (236) d'un foret intelligent pour os et un module de commande électrique de robot destiné à assister une intervention chirurgicale, le foret intelligent (231) pour os comprend un foret électrique (11) pour intervention chirurgicale, un mécanisme de guidage (12) de la tête du foret électrique articulé avec le foret électrique (11) pour intervention chirurgicale, un mécanisme de poussée (13), un système de reconnaissance (14) de vision stéréoscopique, un capteur (15) de pression fixé sur le foret intelligent (11) pour intervention chirurgicale et un contrôleur (16) de foret pour os. Le foret intelligent (11) pour intervention chirurgicale, le mécanisme de guidage (12), le système de reconnaissance (14) de vision stéréoscopique et le capteur (15) de pression sont montés sur le mécanisme de poussée (13), le contrôleur (16) de foret pour os étant connecté électriquement au foret intelligent (11) pour intervention chirurgicale, au mécanisme de poussée (13), au système de reconnaissance (14) de vision stéréoscopique et au capteur (15) de pression. Ce robot destiné à assister une intervention chirurgicale est en mesure de perforer avec précision selon les principes de navigation et donc de réaliser une intervention chirurgicale avec pour effet d'augmenter le degré de stabilité et de précision et, par voie de conséquence, d'alléger le degré l'intensité du travail fourni par la personne chargée de l'intervention chirurgicale.
PCT/CN2016/086424 2016-06-20 2016-06-20 Robot destiné à assister une intervention chirurgicale osseuse WO2017219207A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2016/086424 WO2017219207A1 (fr) 2016-06-20 2016-06-20 Robot destiné à assister une intervention chirurgicale osseuse

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods

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CN205903308U (zh) * 2016-06-20 2017-01-25 深圳市鑫君特智能医疗器械有限公司 一种骨科手术机器人

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Publication number Priority date Publication date Assignee Title
US20090000626A1 (en) * 2002-03-06 2009-01-01 Mako Surgical Corp. Haptic guidance system and method
CN201029876Y (zh) * 2007-01-15 2008-03-05 杭州市萧山区中医院 骨科手术导航系统
CN101947126A (zh) * 2010-10-02 2011-01-19 上海交通大学 骨科手术辅助机器人系统
CN204698579U (zh) * 2015-06-11 2015-10-14 河南康易源医疗科技有限公司 一种分体式x射线摄影装置
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11701188B2 (en) 2017-05-10 2023-07-18 Mako Surgical Corp. Robotic spine surgery system and methods
US11937889B2 (en) 2017-05-10 2024-03-26 Mako Surgical Corp. Robotic spine surgery system and methods

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