WO2017219208A1

WO2017219208A1 - Intelligent bone drill of orthopedic surgery robot

Info

Publication number: WO2017219208A1
Application number: PCT/CN2016/086425
Authority: WO
Inventors: 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: 2016-06-20
Filing date: 2016-06-20
Publication date: 2017-12-28

Abstract

An intelligent bone drill of an orthopedic surgery robot, comprising a surgical electric drill (11), a guide mechanism (12) sheathed on an electric drill bit of the surgical electric drill (11), a propelling mechanism (13), a binocular vision recognition system (14), a pressure sensor (15) fixed on the surgical electric drill (11), and a bone drill controller (16); the surgical electric drill (11), the guide mechanism (12), the binocular vision recognition system (14) and the pressure sensor (15) are all mounted on the propelling mechanism (13); the bone drill controller (16) is electrically connected to the surgical electric drill (11), the propelling mechanism (13), the binocular vision recognition system (14) and the pressure sensor (15), separately. The intelligent bone drill can enable a remote doctor to view a real-time image of a surgical operation by means of a binocular vision recognition system (14), and can perform coordinate positioning before the operation of a surgical robot by means of the binocular vision recognition system (14).

Description

Intelligent bone drill for orthopedic surgery robot

Technical field

[0001] The present invention belongs to the field of medical equipment, and in particular relates to an intelligent bone drill of an orthopedic surgery robot.

Background technique

[0002] With the continuous development of the transportation industry, the occurrence of traffic accidents has also been rising, and trauma has become the leading cause of death worldwide. Therefore, the development of new orthopedic surgery techniques is of great significance.

[0003] The current surgical bone drill is just an ordinary hand-held drill. The bone drill for the orthopedic surgery robot is simply improved on the basis of the original hand-held drill, and the pressure sensing function is added. The doctor operates the orthopedics at the distal end. At the time of the surgical robot, the surgical operation process cannot be visually observed. The actual operation effect can only be judged based on the pressure change on the bone drill and the feedback from the on-site doctor.

technical problem

[0004] An object of the present invention is to provide an intelligent bone drill for an orthopedic surgery robot, which aims to solve the bone drill of the prior art. When the doctor operates the orthopedic surgery robot at the distal end, the operation operation process cannot be visually seen. problem.

Problem solution

Technical solution

[0005] The present invention provides an intelligent bone drill for an orthopedic surgery robot, the intelligent bone drill including a surgical drill, a guiding mechanism for an electric drill bit that is sleeved on a surgical drill, a propulsion mechanism, a binocular vision recognition system, and a fixation in surgery a pressure sensor and a bone drill controller on the electric drill, the surgical drill, the guiding mechanism, the binocular vision recognition system and the pressure sensor are all mounted on the propulsion mechanism, and the bone drill controller is respectively associated with the surgical drill, the propulsion mechanism, and the binocular visual recognition The system is electrically connected to the pressure sensor.

[0006] Further, the surgical drill includes an electric drill bit and an electric drill motor that drives the electric drill bit, and the bone drill controller is electrically connected to the electric drill motor of the surgical electric drill.

[0007] Further, the propulsion mechanism comprises a bone drill base, a linear guide, a load platform, a drive motor, a coupling and a ball screw, and the linear guide and the ball screw are mounted on the bone drill base, and the loading platform is fixed. On the linear guide, the load platform is connected to the nut on the ball screw through the connecting piece, and the driving motor is mounted on the bone. At the rear end of the drill base, the load platform is driven by a drive motor through a coupling.

[0008] Further, 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.

[0009] Further, 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.

[0010] Further, the binocular visual recognition system includes two cameras and a fixing base for fixing two cameras, and the two cameras are mounted on the lower portion of the front end of the bone drill base through the fixing base.

[0011] Further, the bone drill controller is externally placed on the intelligent bone drill, and the bone drill controller is connected to the intelligent bone drill through the control interface of the bone drill base.

Advantageous effects of the invention

Beneficial effect

[0012] In the present invention, since the intelligent bone drill of the orthopedic surgery robot includes a binocular vision recognition system, the bone drill controller is electrically connected to the binocular vision recognition system. 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. In the patient or on the surgical bed, 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.

Brief description of the drawing

DRAWINGS

1 is an exploded view of an intelligent bone drill of an orthopedic surgical robot according to an embodiment of the present invention.

2 is a perspective view of an intelligent bone drill of an orthopedic surgery robot according to an embodiment of the present invention.

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. [0016] In order to explain the technical solution described in the present invention, the following description will be made by way of specific embodiments.

1 and 2, an intelligent bone drill of an orthopedic surgery robot according to an embodiment of the present invention includes a surgical drill 11, a guiding mechanism 12 of an electric drill bit that is sleeved on the surgical drill 11, a propulsion mechanism 13, and a 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.

[0018] 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. The bone drill controller 16 is electrically connected to the electric drill motor 112 of the surgical drill 11.

[0019] 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. Thus, the force received by the surgical drill 11 during the operation can be received by the pressure sensor 15. By the force change, combined with the advancement speed of the surgical drill 11, 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.

[0020] 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.

[0021] 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. [0022] 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 on 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. At the same time, the binocular visual recognition system 14 can also perform coordinate positioning before the surgical robot moves. Since 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. The operation on the operating bed locates the icon on the 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 robot arm of the surgical robot Reach the corresponding coordinate position and pose state.

[0023] The intelligent bone drill can be fixed on the 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 and making the surgical precision Guaranteed, peers reduce the labor intensity of doctors.

[0024] 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 above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalents, and improvements made within the spirit and scope of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims

Claim

An intelligent bone drill for an orthopedic surgery robot, characterized in that: the intelligent bone drill comprises a surgical drill, a guiding mechanism of an electric drill bit that is sleeved on the surgical electric drill, a propulsion mechanism, a binocular visual recognition system, and is fixed on the surgical electric drill. a pressure sensor and a bone drill controller, the surgical drill, a guiding mechanism, a binocular vision recognition system, and a pressure sensor are all mounted on the propulsion mechanism, and the bone drill controller is respectively associated with the surgical drill, the propulsion mechanism, the binocular vision recognition system, and the pressure The sensor is electrically connected.

The intelligent bone drill according to claim 1, wherein the surgical drill includes an electric drill bit and an electric drill motor that drives the electric drill bit, and the bone drill controller is electrically connected to the electric drill motor of the surgical electric drill.

The intelligent bone drill according to claim 1, wherein the propulsion mechanism comprises a bone drill base, a linear guide, a load platform, a drive motor, a coupling, and a ball screw, and the linear guide and the ball screw are mounted on On the base of the bone drill, the loading platform is fixed on the linear guide rail, and the loading platform is connected with the nut on the ball screw through the connecting member, the driving motor is installed at the rear end of the bone drilling base, and the loading platform is driven by the driving motor through the coupling Connect the drive.

The intelligent bone drill according to claim 3, wherein the load platform is provided with a surgical drill fixing plate, and the surgical drill is mounted on the surgical drill fixing plate by a pressure sensor.

[Claim 5] The intelligent bone drill according to claim 3, wherein the drive motor employs a brushless DC motor and has a built-in Hall sensor.

[Claim 6] The intelligent bone drill according to claim 3, wherein the guiding mechanism is a sleeve that is attached to the front end of the bone drill base and that is sleeved on the electric drill of the surgical drill.

[Claim 7] The intelligent bone drill according to claim 3, wherein the binocular vision recognition system includes two cameras and a fixing base for fixing two cameras, and the two cameras are mounted on the bone drill through the fixing base. The lower part of the front end of the base.

[Claim 8] The intelligent bone drill according to claim 3, wherein the intelligent bone drill is fixed to a robot arm of the orthopedic surgery robot through a mounting flange installed at a lower portion of the bone drill base.

[Claim 9] The intelligent bone drill according to claim 2, wherein the electric drill of the surgical electric drill The machine uses a brushless DC motor with a built-in Hall sensor.

[10] The intelligent bone drill according to claim 1, wherein the bone drill controller is externally disposed on the intelligent bone drill, and the bone drill controller is connected to the intelligent bone drill through a control interface of the bone drill base.