WO2017219208A1 - Foret intelligent pour os utilisé par un robot destiné à assister une intervention chirurgicale osseuse - Google Patents

Foret intelligent pour os utilisé par un robot destiné à assister une intervention chirurgicale osseuse Download PDF

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Publication number
WO2017219208A1
WO2017219208A1 PCT/CN2016/086425 CN2016086425W WO2017219208A1 WO 2017219208 A1 WO2017219208 A1 WO 2017219208A1 CN 2016086425 W CN2016086425 W CN 2016086425W WO 2017219208 A1 WO2017219208 A1 WO 2017219208A1
Authority
WO
WIPO (PCT)
Prior art keywords
drill
surgical
bone drill
bone
intelligent
Prior art date
Application number
PCT/CN2016/086425
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/CN2016/086425 priority Critical patent/WO2017219208A1/fr
Publication of WO2017219208A1 publication Critical patent/WO2017219208A1/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 relates to an intelligent bone drill of an orthopedic surgery robot.
  • 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.
  • 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.
  • 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.
  • the operation operation process cannot be visually seen. problem.
  • 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.
  • 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 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.
  • 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.
  • 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 the lower portion of the front end of the bone drill base through the fixing base.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is an exploded view of an intelligent bone drill of an orthopedic surgical robot according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of an intelligent bone drill of an orthopedic surgery robot according to an embodiment of the present invention.
  • an intelligent bone drill of an orthopedic surgery robot 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un foret intelligent pour os utilisé par un robot destiné à assister une intervention chirurgicale osseuse. Ce foret intelligent 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 foret intelligent pour os permet, d'une part, d'observer une image en temps réel d'une intervention chirurgicale au moyen d'un système de reconnaissance (14) de vision stéréoscopie mis en oeuvre par la personne chargée d'une intervention chirurgicale à distance et, d'autre part, de mettre en oeuvre l'orientation de coordonnées moyennant le système de reconnaissance (14) de vision stéréoscopie avant que le robot destiné à assister une intervention chirurgicale ne se mette en marche.
PCT/CN2016/086425 2016-06-20 2016-06-20 Foret intelligent pour os utilisé par un robot destiné à assister une intervention chirurgicale osseuse WO2017219208A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/086425 WO2017219208A1 (fr) 2016-06-20 2016-06-20 Foret intelligent pour os utilisé par un robot destiné à assister une intervention chirurgicale osseuse

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/086425 WO2017219208A1 (fr) 2016-06-20 2016-06-20 Foret intelligent pour os utilisé par un robot destiné à assister une intervention chirurgicale osseuse

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WO2017219208A1 true WO2017219208A1 (fr) 2017-12-28

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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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US20120259337A1 (en) * 2011-04-07 2012-10-11 Synthes Usa, Llc Surgical drill instrument with motor and locking mechanism to receive an attachment and a cutting burr
CN102764157A (zh) * 2012-04-13 2012-11-07 中国科学院深圳先进技术研究院 骨科手术机器人
CN104997549A (zh) * 2015-08-24 2015-10-28 深圳市鑫君特智能医疗器械有限公司 用于骨科机器人的智能骨钻
CN105848606A (zh) * 2015-08-24 2016-08-10 深圳市鑫君特智能医疗器械有限公司 一种智能骨科手术系统
CN205831866U (zh) * 2016-06-20 2016-12-28 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的智能骨钻
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US20120259337A1 (en) * 2011-04-07 2012-10-11 Synthes Usa, Llc Surgical drill instrument with motor and locking mechanism to receive an attachment and a cutting burr
CN102764157A (zh) * 2012-04-13 2012-11-07 中国科学院深圳先进技术研究院 骨科手术机器人
CN104997549A (zh) * 2015-08-24 2015-10-28 深圳市鑫君特智能医疗器械有限公司 用于骨科机器人的智能骨钻
CN105848606A (zh) * 2015-08-24 2016-08-10 深圳市鑫君特智能医疗器械有限公司 一种智能骨科手术系统
CN205831866U (zh) * 2016-06-20 2016-12-28 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的智能骨钻
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

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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