WO2023130874A1 - 骨钻装置及手术机器人 - Google Patents
骨钻装置及手术机器人 Download PDFInfo
- Publication number
- WO2023130874A1 WO2023130874A1 PCT/CN2022/136546 CN2022136546W WO2023130874A1 WO 2023130874 A1 WO2023130874 A1 WO 2023130874A1 CN 2022136546 W CN2022136546 W CN 2022136546W WO 2023130874 A1 WO2023130874 A1 WO 2023130874A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- connecting rod
- drill device
- bone drill
- boss
- control handle
- Prior art date
Links
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 51
- 238000009434 installation Methods 0.000 claims description 50
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 229920001296 polysiloxane Polymers 0.000 claims description 6
- 238000005553 drilling Methods 0.000 abstract description 12
- 241000282376 Panthera tigris Species 0.000 description 8
- 238000005452 bending Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037118 bone strength Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
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
- A61B17/1613—Component parts
- A61B17/1628—Motors; Power supplies
-
- 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
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
-
- 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 disclosure relates to the technical field of medical equipment, in particular to a bone drill device and a surgical robot.
- the bone drill device is a common device for surgical operations.
- the operator holds the bone drill device to drill the drill bit from the surface of the bone tissue along the direction of the preset drilling axis to form a bone tissue drill hole.
- Existing bone drill devices usually include a gun-type handle, and the drill bit is positioned at the muzzle side of the gun-type handle. The operator exerts force on the drill bit by holding the handle of the gun, so that the drill bit drills in the direction of the preset drilling axis.
- the rotational torque is likely to be generated during the operation, causing the drill bit to be deflected, and the side of the drill bit rubs against the wall of the drilled hole of the bone tissue, causing the drill bit to be easily damaged, and a large amount of heat generated by the friction may even cause burns to the patient. Serious consequences.
- the embodiment of the present disclosure provides a bone drill device and a surgical robot to solve the problem that when the existing bone drill device is used for operation, since the operator's force application position on the handle of the gun does not coincide with the axis of the drill bit, it is easy to rotate during the operation. Torque causes problems with bit deflection.
- an embodiment of the present disclosure provides a bone drill device, including a control handle, a connecting rod, a power host, and a cutter bar; the control handle is connected to the first end of the connecting rod, and the power host is connected to the second end of the connecting rod.
- the first end and the second end are two opposite ends of the connecting rod;
- the cutter rod is rotatably arranged at the end of the power host away from the connecting rod, and the power host is used to provide rotational power for the cutter rod;
- the connecting rod, the power host and the cutter The rods are coaxially arranged; the force application point of the control handle is located on the common axis of the connecting rod, the power host and the cutter rod.
- an embodiment of the present disclosure further provides a surgical robot, including a support base, a support arm assembly, and the aforementioned bone drill device.
- the bone drill device includes a control handle, a connecting rod, a power host and a knife rod.
- the control handle is connected to the power host through the connecting rod.
- the rod provides the turning power.
- the operator's force application point on the control handle is located on the common axis of the connecting rod, the power host and the tool bar, and the control force can be transmitted to the end of the tool bar along the common axis without The rotation torque is generated, so that the cutter rod can smoothly drill into the bone tissue surface according to the direction of the preset drilling axis.
- FIG. 1 is one of the structural schematic diagrams of a bone drill device provided in an embodiment of the present disclosure
- Fig. 2 is the second structural schematic diagram of a bone drill device provided in an embodiment of the present disclosure
- FIG. 3 is a schematic structural diagram of a first housing provided in an embodiment of the present disclosure.
- Fig. 4 is one of the structural schematic diagrams of an adjustable handle provided in an embodiment of the present disclosure.
- Fig. 5 is the second structural schematic diagram of an adjustable handle provided in an embodiment of the present disclosure.
- FIG. 6 is a cross-sectional view along the C-C direction of FIG. 5 according to an embodiment of the present disclosure
- FIG. 7 is a cross-sectional view along the D-D direction of FIG. 5 according to an embodiment of the present disclosure.
- an embodiment of the present disclosure provides a bone drill device, including a control handle 265 , a connecting rod 262 , a power host 27 and a knife rod 266 .
- the control handle 265 is connected to the first end of the connecting rod 262
- the power host 27 is connected to the second end of the connecting rod 262 , wherein the first end and the second end are two opposite ends of the connecting rod 262 .
- the knife rod 266 is rotatably disposed on the end of the power host 27 away from the connecting rod 262 , and the power host 27 is used to provide rotational power for the knife rod 266 .
- the connecting rod 262, the power host 27 and the knife rod 266 are arranged coaxially.
- the force application point 267 of the control handle 265 is located on the common axis of the connecting rod 262 , the power host 27 and the knife rod 266 .
- the bone drill device includes a control handle 265, a connecting rod 262, a power host 27, and a cutter bar 266.
- the control handle 265 is used to provide the operator with a holding space, and the control handle 265 is connected to the power host 27 through the connecting rod 262.
- the connection mode between the handle 265 and the connecting rod 262 and between the power host 27 and the connecting rod 262 can be clamping, adhesive or threaded connection.
- the power host 27 is provided with a motor 273, and the cutter bar 266 is connected with the output end of the motor 273 of the power host 27, and the cutter bar 266 is driven to rotate at a high speed by the motor 273.
- the connecting rod 262, the power host 27 and the cutter bar 266 are arranged coaxially, and the axes coincide.
- the center of the palm of the hand is in contact with the outer surface of the control handle 265, and the force application point 267 on the control handle 265 is located on the side of the control handle 265 away from the connecting rod 262.
- the power host 27 and the cutter bar 266 are located on the common axis of the rod 262, the power host 27 and the cutter bar 266.
- the bone drill device includes a control handle 265, a connecting rod 262, a power host 27, and a knife rod 266.
- the control handle 265 is connected to the power host 27 through the connecting rod 262, and the knife rod 266 is connected to the power host 27 away from the connection.
- the power host 27 can provide rotational power for the knife rod 266 .
- the operator's force application point 267 on the control handle 265 is located on the common axis of the connecting rod 262, the power host 27 and the knife bar 266, and the control force can be transmitted along the common axis to The end of the cutter rod 266 does not generate rotational torque, so that the cutter rod 266 can smoothly drill into the surface of the bone tissue according to the direction of the preset drilling axis.
- the bone drill device also includes an adjustable handle 261;
- the control handle 265 includes a first housing 2654 and a gripping portion 2653, an adjusting portion 2651 and
- the connection part 2652 is located between the grip part 2653 and the adjustment part 2651 and close to the adjustment part 2651 ;
- the grip part 2653 is connected to the first end of the connecting rod 262 ;
- the adjustable handle 261 is connected to the adjustment part 2651 .
- the control handle 265 includes a first housing 2654, and the first housing 2654 can be made in an integrated structure, or can be made in a separate way and then spliced.
- the first casing 2654 can be divided into two parts, a left casing and a right casing, and the left casing and the right casing can be spliced and buckled to form a complete first casing 2654 .
- the connection mode of the left housing and the right housing can be clamped, bolted or bonded.
- the first housing 2654 is provided with a grip portion 2653, an adjustment portion 2651 and a connection portion 2652.
- the connection portion 2652 is located between the grip portion 2653 and the adjustment portion 2651 and is close to the adjustment portion 2651.
- the grip portion 2653 adopts a shape similar to an oval In the shape of a ball, the size of the upper end of the grip part 2653 is slightly smaller than that of the lower end, which matches better with the palm.
- An adjustable handle 261 is arranged on the adjustment part 2651 of the control handle 265.
- the adjustable handle 261 forms a certain angle with the control handle 265 and forms a holding space with one side of the control handle 265.
- the palm and the The grip part 2653 fits together, and the adjustable handle 261 is overlapped on the tiger's mouth.
- the adjustable handle 261 distributes part of the weight of the control handle 265 to the tiger's mouth. The operator does not need to keep holding the control handle 265, which greatly reduces the number of fingers holding burden.
- the size of the first housing 2654 gradually narrows in the direction from the gripping portion 2653 to the adjusting portion 2651 .
- the first housing 2654 is provided with a gripping part 2653, a connecting part 2652 and an adjusting part 2651.
- the gripping part 2653 is used to fit the palm of the operator
- the connecting part 2652 is used to fit the operator's fingers and It fits close to the tiger's mouth.
- the first housing 2654 adopts a design that gradually narrows in size from the gripping portion 2653 to the adjusting portion 2651 .
- the outer contour of the control handle 265 matches the inner contour of the palm, which is ergonomically designed. The control handle 265 can fit better with the palm of the hand, greatly improving the user experience comfort.
- the outer surface of the first housing 2654 is an arc surface.
- the size of the first housing 2654 gradually narrows from the gripping portion 2653 to the adjusting portion 2651 .
- the arc surface can match the shape of the operator's palm, and the grip feels good.
- the side of the first shell 2654 facing away from the connecting rod 262 is provided with a silicone pad or anti-skid lines.
- the palm of the operator's palm fits against the side of the first housing 2654 facing away from the connecting rod 262 , and a silicone pad or anti-skid pattern is provided on the side of the first housing 2654 facing away from the connecting rod 262 .
- the silicone cushion layer since the silicone cushion layer is relatively soft and can provide a certain anti-slip capability, while improving the operator's comfort when using the control handle 265 , it can also reduce the probability of the control handle 265 slipping off.
- the roughness of the contact position between the first housing 2654 and the palm can be increased, the friction between the control handle 265 and the palm can be increased, the problems of slipping and deflection are not easy to occur, and the operation of the control handle 265 is improved. the accuracy.
- a buckle groove 2655 is provided in the area corresponding to the grip portion 2653 in the first housing 2654 , and the connecting rod 262 is embedded in the buckle groove 2655 .
- axes are parallel.
- control handle 265 is connected to the power host 27 through the connecting rod 262, and the first housing 2654 is provided with a gripping part 2653, a connecting part 2652 and an adjusting part 2651, and the inside of the first housing 2654 corresponds to the gripping part 2653.
- a button groove 2655 is provided in the region, and the connecting rod 262 is embedded in the button groove 2655 to realize connection with the control handle 265 .
- the length direction of the buckle groove 2655 is parallel to the axis of the connecting rod 262 , and the width and depth of the buckle groove 2655 match the outer diameter of the connecting rod 262 .
- the buckle groove 2655 is provided with at least two limit baffles 2656, the limit baffles 2656 are arranged at intervals along the length direction of the buckle groove 2655, and the limit baffles 2656 are provided for accommodating the connecting rod. 262, the shape of the limiting groove matches the shape of the outer surface of the connecting rod 262.
- the connecting rod 262 is embedded in the buckle groove 2655, at least two limit baffles 2656 are arranged in the buckle groove 2655, the limit baffles 2656 are perpendicular to the groove bottom of the buckle groove 2655, the limit baffles 2656 and Buckle groove 2655 can adopt the mode of one-piece mold opening to make.
- Adjacent limiting baffles 2656 are arranged at intervals along the length direction of the buckle groove 2655 , and can form multiple supporting and fixing structures with the buckle groove 2655 , improving the structural strength of the buckle groove 2655 .
- the limiting baffle 2656 is provided with a limiting groove for accommodating the connecting rod 262 , and the size of the limiting groove matches the outer diameter of the connecting rod 262 .
- the connecting rod 262 can be embedded in the limiting groove, which further improves the stability of the connection between the control handle 265 and the connecting rod 262, avoids relative shaking between the control handle 265 and the connecting rod 262, and improves the bone strength.
- the stability of the drilling device ensures the accuracy of the operation.
- the adjustable handle 261 is provided with an adjustment installation hole 2611, the adjustment part 2651 is provided with a locking structure, the adjustable handle 261 is engaged with the locking structure through the adjustment installation hole 2611, and It is used to adjust the holding space of the holding part 2653.
- the adjustable handle 261 is clamped with the control handle 265, specifically by setting the adjustment installation hole 2611 on the adjustable handle 261, and the adjustment part 2651 of the control handle 265 is provided with a locking structure, and the adjustable handle 261 is connected with the lock through the adjustment installation hole 2611. stop the structural snap-in.
- control handle 265 Due to the sterility requirements of medical equipment, it is necessary to wrap a sterile cover sheet outside the control handle 265.
- the operator holds the control handle 265 with the sterile cover sheet for operation, and the surface of the sterile cover sheet is relatively smooth, so it is easy for the operator to hold it. Slipping occurs.
- the control handle 265 can be wrapped with a sterile cover sheet, and then the adjustable handle 261 is placed on the outside of the sterile cover sheet, and connected to the control handle 265 by snapping.
- the connection is beneficial to avoid the problem of loosening and misoperation caused by the contact surface being too slippery after the sterile cover wraps the entire control handle 265.
- the adjustable handle 261 and the control handle 265 are clamped, the installation is simple and quick, and it can be supported with the tiger's mouth, so there is no need to set a strap structure on the control handle 265 to fix the palm and fingers, avoiding frequent fixing and unbinding With the problem that the operation steps are cumbersome.
- the adjustment installation hole 2611 is a waist-shaped hole, and the length direction of the waist-shaped hole is consistent with the length direction of the adjustable handle 261 .
- the locking structure includes an oblong locking part and a supporting part, and the supporting part is arranged between the oblong locking part and the adjusting part 2651.
- the projected area of the oblong locking part is not It is larger than the projected area of the waist-shaped hole, and the projected area of the support part is smaller than the projected area of the oblong locking part.
- the waist-shaped hole includes a first installation area and a second installation area arranged along the length direction.
- the adjustment part 2651 and the oval lock The supporting parts abut against the two sides of the adjustable handle 261 along the thickness direction of itself, and the supporting parts pass through the waist-shaped holes.
- the adjustment installation hole 2611 is a waist-shaped hole, which is close to one end of the adjustable handle 261, and the length direction of the waist-shaped hole is consistent with the length direction of the adjustable handle 261, so that the waist-shaped hole can be adjusted by adjusting the locking structure.
- the locking position in the hole adjusts the installation length of the adjustable handle 261, and then adjusts the holding space of the control handle 265.
- the locking structure includes an oblong locking part and a supporting part, and the supporting part is arranged between the oblong locking part and the adjustment part 2651.
- the oblong locking part and the supporting part can be an integral structure, or can be made separately Solder it again.
- the oblong locking part is covered on the supporting part, forming a shape similar to a mushroom head.
- the projected area of the oblong locking part is not larger than the projected area of the waist-shaped hole, so as to ensure that the oblong locking part can smoothly pass through the waist-shaped hole and be compatible with the adjustable
- the other side of the handle 261 abuts.
- the projected area of the supporting part is smaller than the projected area of the oblong locking part, ensuring that the supporting part can be embedded in the waist-shaped hole and can rotate relative to the waist-shaped hole.
- the waist-shaped hole includes a first installation area and a second installation area arranged along the length direction.
- the first installation area and the second installation area can be approximately circular areas, which are jointly spliced into a waist-shaped hole.
- the first installation area and the second installation area The area is symmetrically distributed.
- the adjustable handle 261 is provided with a first boss 2612 and a second boss 2613 near the middle of the waist hole.
- the first boss 2612 and the second boss 2613 are respectively located on two sides of the waist-shaped hole along the length direction.
- the size of the first boss 2612 is larger than that of the second boss 2613 .
- a first boss 2612 and a second boss 2613 are provided in the middle of the waist hole, and the first boss 2612 and the second boss 2613 are respectively located on both sides of the waist hole along the length direction.
- the height of the first boss 2612 is greater than the height of the second boss 2613 .
- the specific installation methods include:
- the adjustable handle 261 when the first installation area is used for installation, the adjustable handle 261 is screwed at a high position. After the screwing is completed, the installation length of the adjustable handle 261 is relatively large, so that the holding space is relatively large.
- the adjustable handle 261 When installed in the second installation area, the adjustable handle 261 is screwed at a low position. After the screwing is completed, the installation length of the adjustable handle 261 is relatively small, so that the holding space is small.
- the adjustable handle 261 is installed on the control handle 265 from different directions, and the holding space between the adjustable handle 261 and the control handle 265 can be adjusted to suit different sizes of hands. Moreover, the adjustable handle 261 is designed as a symmetrical structure, which can be matched with left and right hands at the same time, which enhances the versatility of the product use process, and at the same time reduces the number of matching parts and reduces production costs.
- the support part is installed in the waist hole.
- the size of the support part should be equal to the size of the waist hole.
- the supporting part just passes through the waist-shaped hole, and the oblong locking part can abut and lock with the end of the waist-shaped hole.
- the sterile cover sheet will occupy a part of the space of the locking structure and the waist hole.
- the size of the support part is 1.05-1.15 times the size of the waist hole, and the installation space for the sterile cover sheet is reserved, which not only ensures the stable clamping of the adjustable handle 261 and the locking structure, It has avoided the problem that the adjustable handle 261 cannot be installed after the sterile cover sheet is set.
- the size of the first boss 2612 is 0.3-0.4 times the size of the waist hole, which not only realizes the function of limiting the oblong locking part, but also ensures the aesthetics of the adjustable handle 261 .
- the size of the second boss 2613 is 0.1-0.2 times the size of the waist hole, which can provide a certain damping effect during the rotation of the adjustable handle 261 .
- the oblong locking part can also be limited to a certain extent, so as to improve the stability of the adjustable handle 261 installation.
- the adjustable handle 261 is provided with a first chute 2614 near the first installation area, and the shape of the first chute 2614 is a semicircular arc.
- the first installation area is selected to install the adjustable handle 261
- the oblong locking part rotates relatively, and the first sliding slot 2614 can provide a sliding guide function for the oblong locking part.
- the first sliding groove 2614 will also limit the oblong locking part to prevent the oblong locking part from being connected with the adjustable
- the handle 261 is relatively offset, which improves the stability of the adjustable handle 261 installation.
- the adjustable handle 261 is provided with a second chute 2615 near the second installation area, and the shape of the second chute 2615 is also semicircular.
- the second installation area is selected to install the adjustable handle 261
- the oblong locking part rotates relatively, and the second sliding groove 2615 can provide a sliding guide function for the oblong locking part.
- the second sliding groove 2615 will also limit the oblong locking part, so as to avoid the oblong locking part and the adjustable
- the handle 261 is relatively offset, which improves the stability of the adjustable handle 261 installation.
- Adjustable handle 261 includes an inner side proximate to control handle 265 .
- the inner surface is in contact with the tiger's mouth of the finger, and an arc-shaped bending section is provided on the inner surface, and the arc-shaped bending section is bent toward the side of the grip part 2653 .
- the arc-shaped curved section just overlaps with the jaw of the finger and matches the shape of the jaw of the tiger, which improves the operator's comfort when using the control handle 265 .
- the arc-shaped curved section can also provide a certain clamping function, and the adjustable handle 261 is clamped with the finger tiger's mouth, further reducing the probability of the control handle 265 slipping.
- the inner surface of the adjustable handle 261 is in contact with the jaw of the finger, and the inner surface is provided with a silicone layer or provided with anti-skid lines on the curved section.
- a silicone layer or provided with anti-skid lines By setting the silica gel layer, since the silica gel layer is relatively soft and can provide a certain anti-skid ability, while improving the operator's comfort when using the control handle 265 , it can also reduce the probability of the control handle 265 slipping off.
- Anti-slip lines are provided on the arc-shaped bending section, and the anti-slip lines can increase the roughness of the arc-shaped bending section and increase the friction between the arc-shaped bending section and the tiger's mouth of the finger. When using the control handle 265, it is not easy to slip The problem of obliqueness has been improved, and the accuracy of instrument operation has been improved.
- the bone drill device further includes an anti-slip boss 264 , the anti-slip boss 264 is arranged on the side of the connection part 2652 close to the power host 27 , and the anti-slip boss 264 forms a support with the connection part 2652 space.
- the connecting portion 2652 is provided with an anti-skid boss 264 on one side close to the power host 27.
- the shape of the anti-skid boss 264 can be a column, a prism, a circular frustum, a truncated edge, etc., and one side of the anti-skid boss 264 is connected to the connecting portion 2652. Fixing, specifically, can be fixed by means of welding, bonding or clamping.
- the anti-slip boss 264 and the connecting portion 2652 are also manufactured by integral mold opening. The anti-slip boss 264 and the connecting portion 2652 form a support space. When the operator’s fingers are gripped on the connecting portion 2652, the anti-slip boss 264 can support the fingers, reduce the grip burden of the fingers, and prevent the control handle 265 from slipping.
- a groove is provided on the side of the anti-skid boss 264 close to the gripping portion 2653 , and the notch of the groove faces the power host 27 .
- the anti-slip boss 264 and the connecting portion 2652 form a support space
- the anti-slip boss 264 is provided with a groove near the gripping portion 2653, that is, a groove is provided near the support space.
- the groove can place fingers and limit the fingers to prevent the fingers from slipping off from the anti-skid boss 264 and improve the stability of the operator holding the control handle 265.
- the bottom of the groove is an arc surface, and the center of curvature of the arc surface is located on the side of the main engine 27 .
- the groove bottom of the groove is an arc surface, and the curvature center of the arc surface is located on the side of the power host 27.
- the concave surface of the arc surface faces the finger side, which can be consistent with the contour of the finger. Matching can improve the comfort of the operator.
- the power host 27 includes a second housing 272 and a motor 273, a shaft coupling 274 and a main shaft 275 disposed in the second housing 272; the power output end of the motor 273 passes through The shaft coupling 274 is connected to the main shaft 275 ; the cutter bar 266 is connected to the end of the main shaft 275 away from the shaft coupling 274 .
- the main shaft 275 is the main part of the power transmission process.
- the main shaft 275 includes a first end and a second end opposite to each other.
- the second end is connected to the output end of the motor 273 , specifically, it can be connected to the motor 273 through a coupling 274 .
- the power of the motor 273 is transmitted to the knife bar 266 through the shaft coupling 274 and the main shaft 275, and the output end of the motor 273, the shaft coupling 274, the main shaft 275 and the knife bar 266 rotate coaxially.
- the second housing 272 can protect the motor 273 , the coupling 274 , the main shaft 275 and the cutter bar 266 .
- the first housing 2654 is also provided with a battery compartment 268, in which a power battery is placed, and the second housing 272 is provided with an accommodating cavity, the battery compartment 268 can be directly engaged with the accommodating cavity, and the battery compartment 268 and the motor 273 The electrical connection is made and the motor 273 is energized.
- the control handle 265, the connecting rod 262 and the battery compartment 268 can be of an integrated structure.
- the battery compartment 268 can be inserted into the accommodating chamber of the second housing 272 to realize the control handle 265, the connecting rod 262 and the battery compartment 268.
- the overall installation improves the convenience of bone drill device installation.
- An embodiment of the present disclosure also provides a surgical robot, including: a support base, a support arm assembly, and the above-mentioned split surgical device; the support arm assembly is connected between the power host 27 and the support base, and is used to support the power host 27 on the in three-dimensional space.
- the surgical robot has a support base that supports and suspends the split surgical device in three-dimensional space, and the split surgical device is connected between the power host 27 and the support base through a support arm assembly.
- the bone drill device can be supported by a supporting arm assembly composed of a supporting upper arm, a supporting lower arm and a floating rod assembly.
- the support arm assembly can freely stop in the three-dimensional space, eliminating the fatigue of the operator.
- the above-mentioned supporting base can also provide a walking mechanism such as rollers, so as to facilitate the transportation and movement of the surgical robot.
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)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
一种骨钻装置及手术机器人，涉及医疗设备技术领域，骨钻装置包括控制手柄（265）、连接杆（262）、动力主机（27）及刀杆（266），控制手柄（265）通过连接杆（262）与动力主机（27）连接，动力主机（27）能够为刀杆（266）提供转动动力。操作者通过控制手柄（265）对刀杆（266）进行控制时，操作者在控制手柄（265）上的施力点（267）位于连接杆（262）、动力主机（27）以及刀杆（266）的共同轴线上，操控力可沿共同轴线传递至刀杆（266）端部，不会产生旋转扭矩，使刀杆（266）能够按照预设钻孔轴线方向从骨组织表面顺利钻入。有效避免因施力方向与钻孔方向不同心导致的刀杆（266）偏斜的问题，减少了刀杆（266）侧面与骨组织钻孔孔壁的摩擦，提升了刀杆（266）的使用耐久性；同时，也能避免刀杆（266）侧面与孔壁摩擦大量生热后，造成患者烧伤的严重后果。
Description
相关申请的交叉引用
本申请要求在2022年01月04日提交中国专利局、申请号202210000778.7、发明名称为“骨钻装置及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本公开涉及医疗设备技术领域，特别是涉及一种骨钻装置及手术机器人。
骨钻装置是外科手术的常用设备，操作者通过手持骨钻装置，使钻头沿预设钻孔轴线方向从骨组织表面钻入，形成骨组织钻孔。
现有的骨钻装置通常包括枪式手柄，钻头位于枪式手柄的枪口一侧。操作者通过握持枪柄对钻头施力，使钻头沿预设钻孔轴线方向钻入。
使用现有的骨钻装置作业时，操作过程中容易产生旋转扭矩引起钻头偏斜，钻头侧面与骨组织钻孔孔壁摩擦，导致钻头易发生损坏，摩擦大量生热后甚至会造成患者烧伤的严重后果。
发明内容
本公开实施例提供一种骨钻装置及手术机器人，以解决使用现有的骨钻装置进行作业时，由于操作者在枪柄上的施力位置与钻头轴线不重合，操作过程中容易产生旋转扭矩引起钻头偏斜的问题。
为了解决上述问题，本公开是这样实现的：
第一方面，本公开实施例提供一种骨钻装置，包括控制手柄、连接杆、动力主机及刀杆；控制手柄连接于连接杆的第一端，动力主机连接于连接杆的第二端，其中，第一端和第二端为连接杆相对的两端；刀杆可转动地设置于动力主机远离连接杆的一端，动力主机用于为刀杆提供转动动力；连接杆、动力主机以及刀杆同轴设置；控制手柄的施力点位于连接杆、动力主机以及刀杆的共同轴线上。
第二方面，本公开实施例还提供了一种手术机器人，包括支撑座、支撑臂组件以及上述的骨钻装置。
在本公开实施例中，骨钻装置包括控制手柄、连接杆、动力主机及刀杆，控制手柄通过连接杆与动力主机连接，刀杆连接于动力主机远离连接杆的一端，动力主机能够为刀杆提供转动动力。操作者通过控制手柄对刀杆进行控制时，操作者在控制手柄上的施力点位于连接杆、动力主机以及刀杆的共同轴线上，操控力可沿共同轴线传递至刀杆端 部，不会产生旋转扭矩，使刀杆能够按照预设钻孔轴线方向从骨组织表面顺利钻入。有效避免因施力方向与钻孔方向不同心导致的刀杆偏斜的问题，减少了刀杆侧面与骨组织钻孔孔壁的摩擦，提升了刀杆的使用耐久性；同时，也能避免刀杆侧面与孔壁摩擦大量生热后，造成患者烧伤的严重后果。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
为了更清楚地说明本公开实施例的技术方案，下面将对本公开实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例中提供的一种骨钻装置结构示意图之一；
图2为本公开实施例中提供的一种骨钻装置结构示意图之二；
图3为本公开实施例中提供的一种第一壳体结构示意图；
图4为本公开实施例中提供的一种可调把手结构示意图之一；
图5为本公开实施例中提供的一种可调把手结构示意图之二；
图6为本公开实施例图5沿C-C方向的剖面图；
图7为本公开实施例图5沿D-D方向的剖面图。
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本公开的至少一个实施例中。因此，在整个说 明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。
参照图1至图3所示，本公开实施例提供了一种骨钻装置，包括控制手柄265、连接杆262、动力主机27及刀杆266。控制手柄265连接于连接杆262的第一端，动力主机27连接于连接杆262的第二端，其中，第一端和第二端为连接杆262相对的两端。刀杆266可转动地设置于动力主机27远离连接杆262的一端，动力主机27用于为刀杆266提供转动动力。连接杆262、动力主机27以及刀杆266同轴设置。控制手柄265的施力点267位于连接杆262、动力主机27以及刀杆266的共同轴线上。
具体地，骨钻装置包括控制手柄265、连接杆262、动力主机27及刀杆266，控制手柄265用于为操作者提供握持空间，控制手柄265通过连接杆262与动力主机27连接，控制手柄265与连接杆262以及动力主机27与连接杆262的连接方式可以为卡接、粘结或者螺纹连接等。动力主机27内设置有电机273，刀杆266与动力主机27的电机273输出端连接，通过电机273带动刀杆266高速转动。连接杆262、动力主机27以及刀杆266同轴设置，轴线重合。
操作者在使用骨钻装置时，手掌心与控制手柄265的外表面贴合，在控制手柄265上的施力点267位于控制手柄265背离连接杆262的一侧，该施力点267的位置位于连接杆262、动力主机27以及刀杆266的共同轴线上。
在本公开实施例中，骨钻装置包括控制手柄265、连接杆262、动力主机27及刀杆266，控制手柄265通过连接杆262与动力主机27连接，刀杆266连接于动力主机27远离连接杆262的一端，动力主机27能够为刀杆266提供转动动力。操作者通过控制手柄265对刀杆266进行控制时，操作者在控制手柄265上的施力点267位于连接杆262、动力主机27以及刀杆266的共同轴线上，操控力可沿共同轴线传递至刀杆266端部，不会产生旋转扭矩，使刀杆266能够按照预设钻孔轴线方向从骨组织表面顺利钻入。有效避免因施力方向与钻孔方向不同心导致的刀杆266偏斜的问题，减少了刀杆266侧面与骨组织钻孔孔壁的摩擦，提升了刀杆266的使用耐久性；同时，也能避免刀杆266侧面与孔壁摩擦大量生热后，造成患者烧伤的严重后果。
可选地，参照图1至图7所示，骨钻装置还包括可调把手261；控制手柄265包括第一壳体2654和设于第一壳体2654的握持部2653、调节部2651及连接部2652，连接部2652位于握持部2653和调节部2651之间且靠近于调节部2651；握持部2653 连接于连接杆262的第一端；可调把手261连接于调节部2651。
具体地，控制手柄265包括第一壳体2654，第一壳体2654可采用一体式结构制作，也可采用分体的方式制作再进行拼接。例如，在制作第一壳体2654时，可将第一壳体2654分为左壳体和右壳体两部分，左壳体和右壳体拼接扣合成为完整的第一壳体2654。左壳体和右壳体的连接方式可以采用卡接、螺栓连接或者粘接等方式。
第一壳体2654上设有握持部2653、调节部2651及连接部2652，连接部2652位于握持部2653和调节部2651之间且靠近于调节部2651，握持部2653采用类似于椭球的形状，握持部2653上端的尺寸比下端略小，与手掌的匹配性较好。
在控制手柄265的调节部2651设置有可调把手261，可调把手261与控制手柄265呈一定角度，与控制手柄265的一侧形成握持空间，操作者在使用控制手柄265时，手掌与握持部2653贴合，虎口上搭接有可调把手261，可调把手261将控制手柄265的一部分重量分摊至虎口，操作者无需对控制手柄265持续保持握持力，大大较少了手指的握持负担。
可选地，参照图1至图3所示，由握持部2653至调节部2651的方向，第一壳体2654的尺寸逐渐收窄。
具体地，第一壳体2654上设有握持部2653、连接部2652及调节部2651，握持部2653用于与操作者的手掌心贴合，连接部2652用于与操作者的手指以及靠近虎口处贴合。根据手掌的特征，第一壳体2654采用由握持部2653至调节部2651的方向尺寸逐渐收窄的设计。操作者在握持控制手柄265时，控制手柄265的外轮廓与手掌握持时的内轮廓相匹配，符合人体工程学设计，控制手柄265能够与手掌实现更好的贴合，大大提升了使用的舒适性。
可选地，参照图1至图3所示，第一壳体2654的外表面为弧面。
具体地，第一壳体2654由握持部2653至调节部2651的方向尺寸逐渐收窄，第一壳体2654的外表面为弧面，弧面的曲率中心位于第一壳体2654的内部。操作者在握持第一壳体2654时，弧面能够与操作者的手掌形状相匹配，握持手感较好。
可选地，第一壳体2654背离连接杆262的一侧设置有硅胶垫层或防滑纹。
具体地，操作者在握持控制手柄265时，手掌与第一壳体2654背离连接杆262的一侧贴合，在第一壳体2654背离连接杆262的一侧设置硅胶垫层或防滑纹。通过设置硅胶垫层，由于硅胶垫层较为柔软，且能够提供一定的防滑能力，在提升操作者使用控制手柄265时的舒适性的同时，也能够降低控制手柄265滑脱的概率。通过设置防滑纹，能够增加第一壳体2654与手掌接触位置处的粗糙程度，增大控制手柄265和手掌之间的摩擦力，不易发生滑移、偏斜的问题，提升了控制手柄265操 作的精准度。
可选地，参照图3所示，第一壳体2654内与握持部2653对应的区域设置有扣槽2655，连接杆262嵌设于扣槽2655，扣槽2655的长度方向与连接杆262的轴线平行。
具体地，控制手柄265通过连接杆262与动力主机27连接，在第一壳体2654上设有握持部2653、连接部2652及调节部2651，第一壳体2654内与握持部2653对应的区域设置有扣槽2655，连接杆262嵌设于扣槽2655与控制手柄265实现连接。
扣槽2655的长度方向与连接杆262的轴线平行，扣槽2655的宽度及深度与连接杆262的外径相匹配。通过在第一壳体2654内设置扣槽2655，能够对连接杆262的轴向以及径向进行限位，避免控制手柄265与连接杆262之间发生相对晃动，提升了骨钻装置使用的稳定性，保证了手术精度。
可选地，参照图3所示，扣槽2655设置有至少两个限位挡板2656，限位挡板2656沿扣槽2655的长度方向间隔设置，限位挡板2656设有用于容纳连接杆262的限位槽，限位槽的形状与连接杆262的外表面形状相匹配。
具体地，连接杆262嵌设于扣槽2655内，在扣槽2655内设置有至少两个限位挡板2656，限位挡板2656垂直于扣槽2655的槽底，限位挡板2656与扣槽2655可采用一体开模的方式进行制作。相邻的限位挡板2656沿扣槽2655的长度方向间隔设置，能够与扣槽2655形成多个支撑固定结构，提升了扣槽2655的结构强度。
限位挡板2656设有用于容纳连接杆262的限位槽，限位槽的尺寸与连接杆262的外径相匹配。实际安装时，连接杆262可嵌设于限位槽内，进一步提升了控制手柄265与连接杆262之间连接的稳定性，避免控制手柄265与连接杆262之间发生相对晃动，提升了骨钻装置使用的稳定性，保证了手术精度。
可选地，参照图4至图7所示，可调把手261设置有调节安装孔2611，调节部2651设置有锁止结构，可调把手261通过调节安装孔2611与锁止结构卡接，且用于调节握持部2653的握持空间。
具体地，可调把手261与控制手柄265卡接，具体通过在可调把手261设置调节安装孔2611，控制手柄265的调节部2651设置锁止结构，可调把手261通过调节安装孔2611与锁止结构卡接。
由于医疗器械设备的无菌要求，需要在控制手柄265外包裹无菌罩单，操作者手持具有无菌罩单的控制手柄265进行作业，而无菌罩单表面较为光滑，操作者手持时容易出现滑脱的现象。为避免控制手柄265滑脱，在实际使用时，可先使用无菌罩单对控制手柄265进行包裹，然后将可调把手261置于无菌罩单外侧，并通过 卡接的方式与控制手柄265连接，有利于避免无菌罩单包裹整个控制手柄265后导致接触面太滑，导致的松脱、误操作问题。
并且，可调把手261与控制手柄265卡接，安装简便快捷，能够与虎口实现支撑，就无需在控制手柄265上再设置绑带结构对手掌和手指进行固定，避免了频繁的固定和解除绑带导致操作步骤繁琐的问题。
可选地，参照图4至图7所示，调节安装孔2611为腰型孔，腰型孔的长度方向与可调把手261的长度方向一致。锁止结构包括长圆形锁止部和支撑部，支撑部设置于长圆形锁止部和调节部2651之间，沿可调把手261的厚度方向，长圆形锁止部的投影面积不大于腰型孔的投影面积，支撑部的投影面积小于长圆形锁止部的投影面积。腰型孔包括沿长度方向设置的第一安装区域和第二安装区域，当可调把手261通过第一安装区域或第二安装区域与控制手柄265卡接，调节部2651和长圆形锁止部分别抵接于可调把手261沿自身厚度方向的两侧，支撑部穿设于腰型孔。
具体地，调节安装孔2611为腰型孔，腰型孔靠近可调把手261的其中一端，腰型孔的长度方向与可调把手261的长度方向一致，从而可以通过调整锁止结构在腰型孔中的锁止位置，调整可调把手261的安装长度，进而对控制手柄265的握持空间大小进行调整。
锁止结构包括长圆形锁止部和支撑部，支撑部设置于长圆形锁止部和调节部2651之间，长圆形锁止部和支撑部可以为一体式结构，也可以分别制作再焊接固定。长圆形锁止部盖设于支撑部上，形成近似蘑菇头的形状。锁止结构与腰型孔卡接时，支撑部穿设于腰型孔内，可调把手261的一侧与调节部2651抵接，另一侧与长圆形锁止部卡接。沿可调把手261的厚度方向，长圆形锁止部的投影面积不大于腰型孔的投影面积，从而能够保证装配时，长圆形锁止部能够顺利穿过腰型孔并与可调把手261的另一侧抵接。支撑部的投影面积小于长圆形锁止部的投影面积，保证支撑部能够嵌设于腰型孔内，且能够与腰型孔相对转动。
腰型孔包括沿长度方向设置的第一安装区域和第二安装区域，第一安装区域和第二安装区域可以为近似圆形区域，共同拼接成腰型孔，第一安装区域和第二安装区域对称分布。在对控制手柄265的握持空间大小进行调整时，可分别使可调把手261通过第一安装区域或第二安装区域与长圆形锁止部卡接，实现可调把手261的安装长度调整，进而调节握持空间的大小。
可选地，参照图4至图7所示，可调把手261靠近腰型孔的中部设置有第一凸台2612和第二凸台2613。第一凸台2612和第二凸台2613分别位于腰型孔沿长度方向的两侧。沿可调把手261的厚度方向，第一凸台2612的尺寸大于第二凸台2613 的尺寸。当可调把手261与长圆形锁止部卡接时，长圆形锁止部与第一凸台2612抵接。
具体地，腰型孔的中部设置有第一凸台2612和第二凸台2613，第一凸台2612和第二凸台2613分别位于腰型孔沿长度方向的两侧。第一凸台2612的高度大于第二凸台2613的高度。在实际使用时，将无菌罩单按照使用要求套在控制手柄265上，可调把手261上腰型孔上的第一安装区域或第二安装区域对准控制手柄265上锁止结构并插入，根据使用长度要求选择可调把手261的旋转方向及位置，转动90°。通过可调把手261上的第一凸台2612和第二凸台2613，实现与锁止结构的轴向转动限位，并因为第一凸台2612和第二凸台2613的高度不同，限制转向和锁止在腰型孔内的位置。
具体的安装方式包括：
(1)选择第二安装区域与锁止结构对准并插入，将可调把手261沿顺时针方向旋转90°，转动过程中，第二凸台2613高度较低，不会阻碍长圆形锁止部的转动，同时会提供阻尼感。完成旋转后，由于第一凸台2612高度较高，长圆形锁止部转动至第一凸台2612处时，无法继续转动，第一凸台2612对长圆形锁止部实现限位，可调把手261与锁止结构实现卡接。
(2)选择第一安装区域与锁止结构对准并插入，将可调把手261沿逆时针方向旋转90°，转动过程中，第二凸台2613高度较低，不会阻碍长圆形锁止部的转动，同时会提供阻尼感。完成旋转后，由于第一凸台2612高度较高，长圆形锁止部转动至第一凸台2612处时，无法继续转动，第一凸台2612对长圆形锁止部实现限位，可调把手261与锁止结构实现卡接。
上述安装方式中，采用第一安装区域安装时，可调把手261属于高位旋合，旋合完成后，可调把手261的安装长度较大，从而握持空间较大。采用第二安装区域安装时，可调把手261属于低位旋合，旋合完成后，可调把手261的安装长度较小，从而握持空间较小。
可调把手261从不同方向安装于控制手柄265，可以调节可调把手261与控制手柄265之间的握持空间，以适应大小不同的手型。且该可调把手261设计为对称结构，能够同时匹配左右手，增强产品使用过程的通用性，同时，减少了适配零件的数量，降低生产成本。
支撑部穿设于腰型孔内，为保证可调把手261与锁止结构的稳定卡接，沿可调把手261的厚度方向，支撑部的尺寸应与腰型孔的尺寸相等。此时，支撑部刚好穿设于腰型孔内，长圆形锁止部即可与腰型孔的端部抵接锁紧。但考虑到需要在锁止 结构处套设无菌罩单，无菌罩单会占用锁止结构以及腰型孔的一部分空间。因此，在制作支撑部时，使支撑部尺寸为腰型孔尺寸的1.05-1.15倍，预留出无菌罩单的安装空间，既保证了可调把手261与锁止结构的稳定卡接，又避免了套设无菌罩单后，可调把手261无法安装的问题。
第一凸台2612的尺寸为腰型孔尺寸的0.3-0.4倍，在实现对长圆形锁止部的限位功能的同时，也保证了可调把手261的美观性。第二凸台2613的尺寸为腰型孔尺寸的0.1-0.2倍，能够在可调把手261旋转过程中提供一定的阻尼效果。同时，在可调把手261完成旋转后，也能对长圆形锁止部进行一定程度的限位，提升可调把手261安装的稳定性。
可调把手261靠近第一安装区域处设置有第一滑槽2614，第一滑槽2614的形状为半圆弧形。当选择第一安装区域安装可调把手261时，在可调把手261旋转过程中，长圆形锁止部相对转动，第一滑槽2614可为长圆形锁止部提供滑动导向功能。同时，长圆形锁止部完成转动之后会嵌设在第一滑槽2614内，第一滑槽2614也会对长圆形锁止部进行限位，避免长圆形锁止部与可调把手261产生相对偏移，提升了可调把手261安装的稳定性。
可调把手261靠近第二安装区域处设置有第二滑槽2615，第二滑槽2615的形状也为半圆弧形。当选择第二安装区域安装可调把手261时，在可调把手261旋转过程中，长圆形锁止部相对转动，第二滑槽2615可为长圆形锁止部提供滑动导向功能。同时，长圆形锁止部完成转动之后会嵌设在第二滑槽2615内，第二滑槽2615也会对长圆形锁止部进行限位，避免长圆形锁止部与可调把手261产生相对偏移，提升了可调把手261安装的稳定性。
可调把手261包括靠近控制手柄265的内侧面。在实际使用过程中，内侧面与手指虎口接触，在内侧面上设置弧形弯曲段，弧形弯曲段朝向握持部2653一侧弯曲。当操作者的手掌心与握持部2653贴合时，弧形弯曲段刚好搭接在手指虎口处，并与虎口处的形状相匹配，提升了操作者在使用控制手柄265时的舒适性。同时，弧形弯曲段还能提供一定卡接功能，将可调把手261与手指虎口卡接，进一步减少了控制手柄265滑脱的概率。
可调把手261的内侧面与手指虎口接触，内侧面设置有硅胶层或在弧形弯曲段设置有防滑纹。通过设置硅胶层，由于硅胶层较为柔软，且能够提供一定的防滑能力，在提升了操作者在使用控制手柄265时的舒适性的同时，也能够降低控制手柄265滑脱的概率。在弧形弯曲段设置有防滑纹，防滑纹能够增加弧形弯曲段处的粗糙程度，增大弧形弯曲段与手指虎口处的摩擦力，在使用控制手柄265时，不易发生 滑移、偏斜的问题，提升了器械操作的精准度。
可选地，参照图1至图3所示，骨钻装置还包括防滑凸台264，防滑凸台264设置于连接部2652靠近动力主机27的一侧，防滑凸台264与连接部2652形成支撑空间。
具体地，连接部2652靠近动力主机27的一侧设置有防滑凸台264，防滑凸台264的形状可以为圆柱、棱柱、圆台、棱台等形状，防滑凸台264的一侧与连接部2652固定，具体可通过焊接、粘接或者卡接等方式固定，防滑凸台264也和连接部2652采用一体开模的方式进行制作。防滑凸台264与连接部2652形成支撑空间，当操作者的手指握持于连接部2652时，防滑凸台264能够对手指实现支撑，减少手指的握持负担，避免控制手柄265滑脱。
可选地，参照图1至图3所示，防滑凸台264靠近握持部2653一侧设置有凹槽，凹槽的槽口朝向动力主机27。
具体地，防滑凸台264与连接部2652形成支撑空间，防滑凸台264靠近握持部2653一侧设置有凹槽，也即在靠近支撑空间处设置有凹槽，当操作者的手指处于支撑空间时，凹槽能够放置手指，对手指进行限位，避免手指由防滑凸台264处滑脱，提升操作者握持控制手柄265的稳定性。
可选地，参照图1至图3所示，凹槽的槽底为弧面，弧面的曲率中心位于动力主机27一侧。
具体地，凹槽的槽底为弧面，弧面的曲率中心位于动力主机27一侧，当操作者的手指处于凹槽内时，弧面的凹面朝向手指一侧，能够与手指的轮廓相匹配，能够提升操作者使用的舒适性。
可选地，参照图1至图3所示，动力主机27包括第二壳体272和设置于第二壳体272内的电机273、联轴器274及主轴275；电机273的动力输出端通过联轴器274与主轴275连接；刀杆266连接于主轴275远离联轴器274的一端。
具体地，主轴275为动力传输过程的主要部件，主轴275包括相对的第一端和第二端，第二端与电机273的输出端连接，具体可通过联轴器274与电机273连接。电机273的动力通过联轴器274、主轴275传递至刀杆266，电机273的输出端、联轴器274、主轴275以及刀杆266同轴转动。第二壳体272能够对电机273、联轴器274、主轴275以及刀杆266实现保护。
第一壳体2654上还设置有电池仓268，电池仓268内放置有动力电池，第二壳体272上设置有容纳腔，电池仓268可直接与容纳腔扣合，电池仓268与电机273实现电连接，电机273通电。
控制手柄265、连接杆262以及电池仓268可以为一体式结构，在安装时，可将电池仓268插入第二壳体272的容纳腔中，实现控制手柄265、连接杆262以及电池仓268的整体安装，提升骨钻装置安装的便捷性。
本公开实施例还提供了一种手术机器人，包括：支撑座、支撑臂组件以及上述的分体式手术装置；支撑臂组件连接于动力主机27和支撑座之间，用于将动力主机27支撑在三维空间中。
具体地，手术机器人具有将分体式手术装置支撑悬吊在三维空间中的支撑座，分体式手术装置通过支撑臂组件连接于动力主机27和支撑座之间。例如，可以通过支撑上臂和支撑下臂以及浮动杆组件组成支撑臂组件将骨钻装置支撑。当操作人员握持控制手柄265进行操纵时，依靠支撑臂组件可以自由停置在三维空间中，消除操作人员的疲劳感。并且，上述的支撑座还可以提供滚轮一类的行走机构，以便于该手术机器人的搬运移动。
上面结合附图对本公开的实施例进行了描述，但是本公开并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本公开的启示下，在不脱离本公开宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本公开的保护之内。
Claims (15)
- 一种骨钻装置，其中，包括控制手柄、连接杆、动力主机及刀杆；所述控制手柄连接于所述连接杆的第一端，所述动力主机连接于所述连接杆的第二端，其中，所述第一端和所述第二端为所述连接杆相对的两端；所述刀杆可转动地设置于所述动力主机远离所述连接杆的一端，所述动力主机用于为所述刀杆提供转动动力；所述连接杆、所述动力主机以及所述刀杆同轴设置；所述控制手柄的施力点位于所述连接杆、所述动力主机以及所述刀杆的共同轴线上。
- 根据权利要求1所述的骨钻装置，其中，所述骨钻装置还包括可调把手；所述控制手柄包括第一壳体和设于所述第一壳体的握持部、调节部及连接部，所述连接部位于所述握持部和所述调节部之间且靠近于所述调节部；所述握持部连接于所述连接杆的第一端；所述可调把手连接于所述调节部。
- 根据权利要求2所述的骨钻装置，其中，由所述握持部至所述调节部的方向，所述第一壳体的尺寸逐渐收窄。
- 根据权利要求3所述的骨钻装置，其中，所述第一壳体的外表面为弧面。
- 根据权利要求2所述的骨钻装置，其中，所述第一壳体背离所述连接杆的一侧设置有硅胶垫层或防滑纹。
- 根据权利要求2所述的骨钻装置，其中，所述第一壳体内与所述握持部对应的区域设置有扣槽，所述连接杆嵌设于所述扣槽，所述扣槽的长度方向与所述连接杆的轴线平行。
- 根据权利要求6所述的骨钻装置，其中，所述扣槽设置有至少两个限位挡板，所述限位挡板沿所述扣槽的长度方向间隔设置，所述限位挡板设有用于容纳所述连接杆的限位槽，所述限位槽的形状与所述连接杆的外表面形状相匹配。
- 根据权利要求2所述的骨钻装置，其中，所述可调把手设置有调节安装孔，所述调节部设置有锁止结构，所述可调把手通过所述调节安装孔与所述锁止结构卡接，且用于调节所述握持部的握持空间。
- 根据权利要求8所述的骨钻装置，其中，所述调节安装孔为腰型孔，所述腰型孔的长度方向与所述可调把手的长度方向一致；所述锁止结构包括长圆形锁止部和支撑部，所述支撑部设置于所述长圆形锁止部和所述调节部之间，沿所述可调把手的厚度方向，所述长圆形锁止部的投影面积不大于所 述腰型孔的投影面积，所述支撑部的投影面积小于所述长圆形锁止部的投影面积；所述腰型孔包括沿长度方向设置的第一安装区域和第二安装区域，当所述可调把手通过所述第一安装区域或所述第二安装区域与所述控制手柄卡接，所述调节部和所述长圆形锁止部分别抵接于所述可调把手沿自身厚度方向的两侧，所述支撑部穿设于所述腰型孔。
- 根据权利要求9所述的骨钻装置，其中，所述可调把手靠近所述腰型孔的中部设置有第一凸台和第二凸台；所述第一凸台和所述第二凸台分别位于所述腰型孔沿长度方向的两侧；沿所述可调把手的厚度方向，所述第一凸台的尺寸大于所述第二凸台的尺寸；当所述可调把手与所述长圆形锁止部卡接时，所述长圆形锁止部与所述第一凸台抵接。
- 根据权利要求2所述的骨钻装置，其中，所述骨钻装置还包括防滑凸台；所述防滑凸台设置于所述连接部靠近所述动力主机的一侧；所述防滑凸台与所述连接部形成支撑空间。
- 根据权利要求11所述的骨钻装置，其中，所述防滑凸台靠近所述握持部一侧设置有凹槽，所述凹槽的槽口朝向所述动力主机。
- 根据权利要求12所述的骨钻装置，其中，所述凹槽的槽底为弧面，所述弧面的曲率中心位于所述动力主机一侧。
- 根据权利要求1所述的骨钻装置，其中，所述动力主机包括第二壳体和设置于第二壳体内的电机、联轴器及主轴；所述电机的动力输出端通过所述联轴器与所述主轴连接；所述刀杆连接于所述主轴远离所述联轴器的一端。
- 一种手术机器人，其中，所述手术机器人包括：支撑座、支撑臂组件以及权利要求1-14任一项所述的骨钻装置；所述支撑臂组件连接于所述动力主机和所述支撑座之间，用于将所述动力主机支撑在三维空间中。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000778.7A CN114010258B (zh) | 2022-01-04 | 2022-01-04 | 骨钻装置及手术机器人 |
| CN202210000778.7 | 2022-01-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023130874A1 true WO2023130874A1 (zh) | 2023-07-13 |
Family
ID=80069469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2022/136546 WO2023130874A1 (zh) | 2022-01-04 | 2022-12-05 | 骨钻装置及手术机器人 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114010258B (zh) |
| WO (1) | WO2023130874A1 (zh) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114010258B (zh) * | 2022-01-04 | 2022-04-01 | 极限人工智能有限公司 | 骨钻装置及手术机器人 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19903787A1 (de) * | 1998-01-30 | 1999-08-05 | Bosch Gmbh Robert | Handgehaltenes Elektrowerkzeug |
| CN202010974U (zh) * | 2011-04-21 | 2011-10-19 | 上海赛拓五金工具有限公司 | 一种螺丝刀 |
| US20130172903A1 (en) * | 2011-12-29 | 2013-07-04 | Mako Surgical Corporation | Surgical Tool for Robotic Arm with Rotating Handle |
| CN209474723U (zh) * | 2018-11-30 | 2019-10-11 | 李成利 | 一种磁共振手术用骨钻 |
| US20210053202A1 (en) * | 2019-08-20 | 2021-02-25 | The Boeing Company | Ergonomic handle for a power tool |
| CN214979776U (zh) * | 2021-07-02 | 2021-12-03 | 常州市天和电动工具有限公司 | 可调握持式自吸尘砂光机 |
| CN114010258A (zh) * | 2022-01-04 | 2022-02-08 | 极限人工智能有限公司 | 骨钻装置及手术机器人 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040243135A1 (en) * | 2003-05-28 | 2004-12-02 | Tomoaki Koseki | Hand drill |
| CN208172802U (zh) * | 2018-05-10 | 2018-11-30 | 珠海市运泰利自动化设备有限公司 | 扫描枪方向调节机构 |
| CN211409184U (zh) * | 2019-11-26 | 2020-09-04 | 天津正天医疗器械有限公司 | 一种手术器械 |
| CN113143449A (zh) * | 2021-04-23 | 2021-07-23 | 珠海市司迈科技有限公司 | 一种电切镜手柄、电切镜及电切镜的使用方法 |
-
2022
- 2022-01-04 CN CN202210000778.7A patent/CN114010258B/zh active Active
- 2022-12-05 WO PCT/CN2022/136546 patent/WO2023130874A1/zh unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19903787A1 (de) * | 1998-01-30 | 1999-08-05 | Bosch Gmbh Robert | Handgehaltenes Elektrowerkzeug |
| CN202010974U (zh) * | 2011-04-21 | 2011-10-19 | 上海赛拓五金工具有限公司 | 一种螺丝刀 |
| US20130172903A1 (en) * | 2011-12-29 | 2013-07-04 | Mako Surgical Corporation | Surgical Tool for Robotic Arm with Rotating Handle |
| CN209474723U (zh) * | 2018-11-30 | 2019-10-11 | 李成利 | 一种磁共振手术用骨钻 |
| US20210053202A1 (en) * | 2019-08-20 | 2021-02-25 | The Boeing Company | Ergonomic handle for a power tool |
| CN214979776U (zh) * | 2021-07-02 | 2021-12-03 | 常州市天和电动工具有限公司 | 可调握持式自吸尘砂光机 |
| CN114010258A (zh) * | 2022-01-04 | 2022-02-08 | 极限人工智能有限公司 | 骨钻装置及手术机器人 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114010258B (zh) | 2022-04-01 |
| CN114010258A (zh) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2023130874A1 (zh) | 骨钻装置及手术机器人 | |
| US5074295A (en) | Mouth-held holder | |
| WO2023134634A1 (zh) | 手柄机构、分体式手术装置及手术机器人 | |
| US7192276B2 (en) | Dental curing light adapted to emit light at a desired angle | |
| US20050142515A1 (en) | Dental tool having a hand grip | |
| US10856947B2 (en) | Grip force sensation feedback device and stylus-type force sensation feedback device | |
| US20050113728A1 (en) | Cervical support system | |
| EP1614394A2 (en) | Support system for dentistry | |
| EP0091158A2 (en) | Adjustably positioned handgrip for ambulatory aids | |
| US6423070B1 (en) | High speed motor for the surgical treatment of bones | |
| US5090907A (en) | Dental curette with finger pad | |
| US20100112515A1 (en) | Dental handpiece | |
| US10070872B2 (en) | Medical motor drill with angle adjusting function | |
| US6200285B1 (en) | Airway opener | |
| US20080173785A1 (en) | Method and Apparatus for Ergonomic Support of a Tool by a Connected Cable | |
| US8092373B1 (en) | Endoscope hand assist device | |
| CN214434709U (zh) | 一种可旋转调节式固定支具 | |
| JPH0324171Y2 (zh) | ||
| KR102645127B1 (ko) | 전자의수 사용자를 위한 톱 보조장치 | |
| JP7551185B2 (ja) | 鉗子装置 | |
| JPS6171029A (ja) | 内視鏡における鉗子口 | |
| CN219646234U (zh) | 颈部按摩装置 | |
| CN218978848U (zh) | 连接件、控制手柄及软性内窥镜 | |
| CN219331585U (zh) | 内窥镜先端部用角度调节装置 | |
| KR101475473B1 (ko) | 굴곡형 수술장치 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22918326 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |