WO2023279267A1 - Automatic vertebroplasty apparatus and orthopedic surgical robot system - Google Patents

Abstract

An automatic vertebroplasty apparatus and an orthopedic surgical robot system, wherein the automatic vertebroplasty apparatus comprises a bottom plate (35) and two surgical tools, i.e., a puncture unit (100) and a bone cement filling unit (400), provided on the bottom plate (35); the automatic vertebroplasty apparatus further comprises a linear feed unit (300) and a tool replacement unit (200) mounted on the bottom plate (35); the linear feed unit (300) carries the puncture unit (100) or the bone cement filling unit (400) to move forward to perform a puncture operation or an injection molding operation of bone cement, or to move backward to return to the tool replacement unit (200); the puncture unit (100) or the bone cement filling unit (400) is subjected to position replacement on the tool replacement unit (200) so as to leave or enter the linear feed unit (300). The automatic vertebroplasty apparatus and the orthopedic surgical robot are used in cooperation, such that intelligent automatic orthopedic surgical puncture and bone cement injection are implemented.

Description

An automatic vertebral body puncture shaping device and an orthopedic surgery robot system technical field

The invention mainly relates to the field of orthopedic surgery robots, in particular to an automatic vertebral body puncture forming device for orthopedic surgery robots and an orthopedic surgery robot system.

Background technique

At present, there is no fully automatic vertebral body puncture plastic device that can be directly used in orthopedic surgery robots. Most of them are manually screwed into the puncture needle and injected with bone cement by the doctor. Manual operation has the following problems:

(1) Due to the high hardness of cortical bone, doctors often need to use a lot of force to screw in when performing manual puncture, which causes greater pressure on the human body, and the resulting shaking is also relatively large, which is prone to accidental injuries;

(2) When inserting the puncture needle with bare hands, the doctor needs to judge based on experience and find a good position for puncture, but during the puncture process, the position deviation is relatively large due to the manual holding of the puncture needle;

(3) When manual puncture is used, the doctor needs to grasp the ruler at all times when screwing in with bare hands, which is prone to excessive force resulting in too deep puncture;

(4) It is difficult to control the injection volume when injecting bone cement artificially, and multiple photographs are required for adjustment, the operation is cumbersome and the whole operation takes a long time.

technical problem

The technical problem to be solved by the present invention is to provide an intelligent automatic vertebral body puncture shaping device for orthopedic surgery robots, which can solve the unfavorable problems in the prior art when manually screwing in the puncture needle and injecting bone cement.

technical solution

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

An automatic vertebral body puncture forming device, comprising a base plate and a surgical tool installed on the base plate, the surgical tool is a tool for orthopedic surgery, including a puncture unit and a bone cement filling unit; the automatic vertebral body puncture forming device also includes a mounting A linear feed unit and a tool replacement unit on the base plate; the linear feed unit carries the surgical tool forward to perform corresponding surgical operations, or moves backward to the tool replacement unit; the tool replacement unit accommodates the surgical tool tools and replace surgical tools carried by the linear feed unit.

In some specific embodiments, the linear feeding unit includes a power source, a sliding assembly driven by the power source, and a linear feeding guide rail; the power source drives the sliding assembly to slide forward and backward along the linear feeding guide rail; the sliding The component carries the surgical tool to move back and forth; the puncture unit or bone cement filling unit is carried by the linear feed unit to move forward for puncture operation or bone cement injection molding operation, or move backward to return to the tool replacement unit The puncture unit includes a power source and a puncture needle; the power source of the puncture unit drives the puncture needle to rotate to perform bone puncture; the bone cement filling unit includes a power part and a filling sleeve part, the power part includes a power source and a syringe, and the power source Provide the power and effect of compressing the syringe, so that the syringe injects the bone cement into the filling sleeve to perform the injection operation of the bone cement; the tool replacement unit includes a power source, a plug-in block and a tool replacement platform; the tool replacement platform is provided with a surgical tool accommodating cavity And the storage space of the sliding component; the power source of the tool replacement unit drives the plug-in block to move, and the plug-in block cooperates with the tool replacement platform and the linear feed unit to drive the surgical tool to slide in the accommodation cavity of the tool replacement unit and the linear feed unit Displacement on the component; the puncture unit or bone cement filling unit is displaced on the tool replacement unit to leave or move onto the slide assembly of the linear feed unit.

In some specific embodiments, the power source of the linear feed unit is driven by a linear motor, and the linear motor includes a stator and a mover that move relatively directly; the mover is installed on the mover seat, and the mover seat and the mover are together with the stator Sliding fit between them; the sliding assembly includes a slider set on the linear feed guide rail and a tool application platform, and the tool application platform is installed on the mover seat; the mover seat is connected with the slider on the linear feed guide rail; the tool The application platform carries the surgical tool; the cooperation between the tool application platform and the surgical tool is: the tool application platform restricts the surgical tool in the front and back directions, and can move out or in the surgical tool in the two sides; the sliding component is connected with a pressure sensor, used to To detect the resistance received by the puncture unit during the puncture operation; the base plate is provided with a position detection device, and the position detection device cooperates with the linear feed guide rail and the sliding assembly to set or detect the position of the surgical tool carried by the sliding assembly.

In some specific embodiments, the tool application platform is installed on the top of the mover seat; the top surface of the tool application platform is provided with an installation groove, and the installation groove is connected to the puncture base of the puncture unit or the filling sleeve base of the bone cement filling unit. Adaptation, so that the base cannot be moved in the front and rear directions in the installation groove, and the left and right sides can be moved out or in; the puncture base is rotatably installed with a puncture needle; the filling sleeve base is equipped with a cement filling sleeve; the position detection device includes a grating ruler and the reading head, the grating ruler is arranged on one side of the linear feed guide rail; the read head is arranged on the slide assembly; the stator of the linear motor is installed on the bottom plate; a pair of the linear feed guide rails are arranged on the bottom plate, respectively Both sides of the stator of the linear motor; the length of the stator and the linear feed guide rail is adapted to the stroke range of the linear motor; the linear feed guide rail guides the sliding assembly to slide forward and backward; the two sides of the tool application platform are connected to the On both sides of the mover seat.

In some specific embodiments, the power source of the tool replacement unit includes a replacement motor, the replacement motor is connected to the plug-in block through a linear transmission assembly, and the linear transmission assembly converts the rotational motion of the motor into a linear motion, Drive the plug-in block to move linearly; the plug-in block cooperates with the surgical tool, and the plug-in block drives one surgical tool to move from the sliding assembly into the corresponding accommodation cavity of the tool replacement platform, and the other surgical tool moves from the corresponding accommodation cavity Move out to the sliding assembly; the power source of the tool replacement unit drives the insertion block to translate to both sides; the tool replacement platform is provided with two left and right accommodation chambers used as the puncture unit accommodation chamber and the bone cement filling unit accommodation chamber, respectively for It supports and accommodates the puncture base or the filling sleeve base of the bone cement filling unit; the left and right accommodation cavities are separated to form a sliding component accommodation space.

In some specific embodiments, the linear transmission assembly includes a rack and pinion transmission or a screw transmission or a worm gear transmission; the tool replacement platform is a frame-shaped structure sleeved on the bottom plate, and the top platform forms the two accommodating cavities; The inside of the frame structure of the tool replacement platform is compatible with the slide assembly of the linear feed unit, specifically: the slide assembly can be accommodated in the tool replacement platform, and the tool application platform on the top of the slide assembly corresponds to the position of the accommodation chamber of the tool replacement platform. The translation of the insertion block drives the puncture base or the filling sleeve base to move in or out between the tool application platform and the accommodation chamber; the insertion block is an E-shaped frame, and the cover is set on the top of the tool replacement platform, aligned with the edge of the accommodation chamber.

In some specific embodiments, the linear transmission assembly is a rack and pinion meshing transmission, a gear is installed on the output shaft of the replacement motor, and a rack is installed on the insertion block, and the insertion block is driven by the rack to move linearly; through the replacement The motor drives the gear to rotate, and the gear and the rack are meshed to convert the rotational motion into a linear motion, thereby driving the insertion block to replace the surgical tool; the tool replacement unit also includes a guide rail mounting seat, and the insertion block has a replacement guide rail for replacement. The guide rail is installed on the guide rail mounting seat, and the guide rail mounting seat is installed on the bottom plate and behind the tool replacement platform; the replacement guide rail and the guide rail mounting seat are slidably matched to guide and support the movement of the plug-in block.

In some specific embodiments, the power source of the puncture unit is a puncture motor; the puncture unit includes the puncture motor, a puncture needle, a puncture base and a puncture cover; the puncture motor is installed on the puncture base, and the puncture cover will The puncture motor is compressed; the puncture needle and the puncture motor are connected through the drill chuck, and the puncture needle is driven by the puncture motor to rotate at a high speed; the puncture unit is installed on the sliding assembly of the linear feed unit through the puncture base or tool replacement in the housing of the unit.

In some specific embodiments, the power source of the bone cement filling unit includes a filling motor, the filling motor is connected to a screw or a lead screw, and a moving seat is arranged on the screw or lead screw; the rotation of the filling motor is driven by the screw or lead screw to move The seat makes reciprocating linear motion along the axial direction of the screw or lead screw; the moving seat is arranged on the compression column of the syringe to push the compression column to make the syringe inject bone cement; the filling sleeve part of the bone cement filling unit includes bone cement filling sleeve, filling sleeve base and filling sleeve gland; the bone cement filling sleeve is installed on the filling sleeve base, and the filling sleeve gland presses the bone cement filling sleeve on the filling sleeve base; the bone cement filling sleeve and the syringe pass through a soft catheter Connected to realize the delivery of bone cement from the syringe to the bone cement filling sleeve; the bone cement filling unit is installed on the linear feeding unit or tool replacement unit through the base of the filling sleeve; the compression column of the syringe is installed with filling The pressure sensor is used for detecting the pressure value of the injected bone cement.

In some specific embodiments, the bone cement filling unit also includes a filling power base, a guide groove is arranged in the filling power base, a screw or a lead screw is installed in the guide groove, and the moving seat is installed on the guide groove by the guide groove Guided movement; the filling motor is installed on the filling power base, and the output end of the filling motor is connected to the screw or lead screw through a coupling; the syringe is installed on the filling power base; the moving seat is set at the end of the compression column of the syringe, The compression column or the release compression rod; the filling pressure sensor is arranged between the end of the compression column and the moving seat; the power part of the bone cement filling unit is installed on the back of the base plate; the tool replacement unit is installed on the front and back of the base plate.

In some specific embodiments, the automatic vertebral body puncture shaping device further includes a guide unit, the guide unit is installed on the front front end of the floor; the guide unit includes a guide tube and a guide mount, the guide guide is installed on the guide mount, and the guide mount The seat is installed on the bottom plate; the position of the catheter is adapted to the linear feeding unit, and it is inserted or fitted with the puncture needle or bone cement filling sleeve for surgical operation; the linear feeding unit carries the puncture needle of the puncture unit After passing through the catheter, it enters the operation site to establish a channel, and the linear feeding unit carries the bone cement filling sleeve of the bone cement filling unit to be plugged and communicated with the catheter, and injects bone cement into the channel established at the operation site.

In some specific embodiments, the linear feeding unit is automatically controlled to carry the puncture unit or the bone cement filling unit to move forward or backward; the tool replacement unit is automatically controlled to drive the plug-in block to move, driven by the plug-in block Surgical tools automatically replace the position; the automatic control is realized by the control center arranged on the orthopedic surgery robot or outside the orthopedic surgery robot; the control center performs data processing and performs functional control on the automatic vertebral body puncture shaping device and the orthopedic surgery robot The power source of the linear feed unit is connected with the control center, and the work is controlled by the control center; the power source of the puncture unit is connected with the control center, and the work is controlled by the control center; the power source of the bone cement filling unit is connected with the control center The control center is connected, and the work is controlled by the control center; the power source of the tool replacement unit is connected with the control center, and the work is controlled by the control center.

The present invention also provides an orthopedic surgery robot system, including an orthopedic surgery robot and the above-mentioned automatic vertebral body puncture shaping device; the automatic vertebral body puncture shaping device is connected with the orthopedic surgery robot, and the orthopedic surgery robot operates the automatic Body piercing forming device.

In some specific embodiments, the orthopedic surgical robot system also includes a control center, which performs data processing and performs functional control on the automatic vertebral body puncture shaping device and the orthopedic surgical robot; the control center is arranged in the orthopedic surgical robot or It is arranged outside the orthopedic surgery robot; the automatic vertebral body puncture shaping device is provided with an installation interface, and is installed on the arm of the orthopedic surgery robot through the installation interface.

Beneficial effect

The automatic vertebral body puncture forming device of the present invention can realize fully automatic operation of orthopedic surgery puncture and bone cement injection, and can be realized by the same device.

The automatic vertebral body puncture forming device of the present invention is fixed to the orthopedic surgery robot arm through the installation interface, and can precisely control the parameters of each link of the vertebral body puncture according to the preoperative operation plan, reducing the deviation caused by manual operation, The accuracy of the operation is guaranteed, and the labor intensity of the doctor is reduced at the same time.

The intelligent automatic vertebral body puncture shaping device of the present invention is equipped with a pressure sensor, which can measure the resistance received during the puncture operation, and avoid the occurrence of operation accidents.

The puncture process of the intelligent vertebral body puncture shaping device of the present invention is stable, and compared with manual puncture, the impact on the human body is small, and the injury caused by excessive force can be avoided.

The intelligent automatic vertebral body puncture forming device of the present invention can realize precise bone cement injection, can realize constant speed and quantitative injection, and can detect the real-time pressure value of injected bone cement, so as to achieve precise control of bone cement injection volume.

The above technical features, as well as other features, purposes and advantages of the technical solutions of the present invention will be described in conjunction with various embodiments of the present invention and the accompanying drawings. However, the disclosed illustrative embodiments are examples only, and are not intended to limit the scope of the invention.

Description of drawings

Fig. 1 is an exploded view of an intelligent automatic vertebral body puncture shaping device for an orthopedic surgery robot according to an embodiment of the present invention.

Fig. 2 is a perspective view of an intelligent automatic vertebral body puncture shaping device for an orthopedic surgical robot according to an embodiment of the present invention.

Fig. 3 is a front view of an intelligent automatic vertebral body puncture shaping device for an orthopedic surgery robot according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a bone cement filling unit according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of the circuit principle of the orthopedic surgery robot system of the present invention.

Embodiments of the present invention

The accompanying drawings and descriptions of certain embodiments provided by the present invention do not limit the invention to these embodiments, but are provided for anyone skilled in the art to make and use the present invention.

With reference to Fig. 1-4, the embodiment of the present invention relates to a kind of intelligent automatic vertebral body puncture shaping device for orthopedic surgery robot, vertebral body puncture shaping device comprises by base plate 35 and is installed on by the puncture unit 100 on the base plate 35, tool The replacement unit 200 , the linear feeding unit 300 , the bone cement filling unit 400 , and the guide unit 500 . The automatic vertebral body puncture shaping device of the present invention is provided with two surgical tools: a puncture unit 100 and a bone cement filling unit 400 . The linear feeding unit 300 carries the puncture unit 100 or the bone cement filling unit 400 to move forward to perform a puncture operation or perform a bone cement injection molding operation, or move backward to return to the tool replacement unit 200 . The puncture unit 100 or the bone cement filling unit 400 is displaced on the tool replacement unit 200 to leave or enter the linear feeding unit.

The linear feeding unit 300 is mounted on the front of the bottom plate 35 and arranged along the needle or feeding direction of the puncture unit 100 or the bone cement filling unit 400 for supporting and guiding the feeding of the puncture unit 100 and the bone cement filling unit 400 . As an embodiment, the linear feeding unit 300 is integrally disposed in the middle of the front of the bottom plate 35 or along the centerline of the bottom plate. The linear feeding unit 300 includes a power source, a sliding assembly driven by the power source, and a linear feeding guide rail 36 . The power source drives the slide assembly to slide back and forth along the linear feed guide rail 36; the slide assembly carries the puncture unit 100 or the bone cement filling unit 400 to move back and forth. The power source is a motor or other power forms in the prior art, and the following power sources can also adopt other power forms that can be realized in the prior art other than the motor, and will not be repeated here.

The puncture unit 100 includes a power source and a puncture needle 2, and the linear feed unit 300 drives the puncture needle to move forward and backward in a straight line to reach the position where the channel is to be established or return to the original position; the power source such as a motor/electric drill drives the puncture needle 2 to rotate at a high speed for Puncture the bone, create a channel in the surgical site, and retract after completing the puncture. The puncture unit 100 is installed on the bottom plate 35. During work, the puncture unit 100 is installed on the tool application platform 5 of the linear feed unit 300, and the puncture unit 100 is carried forward and backward by the linear feed unit 300. After the puncture work is completed, the puncture unit 100 can be On the tool application platform 5 of the tool replacement unit 200, move to the second replacement platform 21 of the tool replacement unit 200.

The bone cement filling unit 400 includes a power part and a filling sleeve part. The power part includes a power source and a syringe 27. The power source provides the power and function of automatically compressing the syringe 27, so that the syringe 27 injects bone cement into the filling sleeve part for bone cement injection. The power part of the bone cement filling unit 400 can be installed on the back of the base plate; the filling sleeve part is installed on the tool replacement unit 200, and the replacement operation is performed by the tool replacement unit 200 and the puncture unit 100, and the linear feeding unit 300 drives the filling sleeve 40 to work.

The tool replacement unit 200 is installed at the front rear end of the bottom plate. The guide unit 500 is installed on the front front of the bottom plate.

The guide unit 500 includes a guide tube 50 and a guide mount 51 , and the guide tube 50 is mounted on the guide mount 51 . During the puncture operation, the puncture needle 2 moves forward and its front end passes through the catheter 50 and advances to the surgical site. When the bone cement is injected, the front end of the bone cement filling unit 400 is driven by the linear feeding unit 300 to penetrate the catheter 50, and the injection operation is performed when entering the intraosseous tunnel.

The power source of the linear feeding unit 200 is driven by a linear motor 1 , and the linear motor 1 includes a stator 11 and a mover 10 that move relatively directly. The mover 10 is installed on the mover base 4 , and the mover base 4 and the mover 10 are slidably matched with the stator 11 . The stator 11 of the linear motor 1 is installed on the base plate 35; the base plate 35 is provided with a pair of linear feed guide rails 36, which are respectively located on both sides of the linear motor stator 11; The range matches. The linear motor can be a flat linear motor or a U-shaped slot linear motor. The stator is arranged along the length direction of the center line of the base plate 35, and is connected between the tool replacement unit at the rear end of the base plate and the guide unit at the front end of the base plate, consistent with the stroke length of the linear motor, for the sliding assembly of the linear feed unit to slide back and forth smoothly. The sliding assembly includes a slider 360 arranged on the linear feed guide rail 36 and a tool application platform 5 , the tool application platform 5 is installed on the mover base 4 ; the mover base 4 is connected 360 with the slider on the linear feed guide rail 36 . The tool application platform 5 carries the surgical tool, and the cooperation between the tool application platform 5 and the surgical tool is as follows: the tool application platform 5 restricts the movement of the surgical tool in the front and rear directions, that is, clamps the surgical tool in the front and rear direction, and can move out or in the surgical tool in the direction of both sides. . A pressure sensor 9 is connected to the sliding assembly for detecting the resistance encountered by the puncturing unit 100 during the puncturing operation. The bottom plate 35 is provided with a position detection device, which cooperates with the linear feed guide rail 36 and the slide assembly to set or detect the position of the surgical tool carried by the slide assembly.

In a specific embodiment, the linear feeding unit 300 mainly includes a linear feeding guide rail 36 arranged on the base plate and a sliding assembly mounted on the base plate and sliding back and forth along the linear feeding guide rail 36. The sliding assembly carries the puncture unit 100 or the bone cement. Filling unit 400 or other surgical tool. The components in the sliding assembly and their connections are as follows: the guide rod 3 is installed on the linear motor mover seat 4, the tool application platform 5 is installed on the linear motor mover seat 4, the linear motor mover seat 4 and the linear feed guide rail 36 The slider 360 is connected. Further, a pressure sensor 9 is installed on the tool application platform 5 for detecting the working pressure or resistance of the working parts on the tool application platform 5 . A distance measuring device such as a grating ruler 34 is provided on the linear feed guide rail 36. Correspondingly, a reading device such as a reading head 37 is provided on the sliding assembly to cooperate with the distance measuring device to obtain or set the moving position of the sliding assembly. Other devices in the prior art can also be used to set or detect the moving position and distance. The tool application platform 5 is used for installing surgical tools and driving the surgical tools to move back and forth. In this embodiment, the tool application platform 5 is adapted to the installation base of the surgical tool (the puncture base 6 or the filling sleeve base 13), so that the base of the surgical tool cannot move in the front-back direction, and can be moved out or in from the left and right sides. In this embodiment, the linear feed unit 300 mainly includes the following components: linear motor 1, linear motor mover seat 4, guide rod 3, tool application platform 5, linear feed guide rail 36, feed pressure sensor 9, feed sensor Mounting seat 90, grating ruler 34, reading head 37, reading head mounting seat 38, etc. The linear motor stator 11 is installed in the direction of the center line of the bottom plate 35 , and the linear motor mover 10 drives the puncture unit 100 or the bone cement filling unit 400 to move forward and backward along the linear motor stator 11 . The linear feed guide rail 36 is installed on the base plate 35, respectively located on both sides of the linear motor stator 11; the linear motor mover base 4 is respectively connected with the linear motor mover 11 and the slider 360 of the linear feed guide rail 36; the guide rod 3 is installed On both sides of the linear motor mover base 4; the tool application platform 5 is connected to the mover base 4 through guide rods 3 on both sides respectively. Both ends of the feed pressure sensor 9 are respectively connected with the tool application platform 5 and the feed sensor mounting base 90 , and the feed sensor mounting base 90 is mounted on the linear motor mover base 4 . The linear motor mover 10 drives the tool application platform 5 on the linear motor mover seat 4 to perform linear reciprocating motion. Feed pressure sensor 9 can measure the pressure value during linear feed. The feed pressure sensor 9 can detect the working resistance of the surgical tool loaded on the tool application platform 5 . The linear feed unit 300 can also use other power (stepping motor) and transmission components (ball screw or synchronous belt transmission) in the prior art.

In this embodiment, the tool replacement unit 200 mainly includes the following components: a tool replacement platform 21, a plug block 14, a replacement guide rail 15, a guide rail mounting seat 20, a rack 16, a gear 19, a replacement motor 18 and a replacement motor mounting seat 17 . The tool replacement platform 21 is installed on the bottom plate 35 , and the replacement guide rail 15 is arranged on the insertion block 14 . The replacement guide rail 15 is installed on the guide rail installation seat 20 , and the guide rail installation seat 20 is connected with the bottom plate 35 and is located behind the tool replacement platform 21 . A rack 16 is installed on the plug block 14, a gear 19 is installed on the output shaft of the replacement motor 18, the replacement motor 18 is installed on the replacement motor mount 17, and the gear 19 meshes with the rack. The replacement motor 18 drives the gear 19 to rotate, and the gear 19 meshes with the rack 16 to convert the rotary motion into a linear motion, thereby driving the insertion block 14 to replace the tool. In this embodiment, the tool replacement platform 21 is provided with two left and right accommodation cavities 210, which are respectively used to support and accommodate the puncture base 6 of the puncture unit 100 and the filling sleeve base 13 of the bone cement filling unit 400, and the left and right accommodation cavities are disconnected. . The shape of the inserting block 14 is adapted to the tool replacement platform 21 , and they jointly limit the surgical tools such as the puncture unit 100 or the bone cement filling unit 400 in the cavity. The plugging block 14 cooperates with the power and transmission components to realize the automatic switching of multiple surgical tools such as the puncture unit 100 or the bone cement filling unit 400 . In this embodiment, the tool replacement platform 21 is in the shape of a square frame sheathed on the bottom plate 35 , and two accommodating chambers 210 are formed on the top and left and right, and are disconnected in the middle. The frame-shaped interior of the tool exchange platform 21 is adapted to the slide assembly of the linear feed unit. When the puncture unit 100 or bone cement filling unit 400 completes the work and returns to the tool switching unit 200, the sliding assembly is accommodated in the tool replacement platform 21, and the tool application platform 5 corresponds to the left and right accommodating cavities 210 of the tool replacement platform 21 for puncture. The base 6 and the filling sleeve base 13 move in or out between the tool application platform 5 and the left and right accommodating chambers 210 . Correspondingly, the plug-in block 14 is an E-shaped frame, which cooperates with the accommodation chamber 210, and the puncture base 6 and the filling sleeve base 13 can be respectively supported and accommodated in the left and right accommodation chambers 210, and the puncture needle 2 and the bone cement filling sleeve 40 are higher than the left and right sides. The two accommodating cavities protrude forward. The insertion block 14 is moved to the left or right, so that the puncture base 6 and the filling sleeve base 13 are moved into the corresponding accommodating cavity or the middle disconnected space to form a sliding component accommodating space, and the puncture unit 100 or the bone cement filling unit are correspondingly 400 moves in or out of the working position. The disconnected space in the middle corresponds to the linear feed unit 300 and forms a space for accommodating the sliding assembly. The power and transmission components drive the insertion block 14 to move left and right, and the left and right translation of the insertion block 14 drives the puncture base 6 and the filling sleeve base 13 to slide from the tool application platform 5 into the accommodation cavity 210, or slide from the accommodation cavity 210 into the tool application platform 5 on. The power assembly is a replacement motor 18, and the transmission assembly is a rack and pinion meshing transmission. Other power and transmission assemblies of the prior art can also be used to drive the plug-in block 14 to translate left and right.

In this embodiment, the puncture unit 100 mainly includes the following components: a puncture motor 8 , a drill chuck 39 , a puncture needle 2 , a puncture base 6 and a puncture gland 7 . The puncture base 6 cooperates with the tool replacement platform 21 and the tool application platform 5 through dovetail grooves to achieve precise sliding. The puncture motor 8 is installed on the puncture base 6 , and the puncture gland 7 compresses the puncture motor 8 . The puncture needle 2 is connected to the puncture motor 8 through the drill chuck 39, and the puncture needle 2 is driven to rotate at a high speed by the puncture motor 8.

In this embodiment, the power part of the bone cement filling unit 400 mainly includes the following components: filling power base 23, filling motor 33, coupling 31, screw 26, soft catheter 22, soft catheter mounting seat 24, syringe 27, compression column 28. Filling pressure sensor 29, filling sensor mounting base 30, moving base 32, syringe pallet 25, etc. The soft conduit 22 is mounted on a flexible conduit mount 24 which is mounted on a filling power base 23 . The moving seat 32 is connected with the screw rod 26, and the moving seat 32 and the filling power base 23 are guided by the rectangular groove 41, so that the screw rod 26 drives the moving seat 32 to make a reciprocating linear motion along the axial direction of the screw rod, and the screw rod 26 is connected with the soft conduit mounting seat 24 respectively. It is connected with the coupling 31, and the coupling 31 is connected with the filling motor 33. The filling motor 33 is installed on the filling power base 23 . The syringe pallet 25 is installed on the filling power base 23 , the syringe 27 is connected with the flexible conduit 22 , the circular sensor 29 is installed in the compression column 28 , and the filling pressure sensor 29 is connected with the filling sensor installation seat 30 . The filling sensor mounting base 30 is mounted on the moving base 32 .

In this embodiment, the filling sleeve part of the bone cement filling unit 400 includes a bone cement filling sleeve 40 , a filling sleeve base 13 and a filling sleeve gland 12 . The bone cement filling sleeve 40 is installed on the filling sleeve base 13 , and the filling sleeve gland 12 presses the bone cement filling sleeve 40 on the filling sleeve base 13 . The filling sleeve base 13 cooperates with the tool replacement platform 21 and the tool application platform 5 through dovetail grooves to achieve precise sliding. The bone cement filling sleeve 13 is connected with the power part of the bone cement filling through a flexible catheter 22, so that the bone cement is delivered from the syringe 27 to the bone cement filling sleeve, thereby entering the bone.

The intelligent automatic vertebral body puncture shaping device used in the orthopedic surgery robot of the present invention has the following working principle: the linear motor 1 drives the puncture tool holding the puncture needle 2 forward, and at the same time, the puncture motor 8 drives the puncture needle to rotate at a high speed to perform bone After the puncture is completed, the linear motor will return the puncture tool to the tool replacement unit 200, and the replacement unit will perform the tool replacement, and replace the puncture unit 100 with the filling sleeve. The linear motor advances again to insert the filler sleeve into the channel created by the original puncture. Then, the bone cement injector is compressed by the bone cement filling unit 400 to perform bone cement injection. After completion, the linear motor retreats to the tool replacement unit 200, and the operation ends.

The intelligent automatic vertebral body puncture forming device of the present invention is suitable for orthopedic surgery robots, and is used in conjunction with orthopedic surgery robots to perform orthopedic surgery punctures and bone cement injection. The orthopedic surgery robot system is obtained by fixing the intelligent automatic vertebral body puncture shaping device to the arm of the orthopedic surgery robot through the installation interface, which can precisely control the parameters of each link of the vertebral body puncture according to the preoperative operation plan, reducing the manual operation. The deviation ensures the accuracy of the operation and reduces the labor intensity of the doctor.

Referring to Fig. 5, the orthopedic surgery robot system of the present invention also includes a control center, which performs data processing and performs functional control on the automatic vertebral body puncture shaping device and the orthopedic surgery robot; the control center is arranged in the orthopedic surgery robot or in Orthopedic surgery robot exterior. The control center may be a console arranged on the orthopedic surgery robot, including a processor and a storage unit, etc., the console is electrically connected and/or communicated with electronic components such as motors and sensors of the automatic vertebral body puncture shaping device, and the control center The motor works, reads and processes the relevant data information detected by the sensor.

The intelligent automatic vertebral body puncture shaping device of the present invention is equipped with a pressure sensor, which can measure the resistance received during the puncture operation, and avoid the occurrence of operation accidents. The puncture process of the intelligent vertebral body puncture shaping device of the present invention is stable, and compared with manual puncture, the impact on the human body is small, and the injury caused by excessive force can be avoided. The intelligent automatic vertebral body puncture forming device of the present invention can realize precise bone cement injection, can realize constant speed and quantitative injection, and can detect the real-time pressure value of injected bone cement, so as to achieve precise control of bone cement injection volume.

In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the invention.

As used in the specification and claims, the singular forms "a", "an" and "the" include both singular and plural referents unless the context clearly dictates otherwise. From time to time, the claims and description may contain terms such as "a plurality", "one or more" or "at least one". However, the absence of these terms does not mean, and should not be construed, that a plurality is not included.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection, an electrical connection or a connection that can transmit data; it can be a direct connection or an indirect connection through an intermediary, it can be the internal communication of two components or the interaction of two components relation. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The examples listed here and shown in the accompanying drawings are only used as illustrations but not as limitations, and they are realizable specific embodiments of the present invention. Other embodiments may be utilized or derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of the present disclosure. These embodiments of the claimed subject matter are referred to individually or collectively as the "invention" for convenience only, but do not arbitrarily limit the scope of the application to any single invention or inventive concept if more than one invention is disclosed. Therefore, although specific embodiments are disclosed herein, any arrangement which achieves the same purpose may be substituted for the specific embodiments shown. This description is intended to cover any and all adaptations or variations of various embodiments. Combinations of the above embodiments, as well as other non-specific embodiments, are obvious to those skilled in the art based on the description of the above description.

Claims (14)

1. An automatic vertebral body puncture shaping device, comprising a base plate and a surgical tool installed on the base plate, characterized in that,

   The surgical tool is a tool for orthopedic surgery, including a puncture unit and a bone cement filling unit;

   The automatic vertebral body puncture shaping device also includes a linear feeding unit and a tool replacement unit installed on the base plate;

   The linear feeding unit carries the surgical tool forward to perform a corresponding surgical operation, or moves backward to the tool replacement unit;

   The tool replacement unit accommodates surgical tools and replaces the surgical tools carried by the linear feed unit.
2. The automatic vertebral body puncture shaping device according to claim 1, characterized in that,

   The linear feeding unit includes a power source, a sliding assembly driven by the power source, and a linear feeding guide rail; the power source drives the sliding assembly to slide forward and backward along the linear feeding guide rail; the sliding assembly carries the surgical tool back and forth Movement: the puncture unit or bone cement filling unit is carried by the linear feed unit to move forward for puncture operation or injection molding operation of bone cement, or move backward to return to the tool replacement unit;

   The puncture unit includes a power source and a puncture needle; the power source of the puncture unit drives the puncture needle to rotate for bone puncture;

   The bone cement filling unit includes a power part and a filling sleeve part, the power part includes a power source and a syringe, and the power source provides the power and function of compressing the syringe, so that the syringe injects the bone cement into the filling sleeve part to perform the injection operation of bone cement;

   The tool replacement unit includes a power source, a plug-in block and a tool replacement platform; the tool replacement platform is provided with a surgical tool accommodating cavity and a sliding assembly storage space; the power source of the tool replacement unit drives the plug-in block to move, and the plug-in block is replaced with the tool The platform and the linear feed unit cooperate to drive the surgical tool to perform position replacement on the accommodation cavity of the tool replacement unit and the sliding assembly of the linear feed unit; the puncture unit or bone cement filling unit performs position replacement on the tool replacement unit to leave or Move onto the slide assembly of the linear feed unit.
3. The automatic vertebral body puncture forming device as claimed in claim 2, characterized in that,

   The power source of the linear feed unit is driven by a linear motor, and the linear motor includes a stator and a mover that move relatively directly; the mover is installed on the mover seat, and the mover seat and the mover are slidably matched with the stator;

   The sliding assembly includes a slider arranged on the linear feed guide rail and a tool application platform, the tool application platform is installed on the mover seat; the mover seat is connected with the slider on the linear feed guide rail;

   The tool application platform carries surgical tools; the cooperation between the tool application platform and the surgical tools is as follows: the tool application platform restricts the surgical tools in the front and rear directions, and can move out or move in the surgical tools in the two sides;

   A pressure sensor is connected to the sliding assembly for detecting the resistance encountered by the puncturing unit during the puncturing operation;

   A position detection device is arranged on the base plate, and the position detection device cooperates with the linear feed guide rail and the sliding assembly to set or detect the position of the surgical tool carried by the sliding assembly.
4. The automatic vertebral body puncture forming device according to claim 3, characterized in that,

   The tool application platform is installed on the top of the mover seat; the top surface of the tool application platform is provided with an installation groove, and the installation groove is adapted to the puncture base of the puncture unit or the filling sleeve base of the bone cement filling unit, so that the base It cannot be moved in the front and back directions in the installation groove, and can be moved out or in on the left and right sides; the puncture base is rotatably installed with a puncture needle; the filling sleeve base is equipped with a cement filling sleeve;

   The position detection device includes a grating ruler and a reading head, the grating ruler is arranged on one side of the linear feed guide rail; the reading head is arranged on the sliding assembly;

   The stator of the linear motor is installed on the base plate; a pair of the linear feed guide rails are arranged on the base plate, respectively located on both sides of the stator of the linear motor; the lengths of the stator and the linear feed guide rails are matched with the travel range of the linear motor;

   The linear feed guide rail guides the sliding assembly to slide forward and backward; the two sides of the tool application platform are connected to the two sides of the mover seat through guide rods.
5. The automatic vertebral body puncture forming device as claimed in claim 2, characterized in that,

   The power source of the tool replacement unit includes a replacement motor, which is connected to the insertion block through a linear transmission assembly, and the linear transmission assembly converts the rotational motion of the motor into a linear motion, driving the insertion block to move in a straight line sports;

   The plug-in block cooperates with the surgical tool, and the plug-in block drives one surgical tool to move from the sliding assembly into the corresponding accommodation cavity of the tool replacement platform, and the other surgical tool moves out from the corresponding accommodation cavity to the sliding assembly; the tool replacement unit The power source drives the plug-in block to translate to both sides;

   The tool replacement platform is provided with two left and right accommodation chambers used as the puncture unit accommodation chamber and the bone cement filling unit accommodation chamber, which are respectively used to support and accommodate the puncture base or the filling sleeve base of the bone cement filling unit; The discontinuity forms the sliding assembly accommodation space.
6. The automatic vertebral body puncture forming device according to claim 5, characterized in that,

   The linear transmission assembly includes rack and pinion meshing transmission or screw transmission or worm gear transmission;

   The tool replacement platform is a frame-like structure sleeved on the bottom plate, and the top platform forms the two accommodating cavities;

   The inside of the frame structure of the tool replacement platform is compatible with the slide assembly of the linear feed unit, specifically: the slide assembly can be accommodated in the tool replacement platform, and the tool application platform on the top of the slide assembly corresponds to the position of the accommodation chamber of the tool replacement platform. The translation of the insertion block drives the puncture base or the filling sleeve base to move in or out between the tool application platform and the accommodation chamber; the insertion block is an E-shaped frame, and the cover is set on the top of the tool replacement platform, aligned with the edge of the accommodation chamber.
7. The automatic vertebral body puncture forming device according to claim 5, characterized in that,

   The linear transmission assembly is a rack and pinion meshing transmission, a gear is installed on the output shaft of the replacement motor, and a rack is installed on the plug-in block, and the plug-in block is driven by the rack to move linearly; the gear rotates through the replacement motor, and the gear and Rack meshing converts rotational motion into linear motion, thereby driving the plug-in block to replace the position of the surgical tool;

   The tool replacement unit also includes a guide rail mounting seat. There is a replacement guide rail on the plug-in block. The replacement guide rail is installed on the guide rail mounting seat. The guide rail mounting seat is installed on the bottom plate and is located behind the tool replacement platform; Cooperate to guide and support the movement of the plug-in block.
8. The automatic vertebral body puncture forming device as claimed in claim 2, characterized in that,

   The power source of the puncture unit is a puncture motor; the puncture unit includes the puncture motor, a puncture needle, a puncture base and a puncture cover; the puncture motor is installed on the puncture base, and the puncture cover compresses the puncture motor; the puncture needle It is connected with the puncture motor through the drill chuck, and driven by the puncture motor to realize the high-speed rotation of the puncture needle; the puncture unit is installed on the sliding assembly of the linear feed unit or in the accommodating cavity of the tool replacement unit through the puncture base.
9. The automatic vertebral body puncture forming device as claimed in claim 2, characterized in that,

   The power source of the bone cement filling unit includes a filling motor, the filling motor is connected to a screw or a lead screw, and the screw or lead screw is provided with a moving seat; the rotation of the filling motor drives the moving seat along the screw or lead screw through the screw or lead screw. The axial direction makes reciprocating linear motion; the moving seat is set on the compression column of the syringe, so as to push the compression column to make the syringe inject bone cement;

   The filling sleeve part of the bone cement filling unit includes the bone cement filling sleeve, the filling sleeve base and the filling sleeve gland; the bone cement filling sleeve is installed on the filling sleeve base, and the filling sleeve gland presses the bone cement filling sleeve on the filling sleeve base The bone cement filling sleeve and the syringe are connected by a flexible catheter to realize the delivery of bone cement from the syringe to the bone cement filling sleeve; the bone cement filling unit is installed on the linear feeding unit or tool replacement unit through the filling sleeve base superior;

   A filling pressure sensor is installed in the compression column of the syringe for detecting the pressure value of the injected bone cement.
10. The automatic vertebral body puncture forming device according to claim 9, wherein:

    The bone cement filling unit also includes a filling power base, a guide groove is arranged in the filling power base, a screw or a lead screw is installed in the guide groove, a moving seat is installed on the guide groove and is guided to move by the guide groove; the filling motor is installed on the On the filling power base, the output end of the filling motor is connected to the screw or lead screw through a coupling;

    The syringe is installed on the filling power base; the moving seat is arranged at the end of the compression column of the syringe, and pushes the compression column or releases the compression rod; the filling pressure sensor is arranged between the end of the compression column and the moving seat;

    The power part of the bone cement filling unit is installed on the back of the base plate;

    The tool replacement unit is installed at the front rear end of the bottom plate.
11. The automatic vertebral body puncture forming device as claimed in claim 2, characterized in that,

    The automatic vertebral body puncture shaping device also includes a guide unit, and the guide unit is installed on the front front end of the bottom plate;

    The guide unit includes a conduit and a guide mount, the conduit is mounted on the guide mount, and the guide mount is mounted on the bottom plate;

    The catheter is adapted to the position of the linear feeding unit, and is inserted or inserted into the puncture needle or the bone cement filling sleeve for surgical operation;

    The linear feeding unit carries the puncture needle of the puncture unit through the catheter and enters the surgical site to establish a channel, and the linear feeding unit carries the bone cement filling sleeve of the bone cement filling unit to connect with the catheter, Bone cement is injected into the tunnel created at the surgical site.
12. The automatic vertebral body puncture shaping device according to any one of claims 1-11, characterized in that,

    The linear feeding unit moves forward or backward through automatic control to carry the puncture unit or the bone cement filling unit;

    The tool replacement unit drives the insertion block to move through automatic control, and the insertion block drives the surgical tool to automatically replace the position;

    The automatic control is realized by a control center arranged on the orthopedic surgical robot or outside the orthopedic surgical robot; the control center performs data processing and performs functional control on the automatic vertebral body puncture shaping device and the orthopedic surgical robot;

    The power source of the linear feed unit is connected to the control center, and the work is controlled by the control center;

    The power source of the puncture unit is connected to the control center, and the operation is controlled by the control center;

    The power source of the bone cement filling unit is connected to the control center, and the work is controlled by the control center;

    The power source of the tool replacement unit is connected to the control center, and the work is controlled by the control center.
13. An orthopedic surgery robot system, comprising an orthopedic surgery robot, is characterized in that the orthopedic surgery robot system also includes the automatic vertebral body puncture shaping device according to any one of claims 1-12; the automatic vertebral body puncture shaping device and The orthopedic surgery robot is connected, and the orthopedic surgery robot operates the automatic vertebral body puncture shaping device.
14. The orthopedic surgery robot system according to claim 13, wherein the orthopedic surgery robot system also includes a control center, the control center performs data processing and performs functional control on the automatic vertebral body puncture shaping device and the orthopedic surgery robot; The control center is set inside or outside the orthopedic surgery robot; the automatic vertebral body puncture shaping device is provided with an installation interface, and is installed on the arm of the orthopedic surgery robot through the installation interface.