CN114081588B - Accurate automatic skin taking device for skin flap transplantation - Google Patents

Abstract

The invention discloses a precise automatic skin remover for skin flap transplantation, comprising a medical manipulator mechanism, a placement box is arranged at the bottom of the manipulator mechanism, and a recording device is placed inside the placement box, and a connecting rod is connected to the bottom of the medical manipulator mechanism , the bottom of the first drive structure is provided with a skin-taking device, and the precise automatic skin-taking device for flap transplantation can quickly record the shape and size of the skin-grafting position through the set recording device, and the set skin-taking device is in Driven by the medical mechanical claw mechanism, the patient's skin can be cut off to achieve skin grafting, and the skin-taking equipment can be used to perform skin-picking on irregular and regular skin at the same time. The skin-picking efficiency is high, and the skin-picking equipment can drive The dermatological knife moves, and the dermatological knife can be kept at a fixed distance from the skin during the skin removal process, and the position of the dermatological knife can be adjusted at all times to avoid too deep contact between the dermatological knife and the skin, and a large amount of tissue sticks to the removed skin .

Description

A precise automatic skin picker for skin flap transplantation

technical field

The invention relates to the field of medical technology, in particular to a precise automatic skin picker for skin flap transplantation.

Background technique

A skin flap is formed by a skin with a blood supply and its attached subcutaneous fat tissue. During the formation and transfer of the skin flap, a part must be connected to the body. This connected part is called the pedicle to maintain the blood supply. Others Both the surface and the deep surface are separated from the main body, and after being transferred to another wound, the blood supply of the pedicle is still temporarily used to supply nutrition. After the wound blood vessels in the recipient flap area grow into the flap and a new blood supply is established, the pedicle is then transferred to the flap. Cutting off completes the whole process of flap transfer, so it is also called pedicled flap, but it is not necessary to cut off the pedicle after partial flap or island flap transfer.

And after the flap transplantation, it is necessary to take the skin graft to cover it. At this time, the skin needs to be taken from the patient's abdomen, buttocks and other parts. In order to ensure that the size of the skin is the same as that of the missing skin, and that the superficial fascia does not stick to the skin, Only the epidermis and dermis are preserved. At present, during surgery, the surgeon needs to measure the size and take the skin from another location. Currently, a skin remover is needed to take the skin from the patient, but the skin remover can only take For some skins with relatively regular shapes, the existing skin harvester cannot perform accurate skin removal. If the skin removal is irregular, the doctor needs to measure the size, and the operation can be used to remove the skin knife. There are differences in the thickness of the skin, and the position of the body where the skin is taken has a certain curvature. Therefore, the existing skin remover and the skin taken by the doctor will have a lot of subcutaneous tissue. Finally, the subcutaneous tissue will be scraped off with a scalpel. It consumes more time and energy of doctors. For this reason, we propose a kind of precise automatic skin taker for skin flap transplantation.

Contents of the invention

The object of the present invention is to provide a precise automatic skin taker for flap transplantation, to solve the problems raised in the above-mentioned background technology.

In order to achieve the above object, the present invention provides the following technical solutions: a precise automatic skin remover for flap transplantation, including a medical manipulator mechanism, a placement box is provided at the bottom of the manipulator mechanism, and a skin graft position graphic is placed inside the placement box Recording equipment for admission;

The bottom of the medical manipulator mechanism is movably connected with a connecting rod, and the bottom of the connecting rod is provided with a first driving structure, and the bottom of the first driving structure is provided with a skin-taking device that can accurately take skin from a patient;

The tare-taking device includes a mobile device arranged at the bottom of the first driving structure, and the bottom of the mobile device is provided with a tare-taking device capable of accurately taking the tare from the outer ring and the inner ring of the tare-taking position.

Preferably, the recording device is placed on the recording rod inside the storage box, and the output end of the recording rod is provided with a positioning sheet.

Preferably, the first driving structure includes a driving motor arranged at the bottom of the connecting rod, and the output end of the driving motor is connected to the mobile device.

Preferably, the mobile device includes a support frame arranged at the output end of the driving motor, and a support groove is provided at the bottom of the support frame, a double-headed motor is arranged inside the support groove, and screw rods are connected to both ends of the double-headed motor. And the end of the screw rod away from the double-headed motor is rotationally connected with the inside of the support groove;

The outer side of the screw rod is sleeved with a moving block, and the outer side of the moving block is slidably connected to the inside of the support groove, and the bottom of the two moving blocks is provided with a driving member that can drive the skin removal device to move.

Preferably, the driving member includes a multi-section electric telescopic rod movably connected to the bottom of the moving block, and the bottom of the multi-section electric telescopic rod is provided with a fixed shell;

A first electromagnet block is provided on the top of the fixed housing, a pressure sensor is provided at the bottom of the first electromagnet block, and a plastic spring is provided at the bottom of the pressure sensor, and a pressure block is provided at the bottom of the plastic spring. A second electromagnet block is arranged outside the block;

The bottom of the briquetting block is provided with a moving ball;

The outside of the second electromagnet block is provided with a first connection block and a second connection block, and the outside of the fixed shell is provided with connection grooves that are slidably connected to the outside of the first connection block and the outside of the second connection block;

Both the first connection block and the second connection block are connected with the peeling device.

Preferably, the skin removal device includes an outer ring skin removal device and a centralized skin removal device for performing skin removal on the outer ring and the middle part of the skin removal position respectively;

The outer ring leather taking piece and the concentrated leather taking piece are respectively connected with the first connecting block and the second connecting block.

Preferably, the centralized skin removal device includes grooves arranged on the second connecting block, and the two grooves are internally slidably connected to the connecting plate, and the inner side of the support frame is provided with limiting grooves that are slidably connected to both ends of the connecting rod , the connecting plate is provided with a skin-taking and skin-taking component that can perform concentrated skin-taking on the tare-taking position.

Preferably, the outer ring skin removal device includes an adjustment rod that is movably connected to the first connecting block, and a U-shaped plate is provided at the bottom of the adjustment rod, and a drive motor is provided on the outside of the U-shaped plate, and the output end of the drive motor is connected to There is a rotating rod, the two ends of the rotating rod are connected to the U-shaped plate in rotation, the rotating rod is provided with a skin knife fixing plate, and the bottom of the skin knife fixing plate is movably connected with the skin knife.

Compared with prior art, the beneficial effect of the present invention is:

1. The structure of the present invention quickly records the shape and size of the skin-grafting position through the provided recording device, and the provided skin-taking device can cut off the patient's skin to achieve skin-grafting under the drive of the medical mechanical claw mechanism, and the provided The peeling equipment can realize the skinning of irregular and regular skin at the same time, and the skinning efficiency is high.

2. The skin-taking equipment set by the structure of the present invention can drive the skin grafting knife to move. During the skin-taking process, the skin-taking knife can be kept at a fixed distance from the skin, and the position of the skin-taking knife can be adjusted at all times to avoid excessive contact between the skin-taking knife and the skin. Deep, large amounts of tissue adhered to the removed skin.

Description of drawings

Fig. 1 is a schematic front view of the overall structure of the present invention;

Fig. 2 is a schematic structural diagram of the front view of the structure peeling device of the present invention;

Fig. 3 is a schematic diagram of the rear view structure of the structure peeling equipment of the present invention;

Fig. 4 is a side view structural schematic diagram of the structure part of the peeling equipment of the present invention;

Fig. 5 is a bottom view structure schematic diagram of the structural support frame of the present invention;

Fig. 6 is a schematic diagram of the main view of the structure of the peeling device of the present invention;

Fig. 7 is a side view sectional structural schematic diagram of the structural driving member of the present invention;

Fig. 8 is a schematic diagram of the unfolded structure of the structural driving member of the present invention;

Fig. 9 is a rear view sectional structure schematic diagram of the structure part of the present invention to collect leather goods;

Fig. 10 is a schematic diagram of a cross-sectional side view of a part of the structure of the present invention for centralized leather removal.

In the figure: 1-manipulator mechanism; 2-placement box; 20-recording equipment; 3-connecting rod; 31-first driving structure; Rod; 22-positioning piece; 32-drive motor; 50-support frame; 51-support groove; 52-double motor; 53-screw rod; 54-moving block; ; 71-fixed shell; 72-first electromagnet block; 73-pressure sensor; 74-plastic spring; 75-pressure block; 76-second electromagnet block; 77-moving ball; 78-first connecting block; 79-Second connecting block; 80-Connecting groove; 60-Outer ring leather taking; 61-Concentrated leather taking; 62-Groove; 63-Connecting plate; 64-Limiting slot; -Adjusting lever; 67-U-shaped plate; 68-Drive motor; 69-Rotating rod; 6a-Take the dermatome fixed plate; 90-Drive gear; 91-Movement gear.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-10, the present invention provides a technical solution: a precise automatic skin remover for flap transplantation, including a medical manipulator mechanism 1, a placement box 2 is arranged at the bottom of the manipulator mechanism 1, and a placement box 2 is placed inside the placement box 2 The recording device 20 that can record the skin grafting position graph, the recording device 20 is placed on the recording rod 21 inside the placement box 2, and the output end of the recording rod 21 is provided with a positioning piece 22, the positioning chip and the existing medical manipulator mechanism 1 pass the current For some technical connections, when in use, the staff needs to hold the recording rod 21 to drive the recording rod 21 to move along the outside of the flap transplantation, so that the shape and size of the positioning chip can be transmitted to the medical manipulator mechanism through the existing technology 1, the medical manipulator mechanism 1 can move according to the size of the graphics transmitted by the positioning chip, and can quickly record the size and size of the skin grafting graphics;

The bottom of the medical manipulator mechanism 1 is movably connected to the connecting rod 3 by bolts, and the bottom of the connecting rod 3 is provided with a first driving structure 31, and the first driving structure 31 includes a driving motor 32 fixed on the bottom of the connecting rod 3 through a motor frame.

The output end of the driving motor 32 is fixed with a skin-taking device 4 that can accurately take the skin of the patient. The skin-taking device 4 includes a mobile device 5 connected to the drive motor 32. A peeling device 6 for precise peeling,

When the pattern and size of the skin graft on the patient are recorded by the positioning chip, the medical manipulator mechanism 1 drives the connecting rod 3 and the drive motor 32 to move, and the drive motor 32 drives the skin removal device 4 to move. If the pattern of the skin removal position is irregular When drawing, the medical manipulator mechanism 1 drives the mobile device 5 and the peeling device 6 to move along the outer circle of the figure through the connecting rod 3 and the drive motor 32, and the peeling device 4 first realizes the peeling of the outer circle of the peeling position, Then the driving motor 32 drives the mobile device 5 and the peeling device 6 to rotate, adjusts the direction of the driving device, and then makes the peeling device 6 peel the skin at the middle part, and the peeling efficiency is relatively high;

The mobile device 5 includes a support frame 50 fixed on the output end of the drive motor 32, and the bottom of the support frame 50 is provided with a support groove 51, and a double-headed motor 52 is fixed inside the support groove 51, and screw rods 53 are fixed at both ends of the double-headed motor 52, And the end of the screw rod 53 away from the double-headed motor 52 is rotationally connected with the inside of the support groove 51 through a bearing;

Screw rod 53 outer threads are sleeved with moving block 54, and the outside of moving block 54 is slidably connected with support groove 51 inside, and two moving block 54 bottoms are provided with the driving member 7 that can drive skin removing device 6 to move, can be used when using. According to the skin size, the double-headed motor 52 drives the screw rods 53 at both ends to rotate, and the directions of the threads on the two screw rods 53 are opposite, so that the two moving blocks 54 can drive the two driving parts 7 to move toward each other or move oppositely. Thereby the screw rod 53 drives the moving block 54 to slide inside the support groove 51, and the two moving blocks 54 drive the two driving parts 7 to move, so that the driving part 7 can move along the outer ring of the skin removal position, and the driving part 7 drives the skin removal device 6 move to achieve tare.

The driver 7 includes a multi-section electric telescopic rod 70 that is movably connected to the bottom of the moving block 54 through threads, and the bottom of the multi-section electric telescopic rod 70 is fixed with a fixed shell 71;

The top of the fixed shell 71 is fixed with a first electromagnet block 72, the bottom of the first electromagnet block 72 is provided with a pressure sensor 73, and the bottom of the pressure sensor 73 is fixed with a plastic spring 74, and the bottom of the plastic spring 74 is fixed with a pressure block 75 , the outer side of the pressing block 75 is fixed with a second electromagnet block 76;

A moving ball 77 is fixed on the bottom of the briquetting block 75, and the moving ball 77 of the device can realize 360-degree rotation;

The outer side of the second electromagnet block 76 is fixed with a first connecting block 78 and a second connecting block 79, and the outer side of the fixed shell 71 is provided with a connecting groove 80 which is slidingly connected to the outer side of the first connecting block 78 and the outer side of the second connecting block 79;

Both the first connection block 78 and the second connection block 79 are connected to the peeling device 6 .

The leather-taking device 6 includes an outer ring leather-taking part 60 and a concentrated leather-taking part 61 for taking the skin from the outer ring and the middle part of the skin-taking position respectively;

The outer ring leather part 60 and the concentrated leather part 61 are fixedly connected to the outside of the first connection block 78 and the second connection block 79 respectively, and the outer ring leather part 60 can first remove the skin from the outer ring of the tare position, and then The inner ring skin picking device is used for concentrated skin picking on the skin in the middle position.

The centralized skin removal piece 61 includes a groove 62 arranged on the second connecting block 79, and a connecting plate 63 is slidably connected to the inside of the two grooves 62, and the inner side of the support frame 50 is provided with a limiter that is slidably connected to the two ends of the connecting rod 3 The slot 64 and the connecting plate 63 are provided with a skin-taking and skin-taking assembly 65 that can concentrate on the skin-taking position.

The outer ring skin removal device 60 includes an adjusting rod 66 that is movably connected to the first connecting block 78 by screws, and the adjusting rod 66 is provided with a plurality of connecting holes, and different connecting holes can be connected with the first connecting block 78 to control the adjustment rod 66. The installation height can be installed according to different types of dermatoses, and a U-shaped plate 67 is fixed on the bottom of the adjustment rod 66, and a driving motor 68 is fixed on the outside of the U-shaped plate 67 through a motor frame, and a rotating rod 69 is fixed on the output end of the driving motor 68. , the two ends of the rotating rod 69 are connected with the inner side of the U-shaped plate 67 in rotation, the rotating rod 69 is provided with a dermatome fixed plate 6a, and the bottom of the dermatome fixed plate 6a is movably connected with the dermatome, and the dermatome and the fixed plate are movably connected. The bottom is movably connected by threads, which is convenient for replacing different types of dermatoses.

The structure of the skin removal component 65 and the outer ring skin removal component 60 basically look at each other. In the claims of this plan, the outer ring skin removal component 65 is mainly described. Now, the skin removal component 65 is described in the specification. The driving motor 68 on the leather assembly 65 is fixed on the top of the U-shaped plate 67 through the motor frame, and the output end of the driving motor 68 is fixed with a driving gear 90, and the bottom of the driving gear 90 is meshed with a moving gear 91, and the center of the moving gear 91 is fixed with a rotating gear. The rod 69 is provided with the driving gear 90 and the driving gear, because the skin-taking knife used by the skin-taking assembly 65 is relatively large, so the U-shaped shelf plate on the skin-taking assembly 65 is set relatively large, so as to avoid contact between the driving motor 68 and the moving ball 77 .

When it is necessary to skin the regular transplanted graph:

The double-headed motor 52 drives the two moving balls 77 to move to both sides of the skin-taking position, then the leather knife is taken on the skin-taking assembly 65, and rotates between the two moving balls 77 driven by the drive motor 68, and then the medical machine clips The claws drive the dermatome to move, and when the dermatome moves, the moving ball 77 moves along the patient's skin surface. When the patient's skin changes in arc shape, the moving ball 77 drives the plastic spring 74 to compress or elongate. The pressure of the plastic spring 74 to the pressure sensor 73 will change, and the change of the value of the pressure sensor 73 will pass through the existing transmission device, and the changed value will be transmitted to the control device that controls the current change of the first magnet and the second electromagnet block 76 , so that the size of the suction force between the first electromagnet block 72 and the second electromagnet block 76 can be adjusted, and the rise or fall of the second electromagnet block 76 can be controlled. It is known that the pressure of the plastic spring 74 on the pressure sensor 73 The value remains on a numerical value, so that when the second electromagnet block 76 rises or falls, it can drive the second connecting block 79 to rise or fall, and the second connecting block 79 can drive the second connecting plate 63 to rise and fall, and the second connecting plate 63 can drive the adjustment rod 66 and the U-shaped plate 67 to rise and fall, and the U-shaped plate 67 can drive the dermatome to move, so as to control the contact distance between the dermatome and the patient’s skin to keep consistent, thereby avoiding excessive contact between the dermatome and the patient’s skin at different positions The peel is too thick, resulting in a large amount of skin tissue sticking to the removed skin, the use angle of the peel knife can be adjusted by driving the motor 68 at the beginning of use;

When skinning irregular graphics:

One of the multi-section electric telescopic rods 70 drives the object at the bottom of the entire fixed shell 71 to move, and the moving ball 77 is not in contact with the patient's skin, and then the medical machinery jaw mechanism 1 drives the remaining fixed shell 71 and the moving ball 77 along the skin The outside of the outer ring moves, so that the small-scale skin removal on the outer ring skin 60 can move along the outer ring of the skin removal position under the action of the medical machine jaw mechanism 1, and the skin of the outer ring of the skin removal position is removed. Then two mobile balls 77 move to the outside of the skin size, and the remaining skin is taken off by the skin assembly 65, and the skin efficiency is relatively high.

In this solution, the drive motor 32 is preferably a Y80M1-2 model, and the circuit operation is an existing conventional circuit. The circuits and controls involved in the present invention are all existing technologies, and will not be repeated here.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (3)

1. A precise automatic skin remover for flap transplantation, including a medical manipulator mechanism (1), characterized in that: the bottom of the manipulator mechanism (1) is provided with a placement box (2), and the placement box (2) is placed inside There is a recording device (20) that can record the graph of the skin grafting position; The bottom of the medical manipulator mechanism (1) is movably connected with a connecting rod (3), and the bottom of the connecting rod (3) is provided with a first driving structure (31), and the bottom of the first driving structure (31) is provided with a A skin-taking device (4) for precise skin-taking; the skin-taking device (4) includes a mobile device (5) arranged at the bottom of the first driving structure (31), and the bottom of the mobile device (5) is provided with a The outer ring and the inner ring of the tare-taking position are tare-taking devices (6) for precise tare-taking. The recording device (20) is placed on the recording rod (21) inside the placement box (2), and the output end of the recording rod (21) A positioning piece (22) is provided, the first driving structure (31) includes a driving motor (32) arranged at the bottom of the connecting rod (3), and the output end of the driving motor (32) is connected to the mobile device (5), so The mobile device (5) includes a support frame (50) arranged at the output end of the drive motor (32), and a support groove (51) is provided at the bottom of the support frame (50), and a double-headed motor is arranged inside the support groove (51) (52), both ends of the double-headed motor (52) are connected with a screw rod (53), and the end of the screw rod (53) away from the double-headed motor (52) is connected to the support groove (51) for rotation; The outer side of the screw rod (53) is sleeved with a moving block (54), and the outer side of the moving block (54) is slidingly connected with the inside of the support groove (51). 6) The moving driving part (7), the driving part (7) includes a multi-section electric telescopic rod (70) movably connected to the bottom of the moving block (54), and the bottom of the multi-section electric telescopic rod (70) is provided with fixed shell (71); A first electromagnet block (72) is provided on the top of the fixed case (71), a pressure sensor (73) is provided at the bottom of the first electromagnet block (72), and a pressure sensor (73) is provided at the bottom A plastic spring (74), and a pressing block (75) is provided at the bottom of the plastic spring (74), and a second electromagnet block (76) is provided outside the pressing block (75); the bottom of the pressing block (75) is provided with The moving ball (77); the first connection block (78) and the second connection block (79) are provided on the outside of the second electromagnet block (76), and the first connection block (79) is provided on the outside of the fixed shell (71). The connecting groove (80) where the outside of the block (78) and the outside of the second connecting block (79) are slidably connected; the first connecting block (78) and the second connecting block (79) are both connected to the peeling device (6), The skin removal device (6) includes an outer ring skin removal device (60) and a centralized skin removal device (61) for removing skin from the outer ring and the middle part of the skin removal position respectively; the outer ring skin removal device (60) And the concentrated leather parts (61) are respectively connected with the first connection block (78) and the second connection block (79). 2. A precise automatic skin remover for flap transplantation according to claim 1, characterized in that: the centralized skin remover (61) includes a groove (62) arranged on the second connecting block (79) ), and the two grooves (62) are slidingly connected to the connecting plate (63), and the inner side of the support frame (50) is provided with a limit groove (64) that is slidingly connected to both ends of the connecting plate (63). The board (63) is provided with a tare-taking component (65) that can perform centralized tare-taking on the tare-taking position. 3. The precise automatic skin remover for flap transplantation according to claim 2, characterized in that: the outer ring skin remover (60) includes an adjustment rod ( 66), and the bottom of the adjusting rod (66) is provided with a U-shaped plate (67), and the outside of the U-shaped plate (67) is provided with a drive motor (68), and the output end of the drive motor (68) is connected to a rotating rod ( 69), both ends of the rotating rod (69) are connected to the U-shaped plate (67) in rotation, the rotating rod (69) is provided with a dermatome fixing plate (6a), and a dermatome fixing plate (6a ) bottom is actively connected with the skin knife.

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