CN110974420B - Mechanical arm tail end stabilizing device for craniotomy - Google Patents

Abstract

The invention relates to a stabilization device for the end of a mechanical arm for craniotomy, comprising an L-shaped fixed connection module and a shock-absorbing module; the L-shaped fixed connection module includes a fixed transverse plate and a vertical connection plate, and one end of the vertical connection plate is connected and fixed The transverse plate is connected to the end joint of the mechanical arm at the other end; the shock-absorbing module includes a lower support plate and two shock-absorbing units, each shock-absorbing unit includes a guide rod, a spring and a limit unit, and the limit unit is installed at one end of the guide rod The other end of the guide rod passes through the fixed horizontal plate and is fixedly connected to the lower support plate, the spring is sleeved outside the guide rod and is located between the fixed horizontal plate and the lower support plate. Compared with the prior art, the present invention can well solve the problem of stall and instability caused by sudden change of drilling and milling force during the craniotomy, play the role of buffer protection, improve the force control stability of the drilling and milling instrument by doctors, and improve the safety of surgery.

Description

A robotic arm end stabilization device for craniotomy

technical field

The invention relates to the technical field of medical instruments, in particular to a stabilization device for the end of a robotic arm used for craniotomy.

Background technique

Craniotomy is the most common surgical procedure in neurosurgery. In traditional craniotomy, the surgeon holds a cranial drill/cranial milling instrument to open a bone window on the patient's skull that is similar in shape and size to the tumor, and uses microscopic techniques to remove the tumor. In the traditional skull drilling and milling process, the doctor uses his own strength to hold the drilling and milling instrument by hand, and press the end of the milling cutter against the inner surface of the patient's skull to separate the dura mater from the surface of the skull, while ensuring the drilling and milling accuracy.

It can be seen from the above surgical procedures that traditional craniotomy has problems such as high surgical risk, easy occurrence of meningeal brain damage, high physical exhaustion of doctors, and surgical results that rely heavily on clinical experience. In view of this, a surgical robotic arm with remarkable features such as precision and minimally invasiveness has been introduced into craniotomy. Doctors can either directly operate the robotic arm through a computer program, or use the robotic arm as an instrument stabilizing support, and still manually control the craniotomy. Drilling/cranial milling instruments to improve the precision and safety of surgery and reduce the intensity of the doctor's operation.

However, whether it is a traditional craniotomy or a craniotomy connected with a robotic arm, due to differences in individual physique, age, and gender, the individual patient's skull bone tissue has the characteristics of irregular structure and uneven mechanical characteristics of drilling and milling. In the process of craniotomy, the sudden change of milling force is easy to occur when the milling cutter is in contact with the skull, and the milling cutter stalls and system instability, which will affect the accuracy and quality of the operation at light level, and endanger the life safety of patients at worst.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned defects of the prior art and provide a robotic arm end stabilization device for craniotomy, so as to solve the problem of the stability of the drilling and milling instrument during the drilling and milling of the skull during the craniotomy. interaction problems.

The object of the present invention can be realized through the following technical solutions:

A robotic arm end stabilization device for craniotomy, comprising an L-shaped fixed connection module and a shock-absorbing module;

The L-shaped fixed connection module includes a fixed horizontal plate and a vertical connecting plate. One end of the vertical connecting plate is connected to the fixed horizontal plate, and the other end is connected to the end joint of the mechanical arm. The fixed horizontal plate is provided with a first fixed plate. a hole and two first guide holes, the first fixed hole is located in the center of the fixed horizontal plate, and the first guide holes are symmetrically located on both sides of the first fixed hole;

The shock-absorbing module includes a lower support plate and two shock-absorbing units. The center of the lower support plate is provided with a third fixing hole, and the drilling and milling instruments used for craniotomy pass through the first fixing hole and the third fixing hole in sequence. hole, the drilling and milling end of the drilling and milling apparatus protrudes outward from the third fixing hole, and the lower support plate is connected with the drilling and milling apparatus, each buffer unit includes a guide rod, a spring and a limit unit, the limit unit Installed at one end of the guide rod, the other end of the guide rod passes through the first guide hole and is fixedly connected to the lower support plate, the spring is sleeved outside the guide rod and is located between the fixed horizontal plate and the lower support plate.

Further, the shock-absorbing module also includes an upper pressure plate and an adjustment bolt, the center of the upper pressure plate is provided with a second fixing hole and two second guide holes, the second fixing hole is located in the center of the upper pressure plate, and the The two second guide holes are symmetrically arranged on both sides of the second fixing hole, the drilling and milling instrument passes through the first fixing hole, the second fixing hole and the third fixing hole in sequence, and the guide rod passes through the first fixing hole in sequence. A guide hole and a second guide hole are fixedly connected to the lower support plate, the spring is located between the upper pressure plate and the lower support plate, the fixed transverse plate is also provided with two transverse plate bolt holes, the two The bolt holes of the transverse plate are symmetrically arranged on both sides of the first fixing hole, and the adjusting bolts pass through the bolt holes of the transverse plate to contact the upper pressing plate for adjusting the distance between the upper pressing plate and the fixing transverse plate.

Further, the shock-absorbing module further includes two shaft sleeves, the shaft sleeves are installed in the first guide holes, the shaft sleeves include a connecting plate, and one end of the shaft sleeve is installed on the fixed horizontal plate through the connecting plate.

Further, a plurality of guide grooves and balls are arranged in the shaft sleeve, the guide rod is provided with grooves corresponding to the number and position of the guide grooves, and the balls are located between the guide grooves and the grooves.

Further, at least three guide grooves are provided in the shaft sleeve.

Further, the limiting unit includes a washer and an end bolt, one end of the guide rod is provided with a threaded inner hole, the end bolt is connected to the threaded inner hole after passing through the washer, and the outer diameter of the washer is larger than that of the guide rod. diameter of.

Further, in the L-shaped fixed connection module, one end of the vertical connection plate is connected to the end joint of the robotic arm through a flange.

Further, a handle is provided on the drilling and milling instrument.

Compared with the prior art, the present invention has the following advantages:

1. The present invention can solve the problem of stall and instability caused by sudden change of drilling and milling force during craniotomy through the setting of the L-shaped fixed connection module and the cushioning module, and the cushioning module can provide buffer protection through the compression of the cushioning unit. It can improve the stability of the force control of the drilling and milling instruments by the doctor, and improve the safety of the operation.

2. In the cushioning module, the installation height of the drilling and milling machine can be adjusted by adjusting the distance between the upper pressure plate and the fixed horizontal board, so that it can be applied to drilling and milling machines of different lengths and has a wide range of applications.

3. There is a bushing in the cushioning module, and the guide groove of the bushing is connected to the groove in the guide rod through the roller, which constrains the freedom of movement of the guide rod, so that the guide rod can only move linearly along its axis direction. , instead of rotating around the axis, reducing relative friction and making it move up and down in the bushing more smoothly.

4. The modular design of the present invention is realized through the L-shaped fixed connection module and the cushioning module, which facilitates the integration with the existing craniotomy robotic arm system in the operating room, and has strong system compatibility.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of the present invention after connecting the robotic arm and installing the drilling and milling instrument.

FIG. 3 is a schematic diagram of the structure of the shock absorbing module.

Figure 4 is a schematic diagram of the use state.

Reference numerals: 1. L-shaped fixing module, 11, fixing horizontal plate, 11a, first fixing hole, 11b, first guide hole, 11c, horizontal plate bolt hole, 11d, adjusting bolt, 12, vertical connecting plate , 2. Cushioning module, 21, lower support plate, 21a, third fixing hole, 22, cushioning unit, 221, guide rod, 221a, threaded inner hole, 222, spring, 223, limit unit, 223a, washer , 223b, end bolts, 23, upper pressure plate, 23a, second fixing hole, 23b, second guide hole, 24, bushing, 241, connecting plate, 3, drilling and milling equipment, 31, handle.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

As shown in FIG. 1 , this embodiment provides a robotic arm end stabilization device for craniotomy, including an L-shaped fixed connection module 1 and a shock absorption module 2 . The device is used to connect the drill-milling instrument 3 for craniotomy and the end joint of the robotic arm. Under the operation of the doctor, the manipulator is used to guide the drilling-milling instrument 3 to complete the craniotomy.

As shown in FIG. 2 , the L-shaped fixed connection module 1 includes a fixed horizontal plate 11 and a vertical connection plate 12 . The fixing horizontal plate 11 is a rectangular plate, and the rectangular plate is provided with a first fixing hole 11a and two first guiding holes 11b. The first fixing hole 11a is located at the center of the fixing horizontal plate 11, and the first guide holes 11b are symmetrically located on both sides of the first fixing hole 11a. The first fixing hole 11 a limits the position of the drilling and milling instrument 3 . One end of the vertical connecting plate 12 is connected to the fixed horizontal plate 11, and the other end is connected to the end joint of the mechanical arm.

As shown in FIG. 3 , the shock absorbing module 2 includes an upper pressing plate 23 , a lower supporting plate 21 and two shock absorbing units 22 . The upper pressing plate 23 is provided with a second fixing hole 23a and two second guiding holes 23b. The second fixing hole 23a is located in the center of the upper pressing plate 23, and the two second guiding holes 23b are symmetrically arranged on both sides of the second fixing hole 23a. The center of the lower support plate 21 is provided with a third fixing hole 21a. The drilling and milling instrument 3 passes through the first fixing hole 11a, the second fixing hole 23a and the third fixing hole 21a of the fixing horizontal plate 11 in sequence, and the drilling and milling end of the drilling and milling instrument 3 protrudes downward from the third fixing hole 21a, And the drilling and milling instrument 3 and the lower support plate 21 are fixed. Thereby, the drill-milling tool 3 can move up and down in the first fixing hole 11a and the second fixing hole 23a. Each cushioning unit 22 includes a guide rod 221 , a spring 222 and a limiting unit 223 . The limiting unit 223 is installed on one end of the guide rod 221, and the other end of the guide rod 221 passes through the first guide hole 11b and the second guide hole 23b in sequence and then is fixedly connected to the lower support plate 21. The spring 222 is sleeved outside the guide rod 221 and located at between the upper pressing plate 23 and the lower supporting plate 21 . The limiting unit 223 includes a washer 223a and an end bolt 223b. One end of the guide rod 221 is provided with a threaded inner hole 221 a .

The damping module 2 also includes an adjustment bolt 11d. The fixed horizontal plate 11 is also provided with two horizontal plate bolt holes 11c. The two transverse plate bolt holes 11c are symmetrically arranged on both sides of the first fixing hole 11a, and the adjusting bolts 11d pass through the transverse plate bolt holes 11c to contact the upper pressing plate 23 for adjusting the distance between the upper pressing plate 23 and the fixing transverse plate 11.

The shock-absorbing module 2 further includes two shaft sleeves 24, and the shaft sleeves 24 are installed in the first guide holes 11b. The shaft sleeve 24 includes a connecting plate 241 , and one end of the shaft sleeve 24 is fixed on the fixed horizontal plate 11 through the connecting plate 241 . A plurality of (at least three) guide grooves and balls are arranged in the shaft sleeve 24, the guide rod 221 is provided with grooves corresponding to the number and position of the guide grooves, and the balls are located between the guide grooves and the grooves (not shown in the figure). out). This structure constrains the freedom of movement of the guide rod 221, so that the guide rod 221 can only perform linear movement along its axis direction, but cannot perform rotational movement around the axis direction.

The working principle of this embodiment is:

As shown in FIG. 4 , during the craniotomy, the doctor holds the handle 31 of the drilling and milling instrument 3 to move the drilling and milling instrument 3 to the patient's head. The compression fit of the upper pressing plate 23 , the shock absorbing unit 22 and the lower supporting plate 21 transmits the external force to the shock absorbing module 2 . In the cushioning module 2 , the drilling and milling tool 3 drives the lower support plate 21 to move upward, thereby compressing the spring 222 . If the spring 222 is subjected to a strong external force and the elastic deformation exceeds the preset value in the stalled instability state, the lower support plate 21 further presses the spring 222, so that the drilling and milling tool 3 is buffered upward, thereby preventing the stalled instability state The drilling and milling instrument 3 causes accidental damage to the patient's cranial brain, reduces the strong effect of the cranial brain, and improves the safety of surgical operations.

The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (7)

1. A mechanical arm tail end stabilizing device for craniotomy is characterized by comprising an L-shaped fixed connection module (1) and a shock absorption module (2);

the L-shaped fixedly-connected module (1) comprises a fixed transverse plate (11) and a vertical connecting plate (12), one end of the vertical connecting plate (12) is connected with the fixed transverse plate (11), the other end of the vertical connecting plate is connected with a tail end joint of the mechanical arm, a first fixed hole (11a) and two first guide holes (11b) are formed in the fixed transverse plate (11), the first fixed hole (11a) is located in the center of the fixed transverse plate (11), and the first guide holes (11b) are symmetrically located on two sides of the first fixed hole (11 a);

the cushioning module (2) comprises a lower supporting plate (21) and two cushioning units (22), a third fixing hole (21a) is formed in the center of the lower supporting plate (21), a drilling and milling instrument (3) for craniotomy sequentially penetrates through the first fixing hole (11a) and the third fixing hole (21a), the drilling and milling end part of the drilling and milling instrument (3) extends outwards from the third fixing hole (21a), the lower supporting plate (21) is connected with a drilling and milling device (3), each shock absorption unit (22) comprises a guide rod (221), a spring (222) and a limiting unit (223), the limiting unit (223) is arranged at one end of the guide rod (221), the other end of the guide rod (221) passes through the first guide hole (11b) and then is fixedly connected with the lower supporting plate (21), the spring (222) is sleeved outside the guide rod (221) and is positioned between the fixed transverse plate (11) and the lower support plate (21);

the cushioning module (2) further comprises an upper pressing plate (23) and an adjusting bolt (11d), a second fixing hole (23a) and two second guide holes (23b) are formed in the center of the upper pressing plate (23), the second fixing hole (23a) is located in the center of the upper pressing plate (23), the two second guide holes (23b) are symmetrically formed in two sides of the second fixing hole (23a), a drilling and milling instrument (3) sequentially penetrates through the first fixing hole (11a), the second fixing hole (23a) and the third fixing hole (21a), a guide rod (221) sequentially penetrates through the first guide hole (11b) and the second guide hole (23b) and then is fixedly connected with the lower supporting plate (21), a spring (222) is located between the upper pressing plate (23) and the lower supporting plate (21), two transverse plate bolt holes (11c) are further formed in the fixing transverse plate (11), the two transverse plate bolt holes (11c) are symmetrically arranged on two sides of the first fixing hole (11a), and the adjusting bolt (11d) penetrates through the transverse plate bolt holes (11c) to contact the upper pressing plate (23) and is used for adjusting the distance between the upper pressing plate (23) and the fixed transverse plate (11).

2. The mechanical arm end stabilizing device for craniotomy according to claim 1, wherein the cushioning module (2) further comprises two shaft sleeves (24), the shaft sleeves (24) are installed in the first guide holes (11b), the shaft sleeves (24) comprise connecting plates (241), and one ends of the shaft sleeves (24) are installed on the fixed transverse plate (11) through the connecting plates (241).

3. The mechanical arm tip stabilizing device for craniotomy according to claim 2, wherein a plurality of guide grooves and balls are arranged in the shaft sleeve (24), grooves corresponding to the number and positions of the guide grooves are arranged on the guide rod (221), and the balls are arranged between the guide grooves and the grooves.

4. The mechanical arm tip stabilization device for craniotomy according to claim 3, wherein at least three guide grooves are formed in the shaft sleeve (24).

5. The mechanical arm tip stabilizing device for craniotomy according to claim 1, wherein the limiting unit (223) comprises a washer (223a) and an end bolt (223b), one end of the guide rod (221) is provided with a threaded inner hole (221a), the end bolt (223b) passes through the washer (223a) and then is connected with the threaded inner hole (221a), and the outer diameter of the washer (223a) is larger than the diameter of the guide rod (221).

6. The mechanical arm tail end stabilizing device for the craniotomy is characterized in that in the L-shaped fixing module (1), one end of the vertical connecting plate (12) is connected with a tail end joint of a mechanical arm through a flange.

7. The mechanical arm tip stabilization device for craniotomy according to claim 1, wherein the drilling and milling instrument (3) is provided with a handle (31).

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