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WO2018126607A1 - Robot de craniotomie - Google Patents

Robot de craniotomie Download PDF

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Publication number
WO2018126607A1
WO2018126607A1 PCT/CN2017/087160 CN2017087160W WO2018126607A1 WO 2018126607 A1 WO2018126607 A1 WO 2018126607A1 CN 2017087160 W CN2017087160 W CN 2017087160W WO 2018126607 A1 WO2018126607 A1 WO 2018126607A1
Authority
WO
WIPO (PCT)
Prior art keywords
craniotomy
connecting member
drill
moving mechanism
connecting rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/087160
Other languages
English (en)
Chinese (zh)
Inventor
包磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Benevolence Medical Sci & Tech Co Ltd
Original Assignee
Shenzhen Benevolence Medical Sci & Tech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Benevolence Medical Sci & Tech Co Ltd filed Critical Shenzhen Benevolence Medical Sci & Tech Co Ltd
Publication of WO2018126607A1 publication Critical patent/WO2018126607A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans

Definitions

  • the utility model relates to the technical field of medical equipment, in particular to a craniotomy robot.
  • some craniotomy tools are equipped with a clutch device to allow self-stopping, and the clutch device is disposed in the drill bit portion.
  • a clutch device to allow self-stopping
  • the clutch device is disposed in the drill bit portion.
  • such a structure causes a large diameter of the drill bit, so that the drill bit of such a structure cannot drill a diameter of 2.5. Miniature bone holes below mm.
  • the implementation of the self-stopping of the clutch device is not high in accuracy, and even in the case of spring aging, the clutch failure may occur.
  • the purpose of the utility model is to overcome the defects of the prior art and provide a craniotomy robot to solve the problem that the craniotomy tool in the prior art has difficulty in ensuring uniform drilling speed, poor reliability and precision of drilling, and difficulty in drilling. Take the microbone hole with a diameter of 2.5mm or less and the problem of poor overall reliability and stability.
  • the craniotomy robot comprises:
  • the movable mechanism being movably connected to the mount for relative to the Mounting for relative movement;
  • a cranial drill connected to the moving mechanism for performing a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism;
  • control device is disposed on the cranial drill and electrically connected to the moving mechanism and the cranial drill respectively for controlling the moving mechanism to move the cranial drill to the preset position And performing the craniotomy on the craniotomy object by controlling the cranial drill.
  • the moving mechanism includes a rotating module rotatable around a center line of the mounting seat and connected to the mounting seat, and a rotating arm disposed on the rotating module; the cranial drilling is set on On the robot arm.
  • the mechanical arm includes a first connecting member that is disposed on the rotating module, a second connecting member that is disposed on the first connecting member, and is rotatably disposed on the second connecting member
  • the third connecting member is provided on the third connecting member.
  • the first connecting member includes a first connecting rod rotatably connected to the rotating module, is disposed on the rotating module and is connected to the first connecting rod to drive the first connection The first drive source for the rotation of the rod.
  • the second connecting member includes a second connecting rod rotatably coupled to the first connecting member, disposed on the first connecting member and coupled to the second connecting rod to drive the a second driving source for rotating the second connecting rod.
  • the third connecting member includes a third connecting rod member rotatably coupled to the second connecting member, disposed on the second connecting member and coupled to the third connecting rod member to drive the A third driving source for rotating the third connecting rod.
  • the rotary module includes a rotary cylinder, and a rotary end of the rotary cylinder is coupled to the mount.
  • the cranial drill includes a box that is rotated on the robot arm, a drill fixed to the box, and is fixed to the box for cooling and cooling the bit.
  • the spray gun head is fixed to the box for cooling and cooling the bit.
  • the mounting base includes a base and a pillar connected to the base, and the moving mechanism is disposed on the pillar.
  • the diameter of the drill bit is less than 2.5 mm.
  • the technical effect of the craniotomy robot of the present invention is that since the cranial robot is fixedly disposed on the operating table through the mounting seat, when the patient needs to perform a craniotomy, the medical staff can lay the patient lying on the operation. On the stage.
  • the movement mechanism can be controlled by the control device to move the cranial drill to a desired position, and then the cranial drill is controlled by the control device to perform a craniotomy operation on the patient, the entire operation, not only It is simple and convenient, and it is beneficial to ensure the uniform drilling speed and greatly improve the reliability and precision of the drilling.
  • the micro-bone hole with the diameter of 2.5mm or less can be drilled to improve the use range of the instrument.
  • the cranial robot is automated, it is beneficial to ensure its overall reliability and stability.
  • Figure 1 is a schematic view of a craniotomy robot of the present invention
  • FIG. 2 is a schematic structural view of a rotary module, a first connecting member and a second connecting member of the cranial robot of the present invention
  • FIG 3 is a schematic structural view of a third connecting member and a cranial drill of the craniotomy robot of the present invention.
  • the craniotomy object to be applied is mainly a patient, and of course, it can also be applied to an animal craniotomy.
  • the cranial robot 100 includes a mount 10, a moving mechanism 20, a cranial drill 30, and a control device 40. The components of the cranial robot 100 are further described below:
  • the mounting seat 10 is used for positioning and mounting at a desired position, and the positioning mounting is to fix the mounting seat at a corresponding desired position.
  • the mount 10 is mainly installed beside the operating table;
  • the movable mechanism 20 is movably coupled to the mount 10 for relative movement relative to the mount 10; that is, the move mechanism is coupled to the mount and is movable relative to the mount, the movement including both rotation and Includes translational motion and compound motion with rotation and peace.
  • the moving mechanism 20 has a fixed end and a moving end, wherein the fixed end is fixedly disposed on the mounting seat 10 to position the entire moving mechanism 20, and the moving end is used for moving work, and the cranial drill is set on On the mobile side;
  • the cranial drill 30 is disposed on the moving mechanism 20 to perform a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism 20, and specifically, the cranial drill 30 is disposed on the moving end of the moving mechanism 20; The position is set in advance according to the craniotomy position of the craniotomy object.
  • the control device 40 is disposed on the cranial drill 30 and electrically connected to the moving mechanism 20 and the cranial drill 30, respectively, for controlling the moving mechanism 20 to move the cranial drill 30 to a preset position and controlling the cranial drill 30 to perform the craniotomy object.
  • the craniotomy operation wherein the preset position can be input into the control device in advance, and the cranial drill is moved to the preset position by the control movement mechanism corresponding to the control device.
  • the medical staff can lie on the operating table when the patient needs to perform a craniotomy.
  • the movement mechanism 20 can be manipulated by the control device 40 to move the cranial drill 30 to a desired position, and then the cranial drill 30 is manipulated by the control device 40 to perform a craniotomy operation on the patient.
  • the whole operation is not only simple and convenient, but also helps to ensure uniform drilling speed, greatly improve the reliability and precision of the drilling.
  • the micro-bone hole with a diameter of 2.5mm or less can be drilled to improve the instrument. The scope of use.
  • the cranial robot 100 is automated, it is advantageous to ensure its overall reliability and stability.
  • a preferred embodiment of the moving mechanism 20 of the present embodiment includes a rotating module 21 that is rotatably mounted on the mounting base 10 about a center line of the mounting base 10 and is rotatably disposed on the rotating module 21 .
  • the arm 22 generally speaking, the mount is a cylinder or a rectangular parallelepiped, and the center line is the above rule
  • the axis of symmetry of the body, the rotation module 21 is rotatable about the mount 10, and the arm 22 is rotatable about the rotation module 21.
  • the cranial drill 30 is rotated on the robot arm 22.
  • the rotation is set to mean that the cranial drill can be rotated and connected to the robot arm.
  • the cranial drill 30 can easily and effectively realize the positioning setting of the XYZ three-axis coordinate system.
  • the mechanical arm 22 includes a first connecting member 221 that is rotatably disposed on the rotating module 21, a second connecting member 222 that is disposed on the first connecting member 221, and is rotatably disposed on the second connecting member 222.
  • the third connecting member 223 is configured to rotate on the third connecting member 223. Due to the arrangement of the first connecting member 221, the second connecting member 222, and the third connecting member 223, the cranial drill 30 can be positioned more accurately at a desired position.
  • one connecting member, two connecting members or three or more connecting members may be provided according to actual conditions, and such an embodiment also belongs to the protection scope of the present embodiment.
  • the first connecting member 221 is configured to include a first connecting rod 2211 that is rotatably coupled to the rotating module 21 , and is disposed on the rotating module 21 and connected to the first connecting rod 2211 for driving.
  • the first connecting rod 2211 rotates the first driving source 2212, wherein, specifically, one end of the first connecting rod 2211 is provided with a first rotating shaft 2213, the axis of the first rotating shaft 2213 and the first connecting rod
  • the axis of the 2211 intersects perpendicularly, and the first connecting rod 2211 is rotatably coupled to the rotating module 21 through the first rotating shaft 2213. Then, the first connecting rod 2211 is rotated about the axis of the first rotating shaft 2213.
  • the first driving source 2212 can be a micro motor, and the micro motor is connected to the first rotating shaft 2213 through the first transmission gear train 2214.
  • the second connecting member 222 is preferably configured to include a second connecting rod member 2221 rotatably coupled to the first connecting member 221 , and disposed on the first connecting member 221 and coupled to the second connecting rod
  • the second driving source 2222 is connected to the second connecting rod 2221, wherein the second connecting rod 2221 is provided with a second rotating shaft 2223, and the axis of the second rotating shaft 2223 is The axis of the second connecting rod member 2221 is perpendicularly intersected, and the second connecting rod member 2221 is rotatably connected to the first connecting member 221 through the second rotating shaft 2223. Then, the second connecting rod The piece 2221 is rotated about the axis of the second rotating shaft 2223.
  • the second driving source 2222 can be a micro motor, and the micro motor is connected to the second rotating shaft 2223 via the second transmission gear train 2224.
  • the third connecting member 223 is preferably configured to include a third connecting rod member 2231 rotatably coupled to the second connecting member 222 , and is disposed on the second connecting member 222 and connected to the third connecting rod member 2231 .
  • a third driving source 2232 for driving the third connecting rod member 2231 wherein, specifically, one end of the third connecting rod member 2231 is provided with a third rotating shaft 2233, and the axis of the third rotating shaft 2233 is connected with the third The axis of the rod 2231 is perpendicularly intersected, and the third connecting rod 2231 is rotatably connected to the second connecting member 222 through the third rotating shaft 2233. Then, the third connecting rod 2231 is an axis about the third rotating shaft 2233. Turn.
  • the third driving source 2232 can be a micro motor, and the micro motor is connected to the third rotating shaft 2233 through the third transmission gear train 2234.
  • the rotating module 21 includes a rotating cylinder 211, and the rotating end of the rotating cylinder 211 is connected to the mounting base 10, In this way, the rotation of the rotary module 21 is simply and efficiently performed, and the drawing and mounting of the rotary cylinder 211 are also convenient.
  • the cranial drill 30 includes a rotation provided on the robot arm 22.
  • a fourth rotating shaft 34 is disposed on one end of the casing 31, the axis of the fourth rotating shaft 34 intersects the axis of the casing 31, and the casing 31 is connected to the third through the fourth rotating shaft 34.
  • the member 223 is rotatably connected, and then the case 31 is rotated about the axis of the fourth rotating shaft 34.
  • a fourth driving source 35 for driving the rotation of the casing 31 is disposed on the third connecting member 223.
  • the fourth driving source 35 is a micro motor that passes through the fourth transmission gear train 36 and the casing 31.
  • the fourth rotating shaft 34 is connected.
  • the mounting base 10 includes a base 11 and a strut 12 vertically connected to the base 11, and the moving mechanism 20 is moved on the strut 12.
  • the cranial robot 100 further includes a side end disposed on the moving mechanism 20 for use.
  • the display screen 50 is electrically coupled to the control device 40 for display screen 50 showing the operational data of the moving mechanism 20 and the cranial drill 30 so that the medical personnel can observe the actual situation.
  • the diameter of the drill bit is less than 2.5 mm. Since the control device 40 is disposed in the casing 31, the self-stop control is not through the mechanical mechanism. The spring return mechanism is completed so that the drill diameter can be set small so as to be suitable for the opening of the micro hole.
  • the cranial drill 30 of the cranial robot 100 on the operating table is located outside of the operating table to avoid obstructing the patient from using the operating table.
  • the medical staff needs to use the cranial robot 100 to perform a craniotomy operation on the patient's head, the patient is first placed on the operating table. At this time, the cranial drill 30 of the cranial robot 100 is located above the patient.
  • the craniotomy robot 100 is powered on.
  • the medical staff can control the rotation of the rotation module 21 by the control device 40 to rotate the cranial drill 30 along the axis of the rotation module 21 to the position above the craniotomy position of the patient;
  • the person can control the first connecting member 221, the second connecting member 222, and/or the third connecting member 223 of the robot arm 22 to rotate by the control device 40 to urge the drill bit 32 toward the patient craniotomy position.
  • the medical staff can control the operation of the drill bit 32 and the spray gun head 33 by the control die device 40 to perform a craniotomy operation on the patient.
  • the drill bit 32 will be drilled along its axial direction and gradually lean toward the patient.
  • the spray gun head 33 will simultaneously spray physiological saline to cool the lubrication bit 32, and when the drill bit 32 drills the desired hole in the patient's skull, the drill bit 32 will The patient is retracted away from the patient's head, and the spray gun head 33 simultaneously stops the discharge of physiological saline.
  • the medical staff can control the first connecting member 221, the second connecting member 222, and/or the third connecting member 223 of the robot arm 22 to rotate by the control device 40 to keep the drill bit 32 away.
  • the patient is switched to the cranial position; then, the medical staff can control the rotation of the rotary module 21 by the control device 40 to rotate the cranial drill 30 in the axial direction of the rotary module 21 to the outside of the operating table.

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

Abstract

La présente invention concerne un robot de craniotomie (100), comprenant une base de montage (10), un mécanisme de déplacement (20), un foret de crâne (30), et un dispositif de commande (40). Le mécanisme de déplacement (20) est monté mobile sur la base de montage (10). Le foret de crâne (30) est disposé au niveau du mécanisme de déplacement (20). Le dispositif de commande (40) est disposé au niveau du foret de crâne (30) et est électriquement branché au mécanisme de déplacement (20) et au foret de crâne (30). Le robot de craniotomie (100) est disposé fixe sur une table d'opération par l'intermédiaire de la base de montage (10), de sorte que lorsqu'un patient subit une opération de craniotomie, le personnel médical puisse étendre le patient sur la table d'opération. Lorsque l'opération de craniotomie est exécutée sur le patient, le dispositif de commande (40) commande au mécanisme de déplacement (20) de déplacer le foret de crâne (30) jusqu'à un emplacement requis. Ensuite, le dispositif de commande (40) commande au foret de crâne (30) d'exécuter une craniotomie sur le patient. L'opération entière est facile et peut garantir une vitesse de forage stable, améliorer significativement la fiabilité et la précision du forage. En outre, un micro-trou de forage ayant un diamètre inférieur à 2,5 mm peut être foré en fonction de la situation, élargissant la plage d'application d'un appareil.
PCT/CN2017/087160 2017-01-09 2017-06-05 Robot de craniotomie Ceased WO2018126607A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201720018027 2017-01-09
CN201720018027.2 2017-01-09

Publications (1)

Publication Number Publication Date
WO2018126607A1 true WO2018126607A1 (fr) 2018-07-12

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ID=62789147

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/087160 Ceased WO2018126607A1 (fr) 2017-01-09 2017-06-05 Robot de craniotomie

Country Status (1)

Country Link
WO (1) WO2018126607A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111745750A (zh) * 2020-06-30 2020-10-09 南京埃斯顿机器人工程有限公司 一种木板打孔机器人
CN112790816A (zh) * 2021-01-11 2021-05-14 重庆懿熙品牌策划有限公司 一种铣刀架及其医用开颅手术装置
CN112790818A (zh) * 2021-01-11 2021-05-14 重庆懿熙品牌策划有限公司 一种医用开颅手术装置
CN118436400A (zh) * 2024-07-08 2024-08-06 北京壹点灵动科技有限公司 钻骨装置和钻骨装置的位姿调节方法
CN118453119A (zh) * 2024-07-05 2024-08-09 中国科学院自动化研究所 开颅手术机器人路径规划方法、装置、设备及介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202146362U (zh) * 2010-12-30 2012-02-22 上海交通大学医学院附属第九人民医院 一种基于光学导航七自由度颅颌面手术辅助机械臂
US20120043100A1 (en) * 2009-05-08 2012-02-23 Ntn Corporation Remote-controlled work robot
CN103536364A (zh) * 2013-10-18 2014-01-29 江苏艾迪尔医疗科技股份有限公司 一种智能骨科系统
US20140316436A1 (en) * 2011-12-05 2014-10-23 Mazor Robotics Ltd. Active bed mount for surgical robot
CN205234675U (zh) * 2016-01-07 2016-05-18 河北工业大学 基于小腔体的植牙钻孔机器人
CN205493841U (zh) * 2015-12-18 2016-08-24 佛山伊贝尔科技有限公司 一种血液机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120043100A1 (en) * 2009-05-08 2012-02-23 Ntn Corporation Remote-controlled work robot
CN202146362U (zh) * 2010-12-30 2012-02-22 上海交通大学医学院附属第九人民医院 一种基于光学导航七自由度颅颌面手术辅助机械臂
US20140316436A1 (en) * 2011-12-05 2014-10-23 Mazor Robotics Ltd. Active bed mount for surgical robot
CN103536364A (zh) * 2013-10-18 2014-01-29 江苏艾迪尔医疗科技股份有限公司 一种智能骨科系统
CN205493841U (zh) * 2015-12-18 2016-08-24 佛山伊贝尔科技有限公司 一种血液机器人
CN205234675U (zh) * 2016-01-07 2016-05-18 河北工业大学 基于小腔体的植牙钻孔机器人

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111745750A (zh) * 2020-06-30 2020-10-09 南京埃斯顿机器人工程有限公司 一种木板打孔机器人
CN112790816A (zh) * 2021-01-11 2021-05-14 重庆懿熙品牌策划有限公司 一种铣刀架及其医用开颅手术装置
CN112790818A (zh) * 2021-01-11 2021-05-14 重庆懿熙品牌策划有限公司 一种医用开颅手术装置
CN118453119A (zh) * 2024-07-05 2024-08-09 中国科学院自动化研究所 开颅手术机器人路径规划方法、装置、设备及介质
CN118436400A (zh) * 2024-07-08 2024-08-06 北京壹点灵动科技有限公司 钻骨装置和钻骨装置的位姿调节方法

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