CN113288436B

CN113288436B - Bone tissue surgery system

Info

Publication number: CN113288436B
Application number: CN202110614404.XA
Authority: CN
Inventors: 王少白
Original assignee: Shanghai Zhuoxin Medical Technology Co ltd
Current assignee: Shanghai Zhuoxin Medical Technology Co ltd
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2022-10-14
Anticipated expiration: 2041-06-02
Also published as: CN113288436A

Abstract

The invention provides a bone tissue surgery system comprising a surgical robot to act on a first bone segment and a second bone segment separated by an incision; the surgical robot comprises a main control part, an implantation mechanical arm, a first implantation device and a second implantation device, wherein the implantation mechanical arm is in communication connection with the main control part; the implantation mechanical arm is provided with a clamping structure to adapt to the first implantation device and the second implantation device; the main control portion controls implant the arm centre gripping first implantation device run through and fixed connection in first bone section makes first bone section with form between the second bone section and strut the distance after, control again implant the arm centre gripping second implantation device run through and fixed connection in first implantation device, and fixed connection in second bone section for the bone section that is separated by the incision has reduced the stress when relatively fixed again, avoids influencing patient's postoperative experience.

Description

Bone tissue surgery system

Technical Field

The invention relates to the field of medical instruments, in particular to a bone tissue surgery system.

Background

Some orthopedic procedures involve the manipulation of two separate bone segments that are joined together by medical instruments for fixation purposes. For example, in the treatment of spinal stenosis, the targeted cone segments need to be cut off and then surgically treated, and the two cut-off cone segments are fixed after treatment.

Patent application publication No. CN1455656A discloses a method of expanding the spinal canal to reposition the separated vertebral cut. The method employs a graft comprising a stent, a washer, a screw and a cable, the stent is squeezed into the cutouts, the screw is inserted into the washer and the stent and squeezed into the anterior of the vertebrae for each cutout of the vertebrae, the cable is attached to the washer at each end and tied through the posterior of the vertebrae to secure the posterior of the vertebrae to the anterior of the vertebrae, thereby re-stabilizing the severed spinal canal. However, this method is complicated to operate and tends to create significant stress on the spinal canal, which can affect the post-operative experience of the patient.

Therefore, there is a need to develop a new bone tissue surgery system to solve the above-mentioned problems in the prior art.

Disclosure of Invention

The invention aims to provide a bone tissue surgery system, so that stress is reduced while bone segments separated by an incision are relatively fixed again, and the post-surgery experience of a patient is prevented from being influenced.

To achieve the above object, a bone tissue surgery system of the present invention includes a surgical robot to act on a first bone segment and a second bone segment separated by an incision; the surgical robot comprises a main control part, an implantation mechanical arm, a first implantation device and a second implantation device, wherein the implantation mechanical arm is in communication connection with the main control part; the implantation mechanical arm is provided with a clamping structure to adapt to the first implantation device and the second implantation device; the main control part controls the implantation mechanical arm to clamp the first implantation device to penetrate through and be fixedly connected with the first bone section, so that after a spreading distance is formed between the first bone section and the second bone section, the implantation mechanical arm is controlled to clamp the second implantation device to penetrate through and be fixedly connected with the first implantation device, and the second implantation device is fixedly connected with the second bone section.

The bone tissue surgery system has the beneficial effects that: the implantation mechanical arm is provided with a clamping structure to be matched with the first implantation device and the second implantation device, so that the main control part controls the implantation mechanical arm to clamp the first implantation device to run through and be fixedly connected with the first bone section to form a strutting distance between the first bone section and the second bone section, and then controls the implantation mechanical arm to clamp the second implantation device to run through and be fixedly connected with the first implantation device and the second bone section, so that the stress is reduced while the bone sections separated by the incision are relatively fixed again, and the postoperative experience of a patient is prevented from being influenced.

Preferably, the image auxiliary device is in communication connection with the main control part, and the main control part stores the distraction distance range reference data; the image auxiliary device acquires real-time position information of the first bone segment and the second bone segment and feeds the real-time position information back to the main control part; and the main control part judges whether the distraction distance accords with the distraction distance range reference data or not according to the real-time position information. The beneficial effects are that: the accuracy of the distraction distance is ensured, and stress reduction is facilitated.

Preferably, the first implantation device comprises a nut structure provided with an internal thread and a nut external thread, the second implantation device comprises a screw structure provided with an external thread, and the external thread is matched with the internal thread; the main control portion is through implant the arm control nut structure run through first bone section and warp the incision with second bone section face contact is in order to form prop open distance and fixed connection in behind the first bone section, the rethread implant the arm control screw structure warp the nut structure is put into the second bone section and through the internal thread with the adaptation of external screw thread realizes fixed connection in the second bone section. The beneficial effects are that: the distraction distance is accurately determined.

It is further preferred that the free end of the nut formation converges towards the axis of the nut formation to impart an arcuate shape to part of the outer side wall of the nut formation. The beneficial effects are that: reducing friction occurring between the nut structure and the second bone segment.

Preferably, the clamping structure of the implantation mechanical arm comprises a sleeve structure, a telescopic structure accommodated in the sleeve structure, and a lock structure movably contacted with the telescopic structure, the sleeve structure is detachably and fixedly connected with the nut structure, and the telescopic structure performs telescopic motion to push out the lock structure and the inner wall of the nut structure to be abutted. The beneficial effects are that: make the clamping structure of implanting the arm with the nut structure realizes dismantling fixed connection, is convenient for pass through the clamping structure control of implanting the arm the nut structure motion, more can accurate control, is favorable to the motion stationarity of nut structure at the implantation in-process.

Further preferably, a containing structure is arranged at the top of the nut structure, and the telescopic structure performs telescopic motion to eject at least part of the lock structure to be contained in the containing structure. The beneficial effects are that: the accommodating structure is arranged to accommodate the lock structure, so that the firmness of butt connection of the lock structure and the nut structure can be better ensured, and the clamping structure of the implanted mechanical arm and the nut structure are more favorably connected and fixed so as to facilitate subsequent operation.

Preferably, the clamping structure of the implantation mechanical arm further comprises an electromagnetic control part electrically connected with the telescopic structure, and the electromagnetic control part controls the lock structure to enter or exit the accommodating structure by controlling the telescopic structure to move towards or away from the nut structure. The beneficial effects are that: more be favorable to accurate control, and the operation is more nimble.

Preferably, the lock structure includes a plurality of ball structures relatively attached to two sides of the telescopic structure, when the electromagnetic control unit controls the telescopic structure to move toward the bottom of the nut structure, a part of the telescopic structure is accommodated in the top of the nut structure, and the ball structures enter the accommodating structure from two sides of the telescopic structure and contact with the telescopic structure to compress the telescopic structure.

Further preferably, the receiving structure is disposed along a radial direction of the nut structure. The beneficial effects are that: the clamping structure of the implantation mechanical arm and the nut structure are connected and fixed, so that subsequent operation is facilitated.

Further preferably, the receiving structure penetrates through the top of the nut structure. The beneficial effects are that: and a through structure is formed, so that the process is simple and the processing is more convenient.

Preferably, the top of the screw structure is provided with a screw accommodating structure having the same structure as the accommodating structure so as to accommodate the lock structure to realize detachable fixed connection with the sleeve structure, and the bottom of the screw structure is a pointed structure. The beneficial effects are that: make the clamping structure of implanting the arm with the fixed connection can be dismantled in the realization of screw structure, be convenient for pass through the clamping structure control of implanting the arm the screw structure motion, more can accurate control, be favorable to the screw structure is at the motion stationarity of implantation in-process.

Preferably, the surgical robot further comprises an osteotomy manipulator communicatively connected to the main control unit and holding an osteotomy device, and the main control unit controls the osteotomy manipulator to allow the osteotomy device to act on the target bone tissue to form the incision. The beneficial effects are that: ensuring the accuracy of the osteotomy process.

Further preferably, the osteotomy device includes an actuator clamped to the free end of the osteotomy arm for acting on the target bone tissue.

Further preferably, the actuator comprises an ultrasonic osteotome.

Preferably, the osteotomy mechanical arm further comprises a buffer mechanism partially sleeved on the actuating mechanism, the buffer mechanism comprises a closed cavity and a driving part penetrating through the closed cavity, the driving part divides the closed cavity into a first cavity and a second cavity, the actuating mechanism is sleeved on the driving part, the first cavity is close to the actuating end of the actuating mechanism, and the second cavity is far away from the actuating end of the actuating mechanism.

Further preferably, the buffer mechanism further comprises a force sensing part arranged on the actuator so as to obtain the pressure change condition generated by the actuator acting on the target bone tissue.

Preferably, the buffer mechanism further comprises a conduit part arranged in the closed cavity and respectively communicated with the first cavity and the second cavity, and the conduit part is provided with an on-off control part in communication connection with the force sensing part;

when the force sensing part detects that the pressure change generated by the actuating mechanism acting on the target bone tissue is that the pressure generated by the actuating mechanism acting on the target bone tissue is reduced to a minimum value within a first time length, the on-off control part closes the communication relation between the conduit part and the first cavity and the second cavity, so that the driving part generates reverse thrust in the opposite direction of the operating direction on the actuating mechanism to weaken the action of the actuating mechanism on the target bone tissue.

Further preferably, hydraulic media are contained in the first cavity and the second cavity, and when the on-off control portion communicates the conduit portion with a communication relationship between the first cavity and the second cavity, the hydraulic media are transferred between the first cavity and the second cavity through the conduit portion.

Preferably, the surgical robot further comprises a plurality of mechanical arms, the main control part is in communication connection with the mechanical arms, and the structures of the mechanical arms are the same or different. The beneficial effects are that: so that the number of robotic arms may be increased as needed to operate autonomously for implantation, osteotomy, monitoring, delivery, suturing, or other functions to perform other ancillary surgical functions such as monitoring, delivery, suturing, etc.

Drawings

FIG. 1 is a block diagram of a first bone tissue surgery system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the present invention after fixation of the interrupted pedicle using an implant device;

FIG. 3 is a block diagram of a second bone tissue surgery system in accordance with an embodiment of the present invention;

FIG. 4 is a block diagram of a third bone tissue surgery system according to an embodiment of the present invention;

FIG. 5 is a schematic illustration of a structure formed after some embodiments of the present invention have been applied to a first bone segment using a nut structure;

FIG. 6 is an enlarged schematic view of the portion A shown in FIG. 5;

FIG. 7 is a schematic view of the nut construction shown in FIG. 5;

FIG. 8 is a schematic view of the bottom of the nut structure shown in FIG. 7;

FIG. 9 is a schematic view of the clamping nut structure of an implantation robot according to some embodiments of the present invention in an operating state;

fig. 10 is an enlarged structural view of a portion B shown in fig. 9;

FIG. 11 is a schematic illustration of the structure formed after some embodiments of the present invention have been applied to the nut structure and the second bone segment using a screw structure;

FIG. 12 is a schematic view of the screw structure shown in FIG. 11;

FIG. 13 is a block diagram of a fourth bone surgery system in accordance with an embodiment of the present invention;

FIG. 14 is a schematic structural view of an osteotomy device of an embodiment of the present invention;

FIG. 15 is a cross-sectional view of a portion of the structure shown in FIG. 14;

fig. 16 is a partial structural schematic diagram of the buffer driving part shown in fig. 14.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.

The embodiment of the invention provides a bone tissue surgery system which can effectively fix a first bone segment and a second bone segment which are opposite and separated by an incision and ensure the accuracy of the distance between the two bone segments.

Specifically, the bone tissue surgery system comprises a surgical robot.

Fig. 1 is a block diagram showing a first bone tissue surgery system according to an embodiment of the present invention. FIG. 2 is a schematic representation of the present invention after fixation of the interrupted pedicle using an implant device.

Referring to fig. 1 and 2, the bone tissue surgery system 1 shown in fig. 1 includes a main control part 11, an implantation robot arm 12 communicatively connected to the main control part 11, and first and

second implantation devices

13 and 14. The first implant device 13 and the second implant device 14 form an implant device 24. The first bone segment 22 and the second bone segment 23 are separated by a cut 25.

The main control part 11 controls the implantation mechanical arm 12 to clamp the first implantation device 13 to penetrate through and be fixedly connected to the first bone segment 22, so that after an opening distance is formed between the first bone segment 22 and the second bone segment 23, the accuracy of the opening distance is ensured, the implantation mechanical arm 12 is controlled to clamp the second implantation device 14 to penetrate through and be fixedly connected to the first implantation device 13 and to be fixedly connected to the second bone segment 23.

In some embodiments of the invention, the implantation robot arm is provided with a gripping structure to fit the first and second implantation devices.

Fig. 3 is a block diagram showing the construction of a second bone tissue surgery system according to the embodiment of the present invention.

Referring to fig. 1 and 3, the bone tissue surgery system shown in fig. 3 is different from the bone tissue surgery system 1 shown in fig. 1 in that: the bone tissue surgery system shown in fig. 3 further includes a storage unit 31 communicatively connected to the main control unit 11, and the storage unit 31 stores distraction distance range reference data. The main control unit 11 calls the distraction distance range reference data from the storage unit 31 to control the distraction distance to conform to the distraction distance range reference data, so as to ensure the accuracy of the actual distraction distance.

In some embodiments of the present invention, the main control unit 11 stores the reference data of the distraction distance range, that is, the storage unit 31 is a component structure in the main control unit 11.

Fig. 4 is a block diagram showing the construction of a third bone tissue surgery system according to an embodiment of the present invention.

Referring to fig. 3 and 4, the bone tissue surgery system shown in fig. 4 is different from the bone tissue surgery system 3 shown in fig. 3 in that: the bone surgery system shown in fig. 4 further includes an image support device 41 communicatively connected to the main control unit 11.

Referring to fig. 2 and 4, the image assisting device 41 acquires real-time position information of the first bone segment 22 and the second bone segment 23 and feeds the information back to the main control unit 11; the main control part 11 judges whether the distraction distance meets the distraction distance range reference data according to the real-time position information, so that the accuracy of the distraction distance is ensured.

In some embodiments of the present invention, the image auxiliary device 41 is a C-arm X-ray machine or a CT apparatus.

In some embodiments of the invention, the first implant device comprises a nut structure.

Fig. 5 is a schematic view of a nut structure applied to a first bone segment according to some embodiments of the present invention. Fig. 6 is an enlarged structural view of the portion a shown in fig. 5.

Referring to fig. 1, 5 and 6, the main control part 11 controls the nut structure 51 to penetrate through the first bone segment 22 through the implantation robot arm 12 and to be in surface contact with the second bone segment 23 through the incision 25 to form the distraction distance and to be fixedly connected to the first bone segment 22. The bottom of the nut structure 51 is in face contact with the top of the second bone fragment 23 to control the distraction distance between the first and second bone fragments 22, 23 by controlling the depth of the nut structure 51 into the first bone fragment 22.

In some embodiments of the present invention, the distraction distance between the first bone segment 22 and the second bone segment 23 is the average of several perpendicular distances between the bottom surface of the first bone segment 22 and the top surface of the second bone segment 23.

In some embodiments of the invention, the clamping structure of the implantation mechanical arm comprises a sleeve structure, a telescopic structure accommodated in the sleeve structure, and a lock structure movably contacted with the telescopic structure, the sleeve structure is detachably and fixedly connected to the nut structure, and the telescopic structure performs telescopic motion to push out the lock structure to be abutted against the inner wall of the nut structure, so that the clamping structure of the implantation mechanical arm is detachably and fixedly connected with the nut structure, the movement of the nut structure is controlled by the clamping structure of the implantation mechanical arm, the nut structure can be controlled more accurately, and the movement stability of the nut structure in the implantation process is facilitated.

In some embodiments of the present invention, the top of the nut structure is provided with a receiving structure, the telescopic structure is telescopically moved to push out at least part of the lock structure to be received in the receiving structure, and the receiving structure is configured to receive the lock structure, so that the firmness of abutting connection between the lock structure and the nut structure can be further ensured, and the clamping structure of the implantation mechanical arm and the nut structure can be further connected and fixed, so as to facilitate subsequent operations.

In some embodiments of the present invention, the clamping structure of the implanting mechanical arm further comprises an electromagnetic control portion electrically connected to the telescopic structure, and the electromagnetic control portion controls the lock structure to enter or exit the accommodating structure by controlling the telescopic structure to move towards or away from the nut structure, so that the precise control is facilitated, and the operation is more flexible.

In some embodiments of the present invention, the lock structure includes a plurality of ball structures relatively attached to two sides of the telescopic structure, when the electromagnetic control unit controls the telescopic structure to move toward the nut structure, a part of the telescopic structure is accommodated in the top of the nut structure, and the plurality of ball structures enter the accommodating structure from two sides of the telescopic structure and contact with the telescopic structure to compress the telescopic structure.

In some embodiments of the present invention, the accommodating structure is arranged along a radial direction of the nut structure, and an inner diameter of an axial length of the accommodating structure is smaller than a maximum axial length of the lock structure, so as to ensure firmness of abutting connection between the lock structure and the nut structure, and further facilitate connection and fixation of the clamping structure of the implantation mechanical arm and the nut structure, so as to facilitate subsequent operations.

Fig. 7 is a schematic view of the nut structure shown in fig. 5. Fig. 8 is a schematic structural view of the bottom of the nut structure shown in fig. 7.

Referring to fig. 6 to 8, the outer side wall of the nut body 81 of the nut structure 51 is provided with a nut external thread 71 to facilitate the fixed connection between the nut structure 51 and the first bone segment 22 after the distraction distance is formed.

The inner side wall of the nut structure 51 is provided with an internal thread 72 to fit the second implant device.

The nut structure 51 is provided with a receiving structure 73 at the top to fit the implantation robot arm 12.

The free end of the nut structure 51 converges towards the axis of the nut structure (not shown) to provide a curved outer side wall portion of the nut structure 51, reducing the frictional interaction between the nut structure 51 and the second bone segment 23.

Specifically, the bottom of the nut body 81 includes a boss 82, the outer diameter of the boss 82 is smaller than the outer diameter of the nut body 81, and a rounded structure 83 is provided at the free end edge of the boss 82, so that part of the outer side wall of the nut structure 51 is arc-shaped.

In some embodiments of the present invention, the height of the boss 82 is the distraction distance.

Fig. 9 is a schematic view of the operation of the clamping nut structure of the implantation robot according to some embodiments of the present invention. Fig. 10 is an enlarged schematic view of a portion B shown in fig. 9.

Referring to fig. 9 and 10, the implantation mechanical arm 12 is a six-axis mechanical arm, the clamping structure of the implantation mechanical arm 12 includes a sleeve structure 101, a telescopic structure 103 accommodated in the sleeve structure, and a lock structure 102 in movable contact with the telescopic structure 103, the sleeve structure 101 is in clearance fit with the cavity of the nut structure 51, that is, the sleeve structure 101 can be movably inserted into the cavity of the nut structure 51, and the top of the nut structure 51 is provided with the accommodating structure 73. The telescopic structure 103 is electrically connected to the electromagnetic control unit 105.

Further, referring to fig. 10, the receiving structure 73 is disposed along a radial direction of the nut structure 51. Specifically, the inner diameter of the receiving structure 73 is smaller than the diameter of the ball structure 102.

In some embodiments of the present invention, the telescopic structure 103 and the electromagnetic control part 105 form an electromagnetic latch.

Specifically, the electromagnetic control unit 105 stores the telescopic structure 103 in the sleeve structure 101 without being energized, and the two ball structures 102 are attracted to the bottom of the sleeve structure 101.

When the nut structure 51 needs to be clamped, the bottom of the sleeve structure 101 is accommodated at the top of the nut structure 51; after the electromagnetic control part 105 is powered on, the telescopic structure 103 extends out of the bottom of the sleeve structure 101 and moves towards the bottom of the nut structure 51 under the action of electromagnetic attraction; since the inner diameter of the receiving channel 73 is smaller than the diameter of the ball structure 102, after one part of the two ball structures 102 is pressed into the receiving structure 73, the other part clamps the telescopic structure 103 from two opposite sides of the telescopic structure 103, thereby clamping and fixing the nut structure 51.

In some embodiments of the invention, the accommodating structure penetrates through the top of the nut structure, so that a penetrating structure is formed, the process is simple, and the processing is more convenient.

In some embodiments of the present invention, the second implant device 14 includes a screw structure.

Fig. 11 is a schematic view of a screw construct applied to a nut construct and a second bone segment in accordance with some embodiments of the present invention. Fig. 12 is a schematic view of the screw structure shown in fig. 11.

Referring to fig. 1 and 11, after the nut structure 51 is implanted into the first bone segment 22, the screw structure 111 is controlled by the implantation robot 12 to be placed into the second bone segment 23 through the nut structure 51. The screw structure 111 has an external thread 121 to fit an internal thread (not shown) of the nut structure 51; the bottom of the screw structure 111 is a pointed structure 123, so as to be smoothly screwed into the second bone segment 23, and the external thread 121 enables the screw structure 111 to be fixedly connected to the second bone segment 23 and also fixedly connected to the nut structure 51, so as to fix the first bone segment 22 and the second bone segment 23.

In some embodiments of the present invention, referring to fig. 12, the top of the screw structure 111 is provided with a screw receiving structure 122 having the same receiving structure, so as to receive the lock structure to achieve detachable and fixed connection with the sleeve structure, so that the clamping structure of the implantation mechanical arm and the screw structure achieve detachable and fixed connection, and the movement of the screw structure is controlled by the clamping structure of the implantation mechanical arm, which is more precise in control, and is beneficial to the movement stability of the screw structure in the implantation process.

Fig. 13 is a block diagram showing the construction of a fourth bone surgery system according to an embodiment of the present invention.

Referring to fig. 1, 2 and 13, the difference from the bone tissue surgery system 1 shown in fig. 1 is that: the bone tissue surgery system shown in fig. 13 further includes an osteotomy robot 131 communicatively connected to the main control unit 11 and holding an osteotomy device 132, wherein the main control unit 11 controls the osteotomy robot 131 to make the osteotomy device 132 act on the target bone tissue 21 to form the incision 25.

In some embodiments of the present invention, the osteotomy device 132 includes an actuator for clamping the free end of the osteotomy arm 131 and acting on the target bone tissue 21.

In some embodiments of the invention, the actuator comprises an ultrasonic osteotome.

Fig. 14 is a schematic structural view of an osteotomy device according to an embodiment of the present invention. Fig. 15 is a sectional view of a portion of the structure shown in fig. 14.

Referring to fig. 14 and 15, the osteotomy device of fig. 14 includes an actuator 141 and a buffering mechanism (not shown), wherein the buffering mechanism (not shown) is partially sleeved on the actuator 141. The buffer structure (not shown) is composed of a force sensing portion 142 and a buffer driving portion 145, and the buffer driving portion 145 is fixed to the actuator 141 in a sleeved manner. The force sensor 142 is provided in the actuator 141.

In some embodiments of the present invention, the buffer mechanism acts on the actuator 141 according to the detected pressure change generated by the actuator 141 acting on the target bone tissue.

In some specific embodiments, the pressure stabilization condition is that the pressure value is kept constant within a certain time period or within a certain pressure control range, which indicates that the actuator 141 is continuously and stably acting on the target bone tissue, and the buffer driving portion 145 is sleeved and fixed on the actuator 141, and can follow the movement of the actuator 141, i.e., the movement along the direction a shown in fig. 15, to stabilize the action on the target bone tissue (not shown).

In some embodiments, the sudden pressure drop condition is that the pressure applied to the target bone tissue by the actuator 141 is reduced to a minimum value within a first time period, i.e., the pressure applied to the target bone tissue at the moment when the actuator 141 cuts off the target bone tissue is attenuated to zero or close to zero, which requires a reverse thrust of the actuator 141 by the buffer driving portion 145 to reduce the risk of damaging nerves and blood vessels.

In some embodiments, the minimum value is 0 and the first duration is no more than 0.1 seconds.

Fig. 16 is a partial structural schematic view of the buffer driving unit shown in fig. 14.

Referring to fig. 14 and 16, the buffer driving unit 145 includes a sealed cavity 162 and a driving unit 161 penetrating the sealed cavity 162, the driving unit 161 divides the sealed cavity 162 into a first cavity 163 and a second cavity 164, the first cavity 163 is close to the actuating end 143 of the actuator 141, and the second cavity 164 is far from the actuating end 143 of the actuator 141.

Referring to fig. 14, 15 and 16, the buffer driving unit 145 further includes a conduit 153 and an on-off control unit (not shown) disposed on the conduit 153 and communicatively connected to the force sensing unit 142, the on-off control unit (not shown) is composed of a communicatively connected control unit (not shown) and a switch unit 154, and the control unit (not shown) is communicatively connected to the force sensing unit 142.

In some embodiments, the control unit (not shown) is a computer control system.

In some embodiments, the switch 154 is a solenoid valve.

In some specific embodiments, the force sensing portion 142 is a force sensor.

When the force sensing part 142 detects that the pressure change generated by the actuator 141 acting on the target bone tissue is reduced to a minimum value within a first time period, the control part controls the switch part 154 to close the communication relationship between the conduit part 153 and the first cavity 163 and the second cavity 164, so that the driving part 161 generates a reverse thrust in a direction opposite to the operation direction on the actuator 141 to weaken the action of the actuator 141 on the target bone tissue.

In some embodiments, the first cavity 163 and the second cavity 164 each contain a hydraulic medium, and when the switch portion 154 communicates the conduit portion 153 with the communication relationship between the first cavity 163 and the second cavity 164, the hydraulic medium is transferred between the first cavity 163 and the second cavity 164 through the conduit portion 153.

In some specific embodiments, the hydraulic medium is hydraulic oil.

In some specific embodiments, when the force sensing portion 142 detects that the pressure change condition generated by the actuator 141 acting on the target bone tissue is a pressure stabilization condition, the buffer driving portion 145 moves along the operating direction along with the actuator 141 to increase the volume in the second cavity 164 while compressing the volume in the first cavity 163, and the volume in the first cavity 163 is compressed, so that the hydraulic medium therein flows into the second cavity 164 through the conduit portion 153 to further compress the volume in the first cavity 163, thereby assisting the actuator 141 to further move along the operating direction to act on the target bone tissue.

In some specific embodiments, when the force sensing portion 142 detects and feeds back to the control portion that the pressure change generated by the actuator 141 acting on the target bone tissue is reduced to a minimum value within a first time period, the control portion controls the switch portion 154 to close the communication relationship between the conduit pipe portion 153 and the first cavity 163 and the second cavity 164, so that the hydraulic medium between the first cavity 163 and the second cavity 164 cannot be transferred to each other.

Since the pressure generated by the actuator 141 acting on the target bone tissue is reduced to a minimum value in the first time period, the hydraulic medium flows into the second cavity 164 through the conduit part 153 to further compress the volume in the first cavity 163, and at the moment that the hydraulic medium between the first cavity 163 and the second cavity 164 cannot be transferred to each other, the pressure in the first cavity 163 is greater than the pressure in the second cavity 164, so that a reverse thrust in the reverse direction of the operation direction is generated on the driving part 161, and the actuator 141 is pushed to move in the reverse direction of the operation direction or the actuator 141 is stopped, so as to weaken the action of the actuator 141 on the target bone tissue.

In some embodiments, referring to fig. 16, the driving portion 161 includes a partition 167, and an outer side wall of the partition 167 fits an inner side wall of the sealed cavity 162 to move relative to the sealed cavity 162 and partition the sealed cavity 162 to form the first cavity 163 and the second cavity 164.

In some embodiments, the driving portion 161 further comprises a hollow shaft portion penetrating and fixedly connected to the partition portion 167, and penetrating and movably connected to the sealed cavity 162.

In some embodiments of the present invention, a sealing structure is disposed at a joint and a fitting position of the driving portion 161 and the sealed cavity 162.

Specifically, referring to fig. 16, a first sealing structure 166 is disposed at a joint of the driving portion 161 and the sealed cavity 162 to enhance a sealing effect of the sealed cavity 162. The outer side wall of the partition 167 is provided with a second sealing structure 165 to further enhance the respective sealing effects of the first cavity 163 and the second cavity 164 while adhering to the sealed cavity 162.

In some embodiments of the present invention, the first sealing structure 166 and the second sealing structure 165 are both sealing rings.

In some embodiments of the present invention, the surgical robot further includes a plurality of mechanical arms, the main control part is communicatively connected to the mechanical arms, and the structures of the plurality of mechanical arms are the same or different, so that the number of the mechanical arms can be increased according to the requirements of implantation, osteotomy, monitoring, delivery, suturing, or other functional operations, so as to implement other auxiliary surgical functions such as monitoring, delivery, suturing, and the like.

Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.

Claims

1. A bone tissue surgery system comprising a surgical robot to act on first and second bone segments separated by an incision;

the surgical robot comprises a main control part, an implantation mechanical arm, a first implantation device and a second implantation device, wherein the implantation mechanical arm is in communication connection with the main control part;

the implantation mechanical arm is provided with a clamping structure to adapt to the first implantation device and the second implantation device;

the main control part controls the implantation mechanical arm to clamp the first implantation device to penetrate through and be fixedly connected to the first bone section, so that after a spreading distance is formed between the first bone section and the second bone section, the main control part controls the implantation mechanical arm to clamp the second implantation device to penetrate through and be fixedly connected to the first implantation device, and the second implantation device is fixedly connected to the second bone section;

the image auxiliary device is in communication connection with the main control part, and the main control part stores the reference data of the distraction distance range;

the image auxiliary device acquires real-time position information of the first bone segment and the second bone segment and feeds the real-time position information back to the main control part;

and the main control part judges whether the distraction distance accords with the distraction distance range reference data or not according to the real-time position information.

2. The bone tissue surgery system according to claim 1, wherein the first implant device comprises a nut structure provided with an internal thread and an external nut thread, and the second implant device comprises a screw structure provided with an external thread, the external thread fitting with the internal thread;

the main control portion passes through implant arm control the nut structure runs through first bone section and warp the incision with second bone section face contact is in order to form prop open distance and fixed connection in behind the first bone section, the rethread implant arm control the screw structure warp the nut structure is put into the second bone section and through the internal thread with the adaptation of external screw thread realizes fixed connection in the second bone section.

3. A bone tissue surgical system according to claim 2, wherein the free end of the nut structure converges towards the axis of the nut structure to impart an arcuate shape to a portion of the outer sidewall of the nut structure.

4. The bone tissue surgery system according to claim 2, wherein the clamping structure of the implantation robot arm comprises a sleeve structure, a telescopic structure accommodated in the sleeve structure, and a lock structure in movable contact with the telescopic structure, the sleeve structure is detachably and fixedly connected to the nut structure, and the telescopic structure is telescopically moved to eject the lock structure to abut against the inner wall of the nut structure.

5. A bone surgery system according to claim 4, wherein a receiving structure is provided at the top of the nut structure, and the telescopic structure is telescopically moved to eject at least part of the lock structure to be received in the receiving structure.

6. The bone tissue surgery system according to claim 5, characterized in that said gripping structure of the implantation robotized arm further comprises an electromagnetic control portion electrically connected with said telescopic structure, said electromagnetic control portion controlling the entry or exit of said locking structure into or out of said housing structure by controlling the movement of said telescopic structure towards or away from said nut structure.

7. The bone tissue surgical system of claim 6, wherein the lock structure includes a plurality of ball structures attached to opposite sides of the telescoping structure;

when the electromagnetic control part controls the telescopic structure to move towards the bottom of the nut structure, one part of the telescopic structure is accommodated at the top of the nut structure, and the plurality of ball structures enter the accommodating structure from two sides of the telescopic structure and are in contact with the telescopic structure so as to compress the telescopic structure.

8. Bone tissue surgery system according to claim 7, characterized in that the receiving structure is arranged in a radial direction of the nut structure.

9. The bone tissue surgical system of claim 8, wherein the receiving structure extends through a top portion of the nut structure.

10. The bone tissue surgery system according to claim 5, wherein a screw receiving structure having the same structure as the receiving structure is arranged at the top of the screw structure to receive the lock structure so as to be detachably and fixedly connected with the sleeve structure, and a pointed structure is arranged at the bottom of the screw structure.

11. The bone tissue surgery system according to claim 1, wherein the surgical robot further includes an osteotomy robot arm communicatively connected to the main control unit and holding an osteotomy device, the main control unit controlling the osteotomy robot arm to cause the osteotomy device to act on the target bone tissue to form the incision.

12. The bone tissue surgery system of claim 11, wherein the osteotomy device includes an actuator clamped to a free end of the osteotomy arm to act on the target bone tissue.

13. The bone tissue surgical system of claim 12, wherein the actuator comprises an ultrasonic osteotome.

14. The bone tissue surgery system according to claim 12, wherein the osteotomy arm further comprises a buffer mechanism partially disposed on the actuator, the buffer mechanism comprises a sealed cavity and a driving portion penetrating through the sealed cavity, the driving portion divides the sealed cavity into a first cavity and a second cavity, the actuator is disposed on the driving portion, the first cavity is close to the actuating end of the actuator, and the second cavity is far away from the actuating end of the actuator.

15. The bone tissue surgery system according to claim 14, wherein the damping mechanism further includes a force sensor disposed on the actuator to sense a change in pressure applied to the target bone tissue by the actuator.

16. The bone tissue surgery system according to claim 15, wherein the buffer mechanism further comprises a conduit portion disposed in the closed cavity and respectively communicating with the first cavity and the second cavity, the conduit portion being provided with an on-off control portion communicatively connected to the force sensing portion;

when the force sensing part detects that the pressure change generated by the actuating mechanism acting on the target bone tissue is that the pressure generated by the actuating mechanism acting on the target bone tissue is reduced to a minimum value within a first time length, the on-off control part closes the communication relation between the catheter part and the first cavity and the second cavity, so that the driving part generates reverse thrust in the opposite direction of the operating direction on the actuating mechanism to weaken the action of the actuating mechanism on the target bone tissue.

17. The bone tissue surgery system according to claim 16, wherein a hydraulic medium is contained in each of the first and second cavities, and when the on-off control portion communicates the communication relationship between the conduit portion and the first and second cavities, the hydraulic medium is transferred between the first and second cavities through the conduit portion.

18. The bone tissue surgery system according to claim 1 or 11, wherein the surgical robot further comprises a plurality of robot arms, the main control part is communicatively connected with the robot arms, and the plurality of robot arms have the same or different structures.