GB2616555A

GB2616555A - Laser apparatus for orthopedic surgery and using method

Info

Publication number: GB2616555A
Application number: GB2308866.9A
Authority: GB
Inventors: Deng Yuan; Wang He; Zhao Weiyun; Li Qingfeng; Zhang Hongwei; Hua Xiaoshe
Original assignee: Hangzhou Innovation Research Institute of Beihang University
Current assignee: Hangzhou Innovation Research Institute of Beihang University
Priority date: 2021-05-19
Filing date: 2021-12-20
Publication date: 2023-09-13
Also published as: WO2022242161A1; GB202308866D0; CN113231751A; CN113231751B

Abstract

A laser apparatus for orthopedic surgery, comprising a combined action unit (1), a laser unit (2), an ultrasound and ranging unit (3), a fastening nail implantation unit (4), a negative pressure air extraction and dust removal unit (5), and a cool air unit (6), and further comprising three telescopic mechanisms (9). The laser apparatus has a good purification effect, a good cooling effect, and a wider application range. The present invention also relates to a using method for the laser apparatus for orthopedic surgery, comprising alignment of the apparatus with a part to be drilled, basic setting and fixation of the apparatus, laser parameter setting, laser drilling, ultrasound and ranging and negative pressure cleaning, and fastening nail implantation.

Description

LASER DEVICE FOR ORTHOPEDIC SURGERY AND USE METHOD

TECHNICAL FIELD

100011 The present disclosure relates to the technical field of medical devices, in particular to a laser device for orthopedic surgery and a use method

BACKGROUND

100021 For femoral neck fracture and intertrochanteric fracture, it is necessary to drill a circular hole with a diameter of 2.5 mm to 10 mm and a depth of 70 mm to 110 mm at the fracture site to implant a fastening nail for fixation. At present, mechanical drilling is mainly used in common orthopedic surgery, and drilling for the fracture site is convenient for fixing the fracture site. However, in the process of drilling, it is necessary to accurately control the direction and depth to avoid damaging important organs and tissues, which requires extremely high operating experience of the medical staff In order to solve this problem, there are laser devices for orthopedics in the existing market. Using lasers to drill holes instead of traditional physical methods for orthopedic surgery can solve the problems of low accuracy and efficiency, difficult control of the drilling depth, long operation time and high degree of pain of patients during the surgery.

100031 The existing laser device for orthopedics blows the compressed air in a blowing device into the processing hole through an air tube and a rotary cutting head in the laser drilling process, blows out the smoke, residue and water vapor generated by drilling, takes away excess heat at the same time, and absorbs the blown smoke, residue and water vapor through a smoke absorption device after the blowing.

100041 The applicant finds that the prior art has at least the following technical problems.

100051 1. The existing laser device uses a blowing and absorbing method to remove smoke, residue and water vapor generated during drilling. This method is carried out in an open environment. The air outlet and the suction end are far away from the skin, so that the effect cannot reach the hole effectively, and the cleaning effect of air extraction is limited. Moreover, the existing laser device only uses compressed air to blow out heat, which has the problems of a poor cooling effect and then-nal damage. Moreover, due to the poor cooling effect, the laser for orthopedic surgery has a limited wavelength range. Only the laser device with low energy and low heat can be used, which has a great limitation. 2. The existing laser device uses a femtosecond laser, which is expensive. Moreover, due to the low pulse energy, there are many inconveniences in practical use. The existing laser device is not suitable for orthopedic drilling surgery at all. 3. The existing laser device directly cuts the skin and tissues and drills holes in the bones by using the laser without taking into account the softness of the skin, fat and muscle tissues, which will lead to unnecessary soft tissue injury. All operations are non-contact and carried out in an open environment. The tissues around the incision are exposed, which is vulnerable to pollution.

SUMMARY

[0006] The present disclosure aims to provide a laser device for orthopedic surgery and a use method, so as to solve the technical problems of a complex structure, complicated steps, a poor heat dissipation effect, and a poor cleaning effect of the laser device for orthopedic surgery in the prior art.

[0007] In order to achieve the above objective, the present disclosure provides the following technical scheme.

100081 The present disclosure provides a laser device for orthopedic surgery, comprising a combined action unit, a laser unit, an ultrasonic and ranging unit, a fastening nail implanting unit, a negative pressure air extracting and dust removing unit and an air conditioning unit, wherein. 100091 the combined action unit is inserted at an incision to form independent spaces inside and outside the incision, and the tail end of the combined action unit abuts against a bone to be drilled; 100101 the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit are movably connected with a supporting structure through a switching mechanism, so that any one of the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit is coaxial with the combined action unit; 100111 the negative pressure air extracting and dust removing unit and the air conditioning unit are both connected with the combined action unit, so as to complete the negative pressure dust removal and the cooling at the drilled part.

100121 As a further improvement of the present disclosure, the laser device for orthopedic surgery further comprises three telescopic mechanisms, wherein the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit are connected with the switching mechanism through one of the telescopic mechanisms, respectively.

[0013] As a further improvement of the present disclosure, the combined action unit comprises an adapter tube, a central tube and a contact head which are connected in sequence, and further comprises a cannula sleeved outside the central tube with a gap, wherein the adapter tube is connected with the supporting structure, an air inlet is obliquely provided on the adapter tube, the air conditioning unit is connected with the air inlet to convey cold air into an inner cavity of the adapter tube through the air inlet; the gap between the central tube and the cannula forms an air extracting path, the negative pressure air extracting and dust removing unit is connected to the air extracting path; the cannula and the contact head are made of silica gel materials, and the center tube and the adapter tube are made of metal materials.

[0014] As a further improvement of the present disclosure, the supporting structure comprises a mechanical arm and a shell fixed at the front end of the mechanical arm, the switching mechanism is fixed at the tail end of the mechanical arm, the combined action unit is fixed at the front end of the shell, a window is provided at the position of the shell corresponding to the combined action unit, and the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit are all located in the shell.

100151 As a further improvement of the present disclosure, the laser unit comprises a laser resonator assembly, a laser power supply, a cooling water device, an optical path system, a light spot focus adjusting component and an galvanometer component, and the size of the focused light spot output by the laser unit is 0.2 mm to 5 mm; the wavelength of the laser is 2000 nm to 2940 nm; the single pulse energy of the laser is 100 mJ to 4000 ml, the laser output pulse width is 100 is to 600 ifs, the laser output frequency is 1 Hz to 50 Hz, and the focusing state of the laser is -5 mm to 0 mm.

[0016] As a further improvement of the present disclosure, the air conditioning unit comprises a compressed air source, a first stage filtering device, a refrigerating device, an atomizing device and a mixed liquid cavity.

[0017] As a further improvement of the present disclosure, the negative pressure air extracting and dust removing unit comprises a diaphragm pump and a second stage filtering device.

[0018] The present disclosure provides a use method of applying the laser device for orthopedic surgery for orthopedic drilling, comprising the following steps: 100191 Step A, aligning a combined action unit and a laser unit in the laser device for orthopedic surgery with a part to be drilled; [0020] Step B, according to drilling parameters and parameters of a part to be drilled, carrying out the basic setting of the laser device for orthopedic surgery, and fixing the laser device for orthopedic surgery at the part to be drilled; [0021] Step C, setting parameters of the laser in the laser unit, comprising two sets of parameters, one of which is the drilling parameters of a cancellous layer and the other of which is the drilling parameters of a cortical layer; 100221 Step D, carrying out laser drilling, and stopping when the set drilling depth is reached, [0023] Step E, accurately ranging by using an ultrasonic and ranging unit, completing drilling depth correction by alternating ranging and laser drilling, cleaning attached debris by using ultrasonic vibration of a probe in the ultrasonic and ranging unit, and cleaning the wound by using a negative pressure air extracting and dust removing unit; [0024] Step F, after drilling is completed, implanting fastening nails by using a fastening nail implanting unit [0025] As a further improvement of the present disclosure, in step A, corresponding coordinate parameters are directly input according to a medical image at the drilled part, and the movement of the supporting structure is controlled to align the laser unit with the drilled part.

[0026] As a further improvement of the present disclosure, wherein in step B, the basic setting comprises replacing combined action units with different lengths, making customized silica gel contact heads, replacing a combined part of a collimating lens and a focusing lens at the output end of the laser, and adjusting the size of the focused light spot output by the laser.

[0027] Compared with the prior art, the present disclosure has the following beneficial effects [0028] According to the laser device for orthopedic surgery provided by the present disclosure, the air extraction and the dust removal of the drilled part are carried out in a negative pressure suction method. In this way, not only the purification effect is good, but also impurities, debris and the like are not blown away. Independent spaces are formed inside and outside the incision by the combined action unit. At the same time, the drilling, ranging, air extraction and other actions are carried out in a closed environment, so that the purification effect is further improved. The cooling effect is good because cold air is blown when the air conditioning unit cools while the laser drills. A high-power laser can be used, and the application range is wider. In the present disclosure, air blowing is carried out in the tube, and air extraction is carried out in the cracks of the tube. The overall air extraction and air blowing is circulated in the tube without exposing the tissues around the incision. As the cannula is made of silica gel material, the thermal-conductivity of the cannula is low, and the tissues around the incision will not be frostbitten. The laser device for orthopedic surgery provided by the present disclosure only needs to control the mechanical arm to adjust the angle of the combined action unit after determining the drilling position and angleby medical images, and the positioning mode is to use a mechanical arm for positioning. In the present disclosure, after the combined action unit is inserted into the incision and then is firmly adhered to the bone surface, the focusing is automatically completed (because the distance is determined). There is no need for the process of adjusting the focal length or for a series of ranging devices. The structure is simple, and it is convenient to operate. According to the present disclosure, a replaceable focusing lens component is used to realize focused light spots with different sizes, and holes with target sizes can be directly processed. According to the present disclosure, in the drilling process, first, parameters are switched to drill holes for bone layers with different densities, and then a probe is used for accurate ranging after processing. The present disclosure also integrates the function of implanting a fastening nail, which greatly enriches the functions of a laser drilling device.

[0029] The laser device for orthopedic surgery provided by the present disclosure is an embodiment in which a laser is applied in orthopedic surgery, which can inhibit the thermal damage in the process of the laser acting on bone tissues and clean the debris generated in the process of laser action. Using a surgical robot to hold a laser scalpel instead of a traditional mechanical scalpel for drilling and other operations can effectively improve the accuracy and efficiency of orthopedic surgery, relieve the fatigue of doctors and reduce the pain of patients.

BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to explain the embodiments of the present disclosure or the technical schemes in the prior art more clearly, the drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced hereinafter. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

[0031] FIG. 1 is a diagram of the working method of a laser device for orthopedic surgery according to the present disclosure when in use.

[0032] FIG. 2 is a diagram of the working principle of a laser device for orthopedic surgery according to the present disclosure when in use.

[0033] FIG. 3 is a schematic structural diagram of a combined action unit in a laser device for orthopedic surgery according to the present disclosure when it is located at the incision.

[0034] FIG. 4 is a photomicrograph of the effect of an experimental prototype of a laser device for orthopedic surgery on bone tissues.

[0035] In the figures, 1. Combined action unit; 11. Adapter tube; 12. Central tube; 13. Contact head; 14. Cannula; 15. Air inlet; 16. Air extracting path; 2. Laser unit; 3. Ultrasonic and ranging unit; 4. Fastening nail implanting unit; 5. Negative pressure air extracting and dust removing unit; 6. Air conditioning unit; 7. Switching mechanism; 8. Supporting structure; 81. Mechanical arm; 82. Shell; 9. Telescopic mechanism; 101. Tissues around the incision; 102. bone tissues.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] In order to make the object, technical scheme and advantages of the present disclosure clearer, the technical scheme of the present disclosure will be described in detail hereinafter. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiment of the present disclosure, all other embodiments obtained by those skilled in the art without any creative effort belong to the scope of protection of the present disclosure.

[0037] Embodiment I: [0038] As shown in FIG. 1, the present disclosure provides a laser device for orthopedic surgery, comprising a combined action unit 1, a laser unit 2, an ultrasonic and ranging unit 3, a fastening nail implanting unit 4, a negative pressure air extracting and dust removing unit 5 and an air conditioning unit 6, wherein: [0039] the combined action unit I is inserted at an incision to form independent spaces inside and outside the incision, that is, to form a closed structure inside the incision, and after the combined action unit I is inserted, the tail end abuts against a bone to be drilled.

[0040] As shown in FIG. 3, the laser unit 2, the ultrasonic and ranging unit 3 and the fastening nail implanting unit 4 are movably connected with a supporting structure 8 through a switching mechanism 7, so that any one of the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit is coaxial with the combined action unit 1. When different units directly face the combined action unit 1, the functions of the unit can be completed. For example, laser drilling is carried out when the laser unit 2 directly faces the combined action unit 1. Ranging or ultrasonic vibration for debris is carried out when the ultrasonic and ranging unit 3 directly faces the combined action unit I. Fastening nails are implanted when the fastening nail implanting unit 4 directly faces the combined action unit 1.

[0041] It should be noted here that the laser unit 2, the ultrasonic and ranging unit 3 and the fastening nail implanting unit 4 are all realized by products in the prior art, and the specific structures will not be described in detail here.

[0042] As shown in FIG. 2, the negative pressure air extracting and dust removing unit 5 and the air conditioning unit 6 are both connected with the combined action unit 1, so as to complete the negative pressure dust removal and the cooling at the drilled part. It should be noted here that the cold air of the air conditioning unit 6 and the laser of the laser unit 2 enter the incision together through the combined action unit 1 and reach the bone to be drilled Colling is carried out during laser drilling.

[0043] According to the laser device for orthopedic surgery provided by the present disclosure, the air extraction and the dust removal of the drilled part are carried out in a negative pressure suction method. In this way, not only the purification effect is good, but also impurities, debris and the like are not blown away. Independent spaces are formed inside and outside the incision by the combined action unit. The drilling, ranging, air extraction and other actions are carried out in a closed environment, so that the cleaning effect is further improved. The cooling effect is good because cold air is blown when the air conditioning unit cools while the laser drills. A high-power laser can be used, and the application range is wider. In the present disclosure, air blowing is carried out in the tube, and air extraction is carried out in the cracks of the tube. The overall air extraction and air blowing is circulated in the tube without exposing the tissues around the incision. As the cannula is made of silica gel material, the thermal-conductivity of the cannula is low, and the tissues around the incision will not be frostbitten.

[0044] As shown in FIG. 4, after the device of the present disclosure acts on the bone tissues, the acting surface is smooth and clean, there is slight thermal damage on the surface, there is no thermal damage or frostbite on the bone tissues around the incision, and no bone ashes are generated in the acting process; the incision is made in the state of a fixed focus, the length of the incision is 10 mm, the depth is 2.5 mm, the action time is only 30 seconds, and the processing efficiency is extremely high.

[0045] Embodiment 2: 100461 As shown in FIG. 1, the present disclosure provides a laser device for orthopedic surgery, comprising a combined action unit 1, a laser unit 2, an ultrasonic and ranging unit 3, a fastening nail implanting unit 4, a negative pressure air extracting and dust removing unit 5 and an air conditioning unit 6, wherein: 100471 the combined action unit 1 is inserted at an incision to form independent spaces inside and outside the incision, that is, to form a closed structure inside the incision, and after the combined action unit 1 is inserted, the tail end abuts against a bone to be drilled.

[0048] As shown in FIG. 3, the laser unit 2, the ultrasonic and ranging unit 3 and the fastening nail implanting unit 4 are movably connected with a supporting structure 8 through a switching mechanism 7, so that any one of the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit is coaxial with the combined action unit 1. When different units directly face the combined action unit 1, the functions of the unit can be completed. For example, laser drilling is carried out when the laser unit 2 directly faces the combined action unit 1. Ranging or ultrasonic vibration for debris is carried out when the ultrasonic and ranging unit 3 directly faces the combined action unit I. Fastening nails are implanted when the fastening nail implanting unit 4 directly faces the combined action unit 1.

100491 It should be noted here that the laser unit 2, the ultrasonic and ranging unit 3 and the fastening nail implanting unit 4 are all realized by products in the prior art, and the specific structures will not be described in detail here.

[0050] As shown in FIG. 2, the negative pressure air extracting and dust removing unit 5 and the air conditioning unit 6 are both connected with the combined action unit 1, so as to complete the negative pressure dust removal and the cooling at the drilled part. It should be noted here that the cold air of the air conditioning unit 6 and the laser of the laser unit 2 enter the incision together through the combined action unit 1 and reach the bone to be drilled. The surrounding bone tissues are cooled and protected during laser drilling.

[0051] According to the laser device for orthopedic surgery provided by the present disclosure, the air extraction and the dust removal of the drilled part are carried out in a negative pressure suction method. In this way, not only the purification effect is good, but also impurities, debris and the like are not blown away. Independent spaces are formed inside and outside the incision by the combined action unit. The drilling, ranging, air extraction and other actions are carried out in a closed environment, so that the purification effect is further improved. The cooling effect is good because cold air is blown when the air conditioning unit cools while the laser drills. A high-power laser can be used, and the application range is wider. In the present disclosure, air blowing is carried out in the tube, and air extraction is carried out in the cracks of the tube. The overall air extraction and air blowing is circulated in the tube without exposing the tissues around the incision. As the cannula is made of silica gel material, the thermal-conductivity of the cannula is low, and the tissues around the incision will not be frostbitten.

100521 Further, in this embodiment, the laser device for orthopedic surgery further comprises three telescopic mechanisms, 9 wherein the laser unit 2, the ultrasonic and ranging unit 3 and the fastening nail implanting unit 4 are connected with the switching mechanism 7 through one of the telescopic mechanisms 9, respectively.

[0053] The telescopic mechanism 9 can drive three units to be close to or far away from the combined action unit 1, or extend into the combined action unit 1. Moreover, the three telescopic mechanisms 9 are independently controlled. Specifically, the telescopic mechanism 9 can be realized by using the telescopic structure in the prior art, for example, a linear hydraulic cylinder and a lead screw nut.

[0054] Specifically, the combined action unit 1 comprises an adapter tube 11, a central tube 12 and a contact head 13 which are connected in sequence, and further comprises a cannula 14 sleeved outside the central tube 12 with a gap. The adapter tube 11 is connected with the supporting structure 8. An air inlet 15 is obliquely provided on the adapter tube 11. The output end of the air conditioning unit 6 is connected with the air inlet 15 through a pipeline to convey cold air into an inner cavity of the adapter tube 11 through the air inlet 15. The gap between the central tube 12 and the cannula 13 forms an air extracting path 16. The negative pressure air extracting and dust removing unit 5 is connected to the air extracting path 16. The cannula 14 and the contact head 13 are made of silica gel materials. The center tube 12 and the adapter tube 11 are made of metal materials.

100551 It should be noted here that the outer diameter of the cannula 13 is adapted to the specifications of the incision, so that the inside arid the outside of the incision can be sealed. [0056] Specifically, the supporting structure 8 comprises a mechanical arm 81 and a shell 82 fixed at the front end of the mechanical arm 81. The switching mechanism 7 is fixed at the tail end of the mechanical arm 81. The combined action unit 1 is fixed at the front end of the shell 82. A window is provided at the position of the shell 82 corresponding to the combined action unit I. The laser unit 2, the ultrasonic and ranging unit 3 and the fastening nail implanting unit 4 are all located in the shell 82.

[0057] It should be noted here that the mechanical arm 81 is realized by products in the prior art, such as robots, manipulators, etc. The mechanical arm 81 can drive the shell 82 to lift, move left and right, and turn over.

100581 As a further alternative embodiment of the present disclosure, the laser unit 2 comprises a laser resonator assembly 21, a laser power supply, a cooling water device, an optical path system (a light guide arm or an optical fiber), a light spot focus adjusting component and an galvanometer component, wherein the light spot focus adjusting component and the galvanometer component are fixed in a shell 82, and other components are fixed in a host machine at the side. The size of the focused light spot output by the laser unit is 0.2 mm to 5 mm; the wavelength of the laser is 2000 nm to 2940 nm; the single pulse energy of the laser is 100 mJ to 4000 mJ, the laser output pulse width is 100 gs to 600 ps, the laser output frequency is 1 Hz to 50 Hz, and the focusing state of the laser is -5 mm to 0 mm. The light spot focus adjusting component can be replaced to realize the focused light spots with different sizes and the focusing working distance.

100591 As a further alternative embodiment of the present disclosure, the air conditioning unit 6 comprises a compressed air source, a first stage filtering device, a refrigerating device, an atomizing device and a mixed liquid cavity.

100601 It should be noted here that the air conditioning unit 6 is also a product of the prior art. The compressed air source is provided by the compressor. The compressed air is purified, dewatered and dusted by the first stage filtering device. The refrigerating device is used to cool and refrigerate the compressed air. The mixed liquid cavity is filled with liquid, which is medical liquid, and can be selected for use according to the drilling needs. The medical liquid stored in the mixed liquid cavity is sprayed in an atomized form via the atomizing device, that is, via an atomizing nozzle, and mixed with the cooling air in which the temperature is reduced, so as to form a low-temperature air-liquid mixture to be sent to the bone to be drilled.

100611 Specifically, the negative pressure air extracting and dust removing unit 5 comprises a diaphragm pump and a second stage filtering device. The diaphragm pump is used to provide a negative pressure vacuum degree. The second stage filtering device is used to filter the sucked impurities and discharge or store the impurities in other areas. Gasified bone tissues and other wastes generated in laser drilling are pumped away through the air extracting path 16 between the cannula and the central tube and are collected in the filtering cavity of the second stage filtering device.

100621 In the present disclosure, air blowing is carried out in the tube, and air extraction is carried out in the cracks of the tube. The overall air extraction and air blowing is circulated in the tube without exposing the tissues around the incision. As the cannula is made of silica gel material, the thermal-conductivity of the cannula is low, and the tissues around the incision will not be frostbitten. The laser device for orthopedic surgery provided by the present disclosure only needs to control the mechanical arm to adjust the angle of the combined action unit after determining the drilling position and angleby medical images, and the positioning mode is to use a mechanical arm for positioning. In the present disclosure, after the combined action unit is inserted into the incision and then is firmly adhered to the bone surface, the focusing is automatically completed (because the distance is determined). There is no need for the process of adjusting the focal length or for a series of ranging devices. The structure is simple, and it is convenient to operate. According to the present disclosure, a replaceable focusing lens component is used to realize focused light spots with different sizes, and holes with target sizes can be directly processed. According to the present disclosure, in the drilling process, first, parameters are switched to drill holes for bone layers with different densities, and then a probe is used for accurate ranging after processing. The present disclosure also integrates the function of implanting a fastening nail, which greatly enriches the functions of a laser drilling device.

[0063] It should be noted here that the switching mechanism 7 can use a switching structure similar to the switching of a microscope lens.

100641 As shown in FIG. 1, the present disclosure provides a use method of applying the laser device for orthopedic surgery for orthopedic drilling, comprising the following steps.

100651 Step A, a combined action unit and a laser unit in the laser device for orthopedic surgery are aligned with a part to be drilled.

[0066] Step B, according to drilling parameters and parameters of a part to be drilled, the basic setting of the laser device for orthopedic surgery is can-led out, and the laser device for orthopedic surgery is fixed at the part to be drilled.

100671 Step C, parameters of the laser in the laser unit are set, comprising two sets of parameters, one of which is the drilling parameters of a cancellous layer and the other of which is the drilling parameters of a cortical layer.

[0068] Step D, laser drilling is carried out, and stops when the set drilling depth is reached. In the process of carrying out laser drilling, the corresponding real-time speed and depth can be predicted by the preset laser parameters. The drilling depth can also be obtained by real-time measurement. When drilling reaches or exceeds the depth of the cortical layer, the parameters of the laser automatically switch to perform the operation of the second set of parameter.

[0069] Step E, accurately ranging is carried out by using an ultrasonic and ranging unit. Drilling depth correction is completed by alternating ranging and laser drilling. Attached debris is cleaned by using ultrasonic vibration of a probe in the ultrasonic and ranging unit. At the same time, a wound is cleaned by using the negative pressure air extracting and dust removing unit. After drilling is completed, the switching mechanism 7 switches to align the ultrasonic and ranging unit 3 with the combined action unit L An ultrasonic and ranging module is used to accurately measure the drilling depth, and then the ultrasonic action is used to clean the inside of the hole. It is determined whether to switch back to the laser drilling module for depth correction according to the accurately measured depth.

[0070] Step F, after drilling is completed, fastening nails are implanted by using a fastening nail implanting unit. Once drilling is completed, the switching mechanism 7 controls the fastening nail implanting unit 4 to be aligned with the combined action unit I, and then the pre-placed fastening nails are pressed and fixed.

[0071] It should be noted that the diameter range of the fastening nail is 1 mm to 10 mm.

100721 Further, in step A, corresponding coordinate parameters are directly input according to a medical image at the drilled part, and the movement of the supporting structure, that is, the mechanical arm or the robot, is controlled to align the laser unit with the drilled part. The angle of the front end of the laser unit 2 is adjusted.

100731 Further, in step B, the basic setting comprises replacing combined action units with different lengths, customizing a silica gel contact head, replacing a combined part of a collimating lens and a focusing lens at the output end of the laser, and adjusting the size of the focused light spot output by the laser. The combined action units with different lengths are selected according to the thickness of skin, fat and muscle tissues above the bone to be drilled. The length of the combined action unit 1 is 5 cm to 20 cm. The contact head is customized according to the surface morphology of the bone to be drilled. The angle of the front end of the shell 82 and the laser unit 2 is maintain by limiting the degree of freedom of the mechanical arm. The combined action unit 1 is inserted into the incision, and then the contact head is controlled to be adhered to the bone tissue surface of the surgical site. According to the size of the hole, a combined part of a collimating lens and a focusing lens at the output end of the laser is replaced. The combined parts of the collimating lens and the focusing lens are all product of the prior art in the laser unit 1 and are standard accessories of the laser unit I. [0074] Further, the parameters of the laser are set, and the parameters comprise single pulse energy, pulse width, frequency, focusing state and processing time.

[0075] The area of the laser acting on the bone tissues can be adjusted by changing the focusing state.

100761 The laser device for orthopedic surgery provided by the present disclosure is an embodiment in which a laser is applied in orthopedic surgery, which can inhibit the thermal damage in the process of the laser acting on bone tissues and clean the debris generated in the process of laser action. Using a surgical robot to hold a laser scalpel instead of a traditional mechanical scalpel for drilling and other operations can effectively improve the accuracy and efficiency of orthopedic surgery, relieve the fatigue of doctors and reduce the pain of patients. [0077] Embodiment 3: [0078] As shown in FIG. I, in the method using the laser device for orthopedic surgery according to the present disclosure, for femoral neck fracture and intertrochanteric fracture, it is necessary to drill a circular hole with a diameter of 2.5 mm to 10 mm and a depth of 70 mm to HO mm at the fracture site to implant a fastening nail for fixation. The specific implementation method comprises the following steps. first, determining the surgical site and angle according to the medical image of the affected part, and operating the mechanical arm to align the combined action unit 1 with the surgical site (the axes are parallel); customizing a silica gel contact head according to the surface morphology of the bone, installing the silica gel contact head at the front end of the combined action unit 1, making an incision parallel to an operating table at the affected part, operating the mechanical arm to partially insert the combined action unit 1 into the incision so that the contact head is firmly attached to the surface of the bone tissues; setting the laser parameters, replacing the parts of the focusing system according to the drilling size, adjusting the focusing state of the laser, setting the laser parameters 1 and 2 respectively for the cortical layer and the cancellous layer, such as the laser pulse width of 200 ifs, the wavelength of 2940 nm, the pulse energy of 500 mJ, and the frequency of 10 Hz, and setting the parameter switching depth according to the thickness of the cortical layer and the cancellous layer, turning on the air conditioning unit 6 and the air pressure control device (the negative pressure air extracting and dust removing unit 5), turning on the laser to perform drilling operation, performing ranging in real time in the drilling process, switching the parameter 2 of the laser when the depth reaches the cancellous layer, stopping the laser when drilling reaches the designed depth, switching to the ranging/ultrasonic mode, accurately measuring the hole depth, and if the hole depth is different from the designed depth, switching back to the laser mode to continue processing, and then turning on the ultrasound to clean the inside of the hole; finally, switching to the fastening nail implanting mode to implant the fastening nails, and then extracting out the combined action unit 1 to complete drilling.

100791 First of all, it should be noted that "inward" is the direction towards the center of the accommodation space, and "outward" is the direction away from the center of the accommodation space.

100801 In the description of the present disclosure, it should be understood that the orientational or positional relationships indicated by the terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise ", "counterclockwise", "axial", "radial", "circumferential" are based on the orientational or positional relationships shown in FIG. I only for the convenience of describing the present disclosure and simplifying the description, rather than indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be

construed as limiting the present disclosure.

[0081] In addition, the terms such as "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can include at least one of these features explicitly or implicitly. In the description of the present disclosure, "a plurality of' means at least two, such as two, three, etc., unless otherwise specifically defined.

[0082] In the present disclosure, unless otherwise specified and defined expressly, the terms such as "mount", "link", "connect" and "fix" should be understood broadly, for example, it can be fixed connection, detachable connection or integral connection; or mechanical connection or electrical connection; or direct connection or indirect connection through an intermediate medium, or internal communication in two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

100831 In the present disclosure, unless otherwise specified and defined, the first feature "above" or "below" the second feature may be the direct contact between the first feature and the second feature, or the indirect contact between the first feature and the second feature through an intermediate medium. Further, the first feature is "on", "above" and "over" the second feature, indicating that the first feature is directly above or obliquely above the second feature, or only indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature is "below", "under" and "underneath" the second feature, indicating that the first feature is directly under or obliquely under the second feature, or only indicating that the horizontal height of the first feature is smaller than that of the second feature.

100841 In the description of this specification, the description referring to the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in connection with this embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Further, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can incorporate and combine different embodiments or examples and features of different embodiments or examples described in this specification without contradicting each other.

100851 The above only describes the specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions conceivable to those skilled in the art within the technical scope disclosed by the present disclosure should be covered within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

CLAIMSWHAT IS CLAIMED IS: 1. A laser device for orthopedic surgery, comprising a combined action unit, a laser unit, an ultrasonic and ranging unit, a fastening nail implanting unit, a negative pressure air extracting and dust removing unit and an air conditioning unit, wherein: the combined action unit is inserted at an incision to form independent spaces inside and outside the incision, and the tail end of the combined action unit abuts against a bone to be drilled; the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit are movably connected with a supporting structure through a switching mechanism, so that any one of the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit is coaxial with the combined action unit, the negative pressure air extracting and dust removing unit and the air conditioning unit are both connected with the combined action unit, so as to complete the negative pressure dust removal and the cooling at the drilled part.
2 The laser device for orthopedic surgery according to claim 1, further comprising three telescopic mechanisms, wherein the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit are connected with the switching mechanism through one of the telescopic mechanisms, respectively.
3. The laser device for orthopedic surgery according to claim 1, wherein the combined action unit comprises an adapter tube, a central tube and a contact head which are connected in sequence, and further comprises a cannula sleeved outside the central tube with a gap, wherein the adapter tube is connected with the supporting structure, an air inlet is obliquely provided on the adapter tube, the air conditioning unit is connected with the air inlet to convey cold air into an inner cavity of the adapter tube through the air inlet; the gap between the central tube and the cannula forms an air extracting path, the negative pressure air extracting and dust removing unit is connected to the air extracting path; the cannula and the contact head are made of silica gel materials, and the center tube and the adapter tube are made of metal materials.
4. The laser device for orthopedic surgery according to claim 1, wherein the supporting structure comprises a mechanical arm and a shell fixed at the front end of the mechanical arm, the switching mechanism is fixed at the tail end of the mechanical arm, the combined action unit is fixed at the front end of the shell, a window is provided at the position of the shell corresponding to the combined action unit, and the laser unit, the ultrasonic and ranging unit and the fastening nail implanting unit are all located in the shell.
5. The laser device for orthopedic surgery according to claim 1, wherein the laser unit comprises a laser resonator assembly, a laser power supply, a cooling water device, an optical path system, a light spot focus adjusting component and an galvanometer component, and the size of the focused light spot output by the laser unit is 0.2 mm to 5 mm; the wavelength of the laser is 2000 nm to 2940 nm; the single pulse energy of the laser is 100 mf to 4000 ml, the laser output pulse width is 100 jt.s to 600 ps, the laser output frequency is 1 Hz to 50 Hz, and the focusing state of the laser is -5 mm to 0 mm.
6. The laser device for orthopedic surgery according to claim 1, wherein the air conditioning unit comprises a compressed air source, a first stage filtering device, a refrigerating device, an atomizing device and a mixed liquid cavity.
7. The laser device for orthopedic surgery according to claim 1, wherein the negative pressure air extracting and dust removing unit comprises a diaphragm pump and a second stage filtering device.
8. A use method of applying the laser device for orthopedic surgery according to any one of claims Ito 7 for orthopedic drilling, comprising the following steps: Step A, aligning a combined action unit and a laser unit in the laser device for orthopedic surgery with a part to be drilled; Step B, according to drilling parameters and parameters of a part to be drilled, carrying out the basic setting of the laser device for orthopedic surgery, and fixing the laser device for orthopedic surgery at the part to be drilled; Step C, setting parameters of the laser in the laser unit, comprising two sets of parameters, one of which is the drilling parameters of a cancellous layer and the other of which is the drilling parameters of a cortical layer; Step D, carrying out laser drilling, and stopping when the set drilling depth is reached; Step E, accurately ranging by using an ultrasonic and ranging unit, completing drilling depth correction by alternating ranging and laser drilling, cleaning attached debris by using ultrasonic vibration of a probe in the ultrasonic and ranging unit, and cleaning the wound by using a negative pressure air extracting and dust removing unit; Step F, after drilling is completed, implanting fastening nails by using a fastening nail implanting unit.
9. The use method according to claim 8, wherein in step A, corresponding coordinate parameters are directly input according to a medical image at the drilled part, and the movement of the supporting structure is controlled to align the laser unit with the drilled part.
10. The use method according to claim 8, wherein in step B, the basic setting comprises replacing combined action units with different lengths, making a customized silica gel contact head, replacing a combined part of a collimating lens and a focusing lens at the output end of the laser, and adjusting the size of the focused light spot output by the laser.