A surgical drill instrument with force sensing function for robot-assisted surgery

A robot-assisted, six-dimensional force sensor technology, applied in the field of surgical drills, can solve the problems of stability and position accuracy difficult for doctors to achieve better surgical results, fewer guide wheels, and smaller driving force and driving torque. Effect

Inactive Publication Date: 2017-08-25
TIANJIN POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In the traditional operation process, the doctor drills the cochlea. Due to factors such as the internal motor rotation of the surgical drill and human physiological vibration, it is difficult for the doctor to grasp its stability and position accuracy during the operation of the drill.

Method used

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  • A surgical drill instrument with force sensing function for robot-assisted surgery
  • A surgical drill instrument with force sensing function for robot-assisted surgery
  • A surgical drill instrument with force sensing function for robot-assisted surgery

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with specific embodiments.

[0025] figure 1 It is a schematic diagram of the overall structure of the surgical drill instrument with force sensing function for robot-assisted surgery of the present invention, which includes an end effector part 1 , a pitch-yaw part 2 and an autorotation part 3 . The surgical instrument has three degrees of freedom: pitch freedom R1, yaw freedom R2 and rotation freedom R3. Solve the problem of sensing the contact force of the surgical drill during the operation, inaccurate positioning of the artificial operation, unstable operation, and easy damage to the facial nerve and tissue.

[0026] figure 2 Schematic diagram of the installation and implementation of the surgical drill with force sensing function of the present invention. The surgical drill of the present invention can be installed on the quick-change interface. For details of the quick-change interface, see...

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Abstract

The invention discloses a surgical drilling instrument with force sensing function for robot-assisted surgery, which comprises: an end effector part, a deflection-pitch part and an autorotation part. The end effector is composed of a six-dimensional force sensor, a drill connector, a pitch connector, a surgical drill, and an intermediate connecting shaft, and is used to realize drilling and force sensing functions. The pitch-yaw part is composed of a pitch axis, an intermediate support body, a yaw drive wheel, a yaw shaft, and a transmission wheel, and is used to complete pitch and yaw degrees of freedom. The rotation part is composed of a rotation shaft and a carbon fiber tube, which is used to realize the degree of freedom of rotation. The drilling device of the present invention adopts wire transmission, which can realize long-distance transmission, eliminate hysteresis through proper preloading, and has the advantages of large operating space, high transmission precision, good motion stability, and sensing the force and moment at the end of the drill.

Description

technical field [0001] The invention relates to a surgical drilling instrument, in particular to a surgical drilling instrument with force sensing function for robot-assisted surgical cochlear implantation. Background technique [0002] In recent years, with the continuous development of robotics and surgical techniques, robots used to assist surgical operations have gradually entered people's field of vision. Compared with traditional surgery, robot-operated surgery has the advantages of high sensitivity, precise positioning and smooth movement. Therefore, robots for assisting surgical operations have broad application prospects. [0003] The tissue structure of the cochlea is tiny and complex, full of nerves, muscles, cartilage and other structures. In traditional surgery, during the process of cochlear implantation, the force and torque of the drill bit on each tissue are different, but it is difficult for the human body to perceive the small changes in the contact forc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/16A61B34/30A61F11/00
CPCA61B17/1655A61B17/1679A61F11/20
Inventor 桑宏强张文刚周莹葛根李博张鑫贵李灿
Owner TIANJIN POLYTECHNIC UNIV
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