阅读说明：本技术 一种夹持机构及脊柱椎板磨削手术装置 (Clamping mechanism and spinal vertebral plate grinding operation device ) 是由 胡颖 田伟 李琨伦 孙宇 李猛 刘亚军 徐艳雯 齐晓志 于 2019-10-31 设计创作，主要内容包括：本发明适用于医疗器械技术领域,提供了一种夹持机构及脊柱椎板磨削手术装置,所述夹持机构包括第一构件,呈内中空结构；第二构件,活动套设于所述第一构件内,且用于夹持骨刀；以及弹性件,套设于所述第一构件与第二构件之间,且一端抵接于所述第一构件的端部,另一端抵接于所述第二构件的端部。本发明通过设计一种夹持机构,该夹持机构包括第一构件、第二构件和弹性件,当骨刀末端与骨组织接触,并随患者呼吸运动上下浮动时,会带动第二构件在第一构件内上下运动,进而挤压或释放弹性件,此时,由于弹性件的存在,使得骨刀与第一构件之间的连接为柔性连接,避免了骨刀末端接触力的突变,为实现骨刀末端接触力的恒定控制奠定了基础。(The invention is suitable for the technical field of medical instruments, and provides a clamping mechanism and a spinal vertebral plate grinding operation device, wherein the clamping mechanism comprises a first component which is of an inner hollow structure; the second component is movably sleeved in the first component and used for clamping the osteotome; and the elastic piece is sleeved between the first member and the second member, one end of the elastic piece is abutted against the end part of the first member, and the other end of the elastic piece is abutted against the end part of the second member. According to the invention, by designing the clamping mechanism, the clamping mechanism comprises the first component, the second component and the elastic part, when the tail end of the osteotome is in contact with bone tissues and floats up and down along with the respiratory motion of a patient, the second component is driven to move up and down in the first component, so that the elastic part is extruded or released, at the moment, due to the existence of the elastic part, the connection between the osteotome and the first component is flexible, the sudden change of the contact force of the tail end of the osteotome is avoided, and a foundation is laid for realizing the constant control of the contact force of the tail end of the osteotome.)

1. A clamping mechanism, comprising:

the first component is of an inner hollow structure;

the second component is movably sleeved in the first component and used for clamping the osteotome; and

the elastic piece is sleeved between the first component and the second component, one end of the elastic piece is abutted against the end part of the first component, and the other end of the elastic piece is abutted against the end part of the second component.

2. The clamping mechanism as claimed in claim 1, wherein the first member includes a first horizontal portion and a first vertical portion connected to the first horizontal portion, the first horizontal portion has a first through hole formed therein, the first vertical portion has a second through hole formed therein, the second through hole being coaxially disposed with the first through hole and communicating with each other, the first through hole has a cross-sectional dimension smaller than that of the second through hole, such that one end of the elastic member abuts against an end surface of the first horizontal portion, and one end of the first vertical portion, which is away from the first horizontal portion, has a limiting portion along a circumferential direction of the second through hole.

3. The clamping mechanism as claimed in claim 2, wherein said limiting portion is a plurality of limiting screws uniformly distributed along the circumferential direction of said first vertical portion, each of said limiting screws vertically penetrating said first vertical portion.

4. The clamping mechanism as claimed in claim 2, wherein the second member includes a second horizontal portion and a second vertical portion, the second horizontal portion is fixedly connected to the second vertical portion outside of an end of the second vertical portion away from the first horizontal portion, an end of the elastic member away from the first horizontal portion abuts against an end surface of the second horizontal portion, a third through hole is formed in the second vertical portion, a fourth through hole communicated with the third through hole is formed in the second horizontal portion, and a cross-sectional dimension of the third through hole is larger than a cross-sectional dimension of the fourth through hole.

5. The clamping mechanism as claimed in claim 4, wherein the second member further comprises a first fixing block fixedly connected to a side of the second horizontal portion away from the second vertical portion, and a second fixing block detachably connected to the first fixing block, and the first fixing block and the second fixing block enclose to form a fifth through hole.

6. The clamping mechanism as claimed in claim 4, wherein the outer wall of the second vertical part is provided with a plurality of positioning protrusions along the axial direction thereof, and the first through hole is circumferentially provided with a plurality of positioning grooves matched with the positioning protrusions.

7. The clamping mechanism as recited in claim 4, wherein a cross section of said fourth through hole includes a first circular arc adapted to fit said osteotome and a second circular arc disposed opposite said first circular arc, said second circular arc having a radius greater than a radius of a circle on which said first circular arc is disposed.

8. The clamping mechanism of any one of claims 2 to 7, further comprising:

the support ring is fixedly connected with the first component;

a force sensor connected to a side of the support ring remote from the first member; and

and the connecting plate is connected to one side, away from the support ring, of the force sensor.

9. The clamping mechanism as claimed in claim 8, wherein the support ring includes a third horizontal portion and a third vertical portion, the third horizontal portion is sleeved outside the first vertical portion and is fixedly connected with the first horizontal portion, and the third vertical portion is disposed closely to the outer wall of the first vertical portion.

10. A spinal laminectomy surgical device, comprising:

a mechanical arm;

a gripper mechanism connected to a distal end of the robotic arm, the gripper mechanism being as claimed in any one of claims 1 to 9; and

and the controller is electrically connected with the mechanical arm and the clamping mechanism respectively.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a clamping mechanism and a spinal vertebral plate grinding operation device.

Background

The traditional spine vertebral plate grinding operation has very high requirements on the capability of doctors due to the special operation position. The quality of the operation depends to a large extent on the clinical experience and feeling of the doctor. And whether the operation is scientific and correct or not also lacks the judgment basis of scientific specification. This greatly increases the risk of surgery and patient trauma. In addition, during the operation, the patient and the doctor need to contact various medical imaging devices with stronger radioactivity for a long time, and the patient and the doctor can be exposed to radiation with larger dose, so that the health of the patient and the doctor can be influenced to a certain extent, and the risk of infection can also be increased. Meanwhile, the doctor feels fatigue due to the operation which is highly concentrated for a long time, thereby affecting the judgment of the doctor on the operation and the operation precision, and causing serious consequences.

With the development of medical technology, the requirements of surgery on precision and safety of surgery are gradually improved, while the surgical skill of a surgeon is enhanced, the novel medical surgical instruments are gradually favored by the surgeon with unique advantages. With the rapid development and use of the ultrasonic osteotome, the problem is solved, and the ultrasonic osteotome as a novel and efficient surgical instrument has the advantages of tissue selectivity, good hemostasis performance, small damage to peripheral vascular nerve tissues, low heat generation, easy operation and the like, and has been widely applied in the fields of stomatology, otolaryngology, neurosurgery, plastic and cosmetic surgery and the like. In recent years, ultrasonic osteotomes are gradually replacing traditional bone cutting instruments and are applied to a certain range in the field of spinal surgery. However, the ultrasonic osteotome is sensitive to the contact force, which affects the cutting effect, most of the clamping devices in the existing surgical robot system are rigidly connected, so that the contact force is poor in maintaining effect, the influence of breathing of a human body in the surgical process cannot be avoided, and when the cutting is performed under the clamping of the rigid mechanical clamping device, the contact force between the surgical instrument and the bone tissue is easy to change suddenly. Particularly, in the spine vertebral plate grinding operation, due to the influence of the breathing motion of a person and the delay of a control signal, a surgical instrument is in rigid contact with the vertebral plate in the grinding process, so that the contact force is suddenly changed, the cutting effect is unstable, and the vertebral plate is penetrated seriously to damage nerves, so that serious consequences are caused.

Disclosure of Invention

The invention aims to provide a clamping mechanism, aiming at solving the technical problem that the contact force between the ultrasonic osteotome and bone tissue is easy to change suddenly when the ultrasonic osteotome is clamped by a clamping device.

The present invention is achieved as such, a clamping mechanism comprising:

the first component is of an inner hollow structure;

the second component is movably sleeved in the first component and used for clamping the osteotome; and

the elastic piece is sleeved between the first component and the second component, one end of the elastic piece is abutted against the end part of the first component, and the other end of the elastic piece is abutted against the end part of the second component.

In an embodiment of the invention, the first member includes a first horizontal portion and a first vertical portion connected to the first horizontal portion, a first through hole is formed in the first horizontal portion, a second through hole is formed in the first vertical portion, the second through hole is coaxially arranged with the first through hole and is communicated with the first through hole, the cross-sectional size of the first through hole is smaller than that of the second through hole, so that one end of the elastic member abuts against an end surface of the first horizontal portion, and a limit portion is arranged at one end of the first vertical portion, which is far away from the first horizontal portion, along the circumferential direction of the second through hole.

In an embodiment of the present invention, the limiting portion is a plurality of limiting screws uniformly distributed along a circumferential direction of the first vertical portion, and each of the limiting screws vertically penetrates through the first vertical portion.

In an embodiment of the invention, the second member includes a second horizontal portion and a second vertical portion, the second horizontal portion is fixedly connected to the outside of one end of the second vertical portion away from the first horizontal portion, one end of the elastic element away from the first horizontal portion abuts against an end surface of the second horizontal portion, a third through hole is formed in the second vertical portion, a fourth through hole communicated with the third through hole is formed in the second horizontal portion, and a cross-sectional dimension of the third through hole is larger than a cross-sectional dimension of the fourth through hole.

In an embodiment of the invention, the second member further includes a first fixing block fixedly connected to a side of the second horizontal portion away from the second vertical portion, and a second fixing block detachably connected to the first fixing block, and the first fixing block and the second fixing block enclose to form a fifth through hole.

In one embodiment of the invention, a plurality of positioning protrusions are arranged on the outer wall of the second vertical part along the axial direction of the second vertical part, and a plurality of positioning grooves matched with the positioning protrusions are arranged on the first through hole in the circumferential direction.

In an embodiment of the invention, a cross section of the fourth through hole includes a first circular arc adapted to the osteotome, and a second circular arc disposed opposite to the first circular arc, and a radius of a circle on which the second circular arc is disposed is larger than a radius of a circle on which the first circular arc is disposed.

In one embodiment of the present invention, the clamping mechanism further comprises:

the support ring is fixedly connected with the first component;

a force sensor connected to a side of the support ring remote from the first member; and

and the connecting plate is connected to one side, away from the support ring, of the force sensor.

In an embodiment of the invention, the support ring includes a third horizontal portion and a third vertical portion, the third horizontal portion is sleeved outside the first vertical portion and is fixedly connected with the first horizontal portion, and the third vertical portion is disposed in close contact with an outer wall of the first vertical portion.

Another object of the present invention is to provide a surgical apparatus for grinding a spinal vertebral plate, comprising:

a mechanical arm;

the clamping mechanism is connected to the tail end of the mechanical arm, and the clamping mechanism is the clamping mechanism in any embodiment; and

and the controller is electrically connected with the mechanical arm and the clamping mechanism respectively.

The clamping mechanism has the following beneficial effects: it is through designing a fixture, this fixture is including being interior hollow structure's first component, the activity cup joints in first component and is used for the second component of centre gripping osteotome, and the cover is located between first component and the second component and one end butt in the tip of first component, the other end butt in the elastic component of the tip of second component, contact with the bone tissue when osteotome end, and when floating from top to bottom along with patient's breathing motion, can drive the second component up-and-down motion in first component, and then extrude or release elastic component, at this moment, because the existence of elastic component, make the connection between osteotome and the first component be flexonics, the sudden change of osteotome end contact force has been avoided, establish the basis for realizing the constant control of osteotome end contact force.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic perspective view of a osteotome clamped by a clamping mechanism according to an embodiment of the present invention;

FIG. 2 is a side view of a clamping mechanism clamping a osteotome according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of a clamping mechanism clamping a osteotome in accordance with an embodiment of the present invention;

FIG. 4 is a first perspective view of a first member according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of a second member according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a portion of a second member according to an embodiment of the present invention;

FIG. 7 is a second perspective view of a portion of a second member according to an embodiment of the present invention;

FIG. 8 is a third perspective view of a portion of a second member according to an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a support ring provided in accordance with an embodiment of the present invention;

FIG. 10 is a perspective view of a surgical spinal laminectomy device according to an embodiment of the present invention.

Reference numerals referred to in the above figures are detailed below:

10-a clamping mechanism; 11-a first member; 111-a first horizontal portion; 1111-a first through hole; 1112-a positioning groove; 112-a first upright; 1121 — a second through hole; 113-a limit screw; 12-a second member; 121-a second vertical portion; 1211 — a third through hole; 1212-positioning projections; 122-a second horizontal portion; 1221-a fourth through-hole; 1222-a first arc; 1223-second arc; 123-a first fixed block; 124-a second fixed block; 13-an elastic member; 14-a support ring; 141-a third horizontal section; 142-a third vertical portion; 15-a force sensor; 16-a connecting plate; 20-osteotome; 30-mechanical arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

At present, most of surgical instruments clamping devices at the tail ends of surgical robots are rigidly connected, force adjustment is carried out by using mechanical sensors at joints, however, the method is unstable in force control, in the operation process, small-amplitude breathing motion can generate sudden change of contact force between surgical instruments and bone tissues, the contact force greatly influences the cutting effect of ultrasonic osteotomes of the surgical instruments, and the existing clamping devices are not beneficial to popularization and use of the ultrasonic osteotomes. In order to solve the defect that the contact force between a surgical instrument and bone tissues is easy to change suddenly in an operation, the invention designs the clamping mechanism, and the rigid connection is changed into the flexible connection, so that the surgical instrument can still keep good contact force with the bone tissues under the influence of the respiration of a patient, thereby ensuring the cutting effect and being convenient for popularization and use of the ultrasonic osteotome.

In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.

Referring to fig. 1 to 3, an embodiment of the invention provides a clamping mechanism 10, where the clamping mechanism 10 includes a first member 11, a second member 12, and an elastic element 13. The first member 11 is a hollow structure, the second member 12 is movably sleeved in the first member 11, the second member 12 is also a hollow structure and is used for clamping the osteotome 20, the elastic element 13 is sleeved between the first member 11 and the second member 12, one end of the elastic element 13 abuts against the end of the first member 11, and the other end of the elastic element 13 abuts against the end of the second member 12. Specifically, the first member 11 and the second member 12 enclose to form an accommodating space for accommodating the elastic piece 13; the outer wall of one end of the second member 12 abuts against the inner wall of the first member 11 and can move up and down along the inner wall of the first member 11, so as to change the height of the accommodating space and change the deformation of the elastic element 13.

The novel embodiment of the invention designs a clamping mechanism 10, wherein the clamping mechanism 10 comprises a first member 11 which is of an inner hollow structure, a second member 12 which is movably sleeved in the first member 11 and is used for clamping a osteotome 20, and an elastic part 13 which is sleeved between the first member 11 and the second member 12 and has one end abutting against the end part of the first member 11 and the other end abutting against the end part of the second member 12, when the tail end of the osteotome 20 is in contact with bone tissue and floats up and down along with the respiratory motion of a patient, the second member 12 is driven to move up and down in the first member 11, and then the elastic part 13 is squeezed or released, at the moment, due to the existence of the elastic part 13, the connection between the osteotome 20 and the first member 11 is flexible connection, the sudden change of the tail end contact force of the osteotome 20 is avoided, and a foundation is laid for realizing the constant control of the tail end contact force of the osteotome 20.

In a specific application, the elastic member 13 may be a rubber member or a spring, preferably a spring, which is sleeved outside the second member 12 and located in the accommodating space. The osteotome 20 is preferably an ultrasonic osteotome, the use of which reduces the probability of iatrogenic injuries during surgery. In addition, the first member 11 is disposed coaxially with the second member 12.

In an embodiment of the present invention, referring to fig. 4 and 5, the first member 11 includes a first horizontal portion 111 and a first vertical portion 112. The first vertical portion 112 and the first horizontal portion 111 are fixedly connected, preferably integrally formed, so as to simplify the structure and save the cost. A first through hole 1111 is formed in the first horizontal portion 111, and the first through hole 1111 is formed to penetrate in the thickness direction of the first horizontal portion 111. A second through hole 1121 is formed in the first vertical portion 112, the second through hole 1121 is formed through the first vertical portion 112 in the axial direction, and the second through hole 1121 is formed coaxially with the first through hole 1111 and communicates with each other so as to facilitate the assembly of the second member 12. In the present embodiment, the cross-sectional dimension of the first through hole 1111 is smaller than the cross-sectional dimension of the second through hole 1121, so that one end of the elastic member 13 abuts against the end surface of the end of the first horizontal portion 111 connected to the first vertical portion 112. Preferably, the first horizontal portion 111 is disc-shaped, the first vertical portion 112 is column-shaped, the first through hole 1111 and the second through hole 1121 are both circular holes, and the diameter of the first through hole 1111 is smaller than the diameter of the second through hole 1121. In addition, a limiting portion is disposed along the circumferential direction of the second through hole 1121 at one end of the first vertical portion 112 away from the first horizontal portion 111, and the limiting portion is used for limiting the displacement of the second member 12 along the axial direction thereof, and further limiting the displacement of one end of the elastic piece 13 away from the first horizontal portion 111.

In one embodiment of the present invention, the limiting portion is a plurality of limiting screws 113 uniformly arranged along a circumferential direction of the first vertical portion 112, wherein each limiting screw 113 vertically penetrates the first vertical portion 112. At this time, a plurality of threaded holes are circumferentially opened at an end of the first vertical portion 112 away from the first horizontal portion 111, and each of the limit screws 113 is engaged with the corresponding threaded hole and partially penetrates through the threaded hole to limit the downward displacement of the second member 12 along the axial direction thereof. In this embodiment, the stop screw 113 is provided to facilitate the removal and installation, and thus the assembly of the second member 12 into the first member 11. In the actual assembly process, the second member 12 is inserted into the second through hole 1121 from the end of the first vertical portion 112 away from the first horizontal portion 111, and is further inserted into the first through hole 1111, so that the second member 12 is installed into the first member 11, and then the set screw 113 is installed.

In an embodiment of the present invention, referring to fig. 6 to 8, the second member 12 includes a second horizontal portion 122 and a second vertical portion 121. The second vertical portion 121 and the second horizontal portion 122 are fixedly connected, preferably integrally formed, so as to simplify the structure and save the cost. The second horizontal portion 122 is fixedly connected to the end of the second vertical portion 121 far away from the first horizontal portion 111, at this time, one end of the elastic element 13 far away from the first horizontal portion 111 abuts against the end surface of one end of the second horizontal portion 122, and the outer side wall of the second horizontal portion 122 abuts against the inner side wall of the first vertical portion 112 and can move up and down on the inner side wall of the first vertical portion 112. A third through hole 1211 is formed in the second vertical portion 121, and the third through hole 1211 penetrates in the axial direction of the second vertical portion 121. A fourth through hole 1221 is formed in the second horizontal portion 122, and the fourth through hole 1221 is formed to penetrate in the thickness direction of the second horizontal portion 122 and communicates with the third through hole 1211. In this embodiment, the cross-sectional size of the third through-hole 1211 is larger than that of the fourth through-hole 1221 so as to accommodate the external shape of the osteotome 20.

In an embodiment of the present invention, referring to fig. 1 and 3, the second member 12 further includes a first fixing block 123 and a second fixing block 124. The first fixing block 123 is fixedly connected to a side of the second horizontal portion 122 away from the second vertical portion 121, and is preferably integrally formed with the second horizontal portion 122, so as to simplify the structure and save the cost. The second fixing block 124 is detachably connected with the first fixing block 123 so as to facilitate installation and fastening of the osteotome 20; the second fixing block 124 and the first fixing block 123 are enclosed to form a fifth through hole, and at this time, the third through hole 1211, the fourth through hole 1221 and the fifth through hole are sequentially communicated, and the distal end of the osteotome 20 sequentially passes through the third through hole 1211, the fourth through hole 1221 and the fifth through hole and then contacts the bone tissue. In specific application, the cross sections of the first fixing block 123 and the second fixing block 124 are both semicircular, threaded holes are respectively formed in the first fixing block 123 and the second fixing block 124, one end of a screw penetrates through the first fixing block 123 and then is fixed to the second fixing block 124, and the osteotome 20 is clamped between the first fixing block 123 and the second fixing block 124.

In an embodiment of the present invention, please refer to fig. 4 and 6 together, in order to facilitate the assembly of the first member 11 and the second member 12 and prevent the second member 12 from rotating in the circumferential direction with respect to the first member 11, a plurality of positioning protrusions 1212 are provided on the outer wall of the second vertical portion 121, the positioning protrusions 1212 are provided along the axial direction of the second vertical portion 121; correspondingly, a plurality of positioning grooves 1112 are arranged in the circumferential direction of the first through hole 1111, and the positioning grooves 1112 are communicated with the first through hole 1111 and matched with the positioning protrusions 1212. In this embodiment, the mating of the locating projection 1212 and the locating groove 1112 allows for guiding and locating the second member 12 during assembly. Preferably, the positioning protrusion 1212 and the positioning groove 1112 are each arc-shaped in cross section. In a specific application, the number of the positioning protrusions 1212 and the positioning grooves 1112 can be selected according to actual situations, and only one-to-one correspondence between the positioning protrusions 1212 and the positioning grooves 1112 needs to be satisfied.

In an embodiment of the present invention, referring to fig. 8, a cross-section of the fourth through-hole 1221 includes a first circular arc 1222 matched with a corresponding portion of the osteotome 20, and a second circular arc 1223 opposite to the first circular arc 1222. In this embodiment, the radius of the circle on which the second arc 1223 is located is larger than the radius of the circle on which the first arc 1222 is located, so as to facilitate fine adjustment of the tilt angle of the distal end of the osteotome 20. Preferably, the central angle of the second arc 1223 is equal to or greater than 180 degrees, and the central angle of the first arc 1222 is equal to or less than 180 degrees.

In one embodiment of the present invention, please refer to fig. 1 to 3 together, in order to maintain the contact force between the distal end of the osteotome 20 and the bone tissue constant for optimal resection, the clamping mechanism 10 further comprises a support ring 14, a force sensor 15 and a coupling plate 16. Wherein the support ring 14 is fixedly connected to the first member 11, the force sensor 15 is connected to a side of the support ring 14 remote from the first member 11, and the connection plate 16 is connected to a side of the force sensor 15 remote from the support ring 14, the connection plate 16 being used for connection with the robot arm 30. In the present embodiment, the force sensor 15, the supporting ring 14 and the first member 11 are fixedly connected together, and the force sensor 15 is used to obtain the contact force variation between the distal end of the osteotome 20 and the bone tissue. For example, when the end of the osteotome 20 contacts with the bone tissue and floats up and down along with the respiration of the patient, the elastic component 13 converts the displacement information into a force signal and transmits the force signal to the force sensor 15, and then the controller controls the rear end motor to rotate, so as to drive the integral clamping mechanism 10 to move up and down, thereby ensuring the constant contact force between the osteotome 20 and the bone tissue. The clamping mechanism 10 of the embodiment has a simple structure, is easy and convenient to operate, can effectively ensure the stability of contact force, and is suitable for various operations using the ultrasonic osteotome.

Specifically, referring to fig. 9, the support ring 14 includes a third horizontal portion 141 and a third vertical portion 142. The third horizontal portion 141 is annular, and is sleeved outside the first vertical portion 112 and fixedly connected to the first horizontal portion 111, specifically, the third horizontal portion can be fixedly connected to the first horizontal portion 111 through a fastening member, and the fastening member can be a screw or the like. The third upright portion 142 is disposed against the outer wall of the first upright portion 112 to prevent radial movement of the first member 11 relative to the support ring 14, while also facilitating assembly of the force sensor 15. Preferably, a side surface of the third vertical portion 142 away from the first member 11 is a plane, and a side surface of the third vertical portion 142 close to the first member 11 is a curved surface adapted to an outer surface of the first vertical portion 112.

Referring to fig. 10, based on the same inventive concept, the embodiment of the present invention further provides a spinal laminectomy surgical device, which includes a mechanical arm 30, a clamping mechanism 10 and a controller. Wherein, the clamping mechanism 10 is connected to the end of the mechanical arm 30, and the clamping mechanism 10 is the clamping mechanism 10 according to any one of the above embodiments; the controller is electrically connected to the robot arm 30 and the clamping mechanism 10, respectively.

Specifically, the robot arm 30 is a standard UR robot arm, the specific structure of which is not described in detail herein; the tail end of the mechanical arm 30 is fixedly connected with the clamping mechanism 10 through the connecting plate 16 and the force sensor 15 of the clamping mechanism 10; the controller is electrically connected to the force sensor 15 and the robot arm 30, and is configured to receive a signal sent by the force sensor and feed the signal back to the robot arm 30, so as to control the motion of the robot arm 30. For example, when the end of the osteotome 20 contacts with the bone tissue and moves up and down along with the breathing movement of the patient, the elastic element 13 is compressed or released, the elastic element 13 converts the displacement information into a force signal and transmits the force signal to the force sensor 15, the force sensor 15 feeds back the received signal to the controller, and the controller controls each joint motor of the mechanical arm 30 to drive the clamping mechanism 10 to move up and down, so that the contact force between the osteotome 20 and the bone tissue is controlled by changing the deformation length of the elastic element 13, and the contact force between the osteotome 20 and the bone tissue can be kept constant.

In summary, the embodiment of the present invention solves the technical problem that the rigid connection is prone to generating a sudden change in contact force by adopting the elastic element 13 for connection, and realizes constant contact force by controlling the force sensor 15, which can make the amplitude of the change in contact force between the osteotome 20 and the bone tissue small for the surgical equipment of the medical surgical instrument ultrasonic osteotome 20, and can realize a technique for controlling the contact force in real time. The clamping mechanism 10 adopts a serial structure, rigid contact is converted into flexible contact through the connection of the elastic pieces 13, and the problem that the contact force is suddenly changed due to the change of tiny displacement is solved.

The invention is not to be considered as limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.