CN102370515B - Core cleaning operation arm for femoral head necrosis - Google Patents
Core cleaning operation arm for femoral head necrosis Download PDFInfo
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- CN102370515B CN102370515B CN 201110242945 CN201110242945A CN102370515B CN 102370515 B CN102370515 B CN 102370515B CN 201110242945 CN201110242945 CN 201110242945 CN 201110242945 A CN201110242945 A CN 201110242945A CN 102370515 B CN102370515 B CN 102370515B
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- operation arm
- swinging
- joint
- wheeled base
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Abstract
The invention provides a core cleaning operation arm for femoral head necrosis. The operation arm has three degrees of freedom, including two rotation degrees of freedom and a moving degree of freedom, which are driven by doctor operation. The operation arm mainly comprises a grinding head, as well as a drive motor, an oscillation shaft, a belt pulley, a transmission belt, a joint substrate, a hollow sleeve, an oscillation handwheel, a handle, a mounting bracket and the like, wherein the grinding head is arranged at the tail end of the operation arm, and rotates at a high speed under motor driving so as to perform cleaning operation; the grinding head, the motor and an assembly shell of the motor form a tail end oscillation joint, and oscillation of the tail end oscillation joint is implemented by the handwheel close to the handle by virtue of belt transmission; and the tail end oscillation joint realizes revolution and linear rotation with the axes of the hollow sleeve by virtue of a revolution joint and a prismatic joint at the front end, so that a required working space is formed; and the position of each joint is detected by a corresponding sensor so as to calculate the actual position and posture of the grinding head. The operation arm has a compact structure and convenience in operation, and can carry out accurate cleaning and collapsed cartilage reposition on the core of femoral head necrosis under operation of the doctor.
Description
Technical field
The present invention relates to armarium and robotics field, in particular to a kind of femur head necrosis marrow core clear operation arm with three degree of freedom.
Technical background
Ischemic necrosis of femoral head (A Vascular Necrosis of Femeral Head, AVNFH) be common orthopaedic disease, to cause the hip joint invalidity and can not walk when cartilage surface occurring and subside, or inevitably to accept the total hip replacement operation, be one of large disease of harm.At present the main surgical operation that adopts is treated, and as various core decompression methods etc., thoroughly removes the first step that sequestrum is various surgical method keys.But there are multiple different geometry and spatial distribution form in the necrotic area, and due to the size restrictions of neck of femur, and this surgical procedures distance, passage are narrow, the more difficult accurate arrival femur necrosis of apparatus district.When these factors make operation remove sequestrum, can only depend on the doctor and coordinate magnetic resonance radiography (Magnetic Resonance Imaging by spoon with feel and experience, MR) excavate and carry out, inevitably exist the part sequestrum remove difficulty and not precisely, not thoroughly, the deficiency such as waste time and energy.This will affect follow-up bone grafting operation to the therapeutic effect of AVNFH.In addition, for the prosthesis that cartilage surface subsides, be generally that sequestrum scrapes rear pushing tow and resets.Be also that the doctor carries out with feeling by rule of thumb at present, shortage resets accurately, affects Postoperative Bone healing and bone and supports, and easily causes again and subsides.Therefore, develop a kind of easy to operate be specifically designed to accurately remove that femur head necrosis district and cartilage surface subside and reset surgical unit equipment---femur head necrosis marrow core clear operation arm is the task of top priority.
From the initial stage in age 90 o'clock 20th century so far, the development of surgical operation robot has obtained tremendous development, and has become robot field's a study hotspot.Assisted surgery for robots after alleviating working doctor intensity, alleviate the corrective surgery misery, improve operation efficient, desmopyknosis cure time, improve and huge performance space arranged aspect operative effect etc.Yet the equipment that femur head necrosis marrow core is removed and the cartilage surface that subsides resets that is used for the treatment of in the world AVNFH at present there is not yet report.Therefore, develop a kind of Wicresoft, be specifically designed to the surgical apparatus that thorough removing femur head necrosis district and the cartilage surface that subsides reset accurately, and then surgical operation robot is further extended to the femoral head operation, significant.
Summary of the invention
The object of the invention is to operative treatment for ischemic necrosis of femoral head provides a kind of and can remove up hill and dale femur head necrosis marrow core and accurately the cartilage surface that subsides be resetted, thereby improves the femur head necrosis marrow core clear operation arm of surgical result.
For realizing purpose of the present invention, adopt following technical scheme:
A kind of femur head necrosis marrow core clear operation arm, comprise that grinding machine head, motor cabinet are anterior, motor cabinet rear portion, drive motors, rotating and swinging joint end cap, two synchronous pulleys, swinging joint pedestal, synchronous cog belt, hollow bushing, wheeled base are anterior, swing handwheel, ball bearing, wheeled base rear portion, handle, turning cylinder, sleeve, swinging axle, block, fixed support and hold-down screw, grinding machine head is logical to be anchored on the motor shaft of drive motors, and drive motors is anterior and motor cabinet rear portion environmental sealing by motor cabinet; It is anterior that grinding machine head, drive motors, motor cabinet are anterior, the motor cabinet rear portion forms the motion arm swinging joint; The motor cabinet rear portion is the fork ear structure, and swinging axle runs through fork ear two ends; Swinging axle two ends and fork ear junction respectively have the square opening be used to the square block of the gearing of having packed into, and square block is converted into the rotation of swinging axle the elevating movement of swinging joint front portion; The first synchronous pulley and swinging axle are affixed; Swinging axle is supported on the swing end cap by ball bearing, swings end cap and is fixed on the swinging joint pedestal by screw; The swinging axle two ends are equipped with the nut that prevents the swinging axle vibration for installation; One end of synchronous cog belt is arranged on the first synchronous pulley, and the other end also is contained on the second synchronous pulley, and the second synchronous pulley is fixed on turning cylinder; Two swing handwheels are equipped with at the turning cylinder two ends, swing the handwheel center and have the hole, turning cylinder with swing the handwheel junction and have and make turning cylinder and handwheel plane in relative rotation; Turning cylinder is supported in the installing hole that the anterior and wheeled base of wheeled base rear portion forms by ball bearing, and the wheeled base front portion directly is fixedly connected with the wheeled base rear portion; Wheeled base is anterior to be connected by hollow bushing with the swinging joint pedestal; Synchronous cog belt is hidden in hollow bushing inside; Hollow bushing is placed in support bracket fastened axle sleeve, and can move in axle sleeve and turn round.
In above-mentioned femur head necrosis marrow core clear operation arm, fixed support is fixed on patient's femur side by screw.
In above-mentioned femur head necrosis marrow core clear operation arm, described grinding machine head by screw fastening on motor shaft.
In above-mentioned femur head necrosis marrow core clear operation arm, the first synchronous pulley and swinging axle are both affixed by holding screw; The second synchronous pulley also is fixed on turning cylinder by holding screw.
In above-mentioned femur head necrosis marrow core clear operation arm, the wheeled base front and rear is radially fixing by screw.
In above-mentioned femur head necrosis marrow core clear operation arm, wheeled base rear end cover jug.
Motion arm of the present invention arranges three degree of freedom, comprises two rotations and a movement, motion (its position can be by corresponding sensor feedback, and the present invention does not relate to) under doctor's operation.Grinding machine head is arranged on the end of motion arm, and rotation to remove femur head necrosis marrow core, is changed Special top and cut somebody's hair when resetting under the driving of motor; Grinding machine head, motor, motor cabinet and swinging axle etc. consist of the end swinging joint, and it swings by near the handwheel that is positioned at handle and drives by toothed belt transmission, and the doctor can control the pitching in this joint by the handwheel that fiddles with; Hollow bushing is set in support bracket fastened axle sleeve, by rotation and push and pull bar can realize motion arm around the revolution of hollow bushing axis with along the movement of this axis; Fixed support is fixed on patient's femur side by screw etc.
Motion arm of the present invention can be carried out boat femur head necrosis marrow core and remove and the cartilage reattachment surgery that subsides, and has the characteristics such as simple and compact for structure, easy to operate, that cost is low, be easy to popularize.Compared with prior art, the present invention has following advantage:
1. degree of freedom is few, but can guarantee the work space of the required arrival of operation, flexible movements;
2. the two kinds of functions that have that femur head necrosis marrow core is removed and the cartilage that subsides resets concurrently;
3. simple in structure, easy to operate, grinding machine head alleviates the working doctor amount by motor-driven; Joint motions can guarantee the safety of operation by doctor's manually-operated.
Description of drawings
Fig. 1 is outside drawing of the present invention;
Fig. 2 is profile of the present invention;
Fig. 3 is schematic diagram of mechanism of the present invention;
Fig. 4 is the work space schematic diagram of motion arm;
Fig. 5 is work schematic diagram of the present invention.
The specific embodiment
Enforcement of the present invention is described further but enforcement of the present invention and protection are not limited to this below in conjunction with accompanying drawing.
Be structure of the present invention as shown in Figure 1 and Figure 2, specifically comprise: grinding machine head 01, motor cabinet front portion 02, drive motors 03, motor cabinet rear portion 04, rotating and swinging joint end cap 05, synchronous pulley 06, swinging joint pedestal 07, synchronous cog belt 08, hollow bushing 09, wheeled base front portion 10, swing handwheel 11, ball bearing 12, wheeled base rear portion 13, handle 14, turning cylinder 15, sleeve 16, swinging axle 17, block 18, nut 19, fixed support 20, hold-down screw 21 etc.The connected mode of each parts is: on motor shaft, 03, motor is by motor cabinet front portion 02, motor cabinet rear portion 04 environmental sealing by screw fastening for grinding machine head 01, thereby forms the front portion of motion arm swinging joint; Motor cabinet rear portion 04 is the fork ear structure, and swinging axle 17 runs through fork ear two ends; Swinging axle 17 two ends respectively have facet (being a square hole after assembling) with fork ear junction, can play driving key after the square block of packing into, thereby the rotation of swinging axle 17 are converted into the elevating movement of swinging joint front portion; Synchronous pulley 06 and swinging axle 17 are both affixed by holding screw; Swinging axle 17 is supported on by ball bearing 12 and swings end cap 05, swings end cap 05 and is fixed on swinging joint pedestal 07 by screw; Swinging axle 17 two ends have screw thread, prevent swinging axle 17 vibrations by nut 19; Synchronous cog belt 08 other end also is equipped with synchronous pulley, and this synchronous pulley also is fixed on turning cylinder 15 by holding screw; Two handwheels 11 are equipped with at turning cylinder 15 two ends, and handwheel 11 centers have the hole, and turning cylinder 15 has facet with the handwheel junction, and after coordinating, turning cylinder 15 namely can not relatively rotate with handwheel 11; Turning cylinder 15 is supported in the installing hole of wheeled base anterior 10 and wheeled base rear portion 13 formation by ball bearing 12, and 13, wheeled base anterior 10 and rear portion are radially fixing by screw; Wheeled base anterior 10 is connected by hollow bushing 09 with swinging joint pedestal 07, and screw thread is fixed; Synchronous cog belt 08 is hidden in hollow bushing 09 inside, has connected former and later two synchronous pulleys, namely back and forth stirs the elevating movement that handwheel can be controlled swinging joint; Wheeled base rear portion 13 end covers have plastic handles 14, are convenient to grip; Hollow bushing 09 is placed in the axle sleeve of fixed support 20, and can move in axle sleeve and turn round; During operation, fixed support 20 is fixed on patient's femur side by screw 21.
Be illustrated in figure 3 as the schematic diagram of mechanism of invention.This motion arm has three degree of freedom (left figure) as seen from the figure, comprises two rotations and a movement, i.e. grinding machine head end pitching degree of freedom θ
1, the relatively support bracket fastened revolution degree of freedom of motion arm θ
2, and motion arm is with respect to support bracket fastened one-movement-freedom-degree △
1Its work space is the enclosed space (as Fig. 4) that a hemisphere adds cylinder institute envelope.
Be illustrated in figure 5 as the schematic diagram when utilizing the present invention to perform the operation.Before operation, operative approach is got through in first boring, and the fixed support of motion arm is fixed on the femoral head side.In conjunction with Fig. 2 and Fig. 3, the doctor holds this motion arm handle and carries out push-and-pull and reverse and can realize respectively that grinding machine head is with respect to support bracket fastened movement and revolution; Back and forth stir handwheel and can realize that grinding machine head is around the elevating movement of end swinging axle.Perform the operation complete after, the pitching joint is stretched, lay down the fixed support screw, motion arm can be taken out.Change and be exclusively used in the pushing tow head that resets, this femur head necrosis marrow core clear operation arm just can resetting for the cartilage surface that subsides.
Claims (6)
1. femur head necrosis marrow core clear operation arm, it is characterized in that comprising that grinding machine head, motor cabinet are anterior, motor cabinet rear portion, drive motors, rotating and swinging joint end cap, two synchronous pulleys, swinging joint pedestal, synchronous cog belt, hollow bushing, wheeled base are anterior, swing handwheel, ball bearing, wheeled base rear portion, handle, turning cylinder, sleeve, swinging axle, square block, fixed support and hold-down screw, grinding machine head is anchored on the motor shaft of drive motors, and drive motors is anterior and motor cabinet rear portion environmental sealing by motor cabinet; It is anterior that grinding machine head, drive motors, motor cabinet are anterior, the motor cabinet rear portion forms the motion arm swinging joint; The motor cabinet rear portion is the fork ear structure, and swinging axle runs through fork ear two ends; Swinging axle two ends and fork ear junction respectively have the square opening be used to the square block of the gearing of having packed into, and square block is converted into the rotation of swinging axle the elevating movement of motion arm swinging joint front portion; The first synchronous pulley and swinging axle are affixed; Swinging axle is supported on the rotating and swinging joint end cap by ball bearing, and the rotating and swinging joint end cap is fixed on the swinging joint pedestal by hold-down screw; The swinging axle two ends are equipped with the nut that prevents the swinging axle vibration; One end of synchronous cog belt is arranged on the first synchronous pulley, and the other end is contained on the second synchronous pulley, and the second synchronous pulley is fixed on turning cylinder; Two swing handwheels are equipped with at the turning cylinder two ends, swing the handwheel center and have the hole, turning cylinder with swing the handwheel junction and have and make turning cylinder and swing handwheel plane in relative rotation; Turning cylinder is supported in the installing hole that the anterior and wheeled base of wheeled base rear portion forms by ball bearing, and the wheeled base front portion directly is fixedly connected with the wheeled base rear portion; Wheeled base is anterior to be connected by hollow bushing with the swinging joint pedestal; Synchronous cog belt is hidden in hollow bushing inside; Hollow bushing is placed in support bracket fastened axle sleeve, and can move in axle sleeve and turn round.
2. femur head necrosis marrow core clear operation arm according to claim 1 is characterized in that fixed support is fixed on patient's femur side by hold-down screw.
3. femur head necrosis marrow core clear operation arm according to claim 1, is characterized in that described grinding machine head is anchored on motor shaft by hold-down screw.
4. femur head necrosis marrow core clear operation arm according to claim 1, is characterized in that the first synchronous pulley and swinging axle are both affixed by holding screw; The second synchronous pulley also is fixed on turning cylinder by holding screw.
5. femur head necrosis marrow core clear operation arm according to claim 1, is characterized in that wheeled base is anterior and the wheeled base rear portion is radially fixing by hold-down screw.
6. femur head necrosis marrow core clear operation arm according to claim 1, is characterized in that wheeled base rear end cover jug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110242945 CN102370515B (en) | 2011-08-23 | 2011-08-23 | Core cleaning operation arm for femoral head necrosis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110242945 CN102370515B (en) | 2011-08-23 | 2011-08-23 | Core cleaning operation arm for femoral head necrosis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102370515A CN102370515A (en) | 2012-03-14 |
| CN102370515B true CN102370515B (en) | 2013-06-12 |
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ID=45790110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110242945 Expired - Fee Related CN102370515B (en) | 2011-08-23 | 2011-08-23 | Core cleaning operation arm for femoral head necrosis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102370515B (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86102248A (en) * | 1986-03-30 | 1987-10-14 | 哈尔滨飞机制造公司 | Directly to the multi-functional osteotomy saw of, swing type |
| CN1861008B (en) * | 2005-05-13 | 2010-05-05 | 中国人民解放军第一一七医院 | Intervention therapeutic apparatus for necrosis of head of femur |
| CN201668477U (en) * | 2009-12-30 | 2010-12-15 | 王飞 | Caput femoris core decompression device |
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2011
- 2011-08-23 CN CN 201110242945 patent/CN102370515B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN102370515A (en) | 2012-03-14 |
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