CN102648870B - Spinal pedicle screw implantation feedback force information collection device - Google Patents

Spinal pedicle screw implantation feedback force information collection device Download PDF

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CN102648870B
CN102648870B CN201110045902.3A CN201110045902A CN102648870B CN 102648870 B CN102648870 B CN 102648870B CN 201110045902 A CN201110045902 A CN 201110045902A CN 102648870 B CN102648870 B CN 102648870B
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tension
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compression
force
handle
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CN102648870A (en
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闫士举
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上海理工大学
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Abstract

一种椎弓根螺钉植入反馈力信息采集装置,包括手柄、扭转传力机构、拉压传力机构、操作头和参考架。 One kind of a pedicle screw implant force feedback information collecting apparatus, comprising a handle, torsional force transmission mechanism, tension and compression force transmission means, the operating head and the reference frame. 扭转传力机构嵌装在手柄的型槽内,拉压传力机构连接在扭转传力机构的前端,操作头连接在拉压传力机构的前端,参考架连接在拉压接头上。 Torsional force transmission mechanism fitted in the handle-groove, tensile and compressive force-transmission means connected to the front end of the torsional force transmission mechanism, the operating head is connected to the front end of tensile and compressive force-transmitting mechanism, the reference frame is connected to the tension and compression fittings. 本发明椎弓根螺钉植入反馈力信息采集装置配合光学定位系统使用,可在椎弓根螺钉植入手术过程中直接作用于人体胸、腰椎,并同步采集反馈力信息;也可通过专门的信息采集实验作用于人体胸、腰椎标本,采集反馈力信息。 Pedicle screw implant of the present invention the force feedback information collecting apparatus with the optical positioning system, an implantable surgical procedure directly on the human body thoracic, lumbar, and sync acquisition information pedicle screw force feedback; can also be a special information collection experiment in the human body thoracic, lumbar spine specimens collected feedback force information. 所采集的力觉信息可用于虚拟椎弓根钉植入手术系统中的力觉模型构建。 The force sense information collected may be used to sense the force virtual model pedicle screw implant surgical system construct.

Description

椎弓根螺钉植入反馈力信息采集装置 Pedicle screw implanted force feedback information collecting apparatus

技术领域 FIELD

[0001] 本发明涉及虚拟仿真技术,特别涉及一种椎弓根螺钉植入反馈力信息采集装置。 [0001] The present invention relates to a virtual simulation technology, particularly relates to an apparatus for collecting information feedback force pedicle screw implant. 背景技术 Background technique

[0002] 手术虚拟仿真是虚拟现实技术在医学领域的应用,是目前数字化手术技术领域一个重要的研究方向。 [0002] surgery virtual simulation is the application of virtual reality technology in the medical field, is the field of digital surgical technique is an important research direction. 借助手术虚拟仿真技术,医生可制定优化手术方案;也可以不借助尸体标本而进行重复练习,从而降低外科医生手术训练费用并缩短培养周期,手术虚拟仿真技术克服了传统外科医生培训模式下医生实际动手操作机会少、操作对象(尸体标本)成本高的不足,对提高医学手术培训的质量和效率具有重要意义。 With surgery virtual simulation technology, doctors can develop to optimize surgical planning; also carried out repeated exercises can not help cadavers, thereby reducing the surgeon training costs and reduce training cycle, surgery virtual simulation technology to overcome the doctors under the traditional surgeon training model real hands fewer opportunities, high operating objects (cadavers) is less than the cost of great significance to improve the quality and efficiency of medical surgical training.

[0003] 脊柱是人体最重要的器官之一。 [0003] spine is one of the body's most important organs. 近年来人们的脊柱病变和骨折脱位发生率呈上升趋势。 In recent years, people's disease and spinal fracture and dislocation incidence is rising. 以椎弓根螺钉植入为基础的脊柱内固定手术具有周期短、见效快等优点,往往成为医生和患者的首选。 The pedicle screw implanted in spinal fixation surgery is based on short, quick, etc., tend to be preferred doctors and patients. 脊柱椎弓根螺钉植入手术需要在椎体上确定理想的进钉入口,并实时监控螺钉或手术工具与椎体之间的相对位姿关系,而且,医生的可视区域有限,依靠反复获取患部的X光, 不连续地获取植入物或手术工具与患骨之间的相对位姿信息,这给医生的手术操作水平提出了很高的要求。 Spinal pedicle screw implantation is determined on the vertebrae over the inlet into the nail, and real-time monitoring the relative position and orientation relationship between the vertebrae with screws or surgical tool, and that the doctor limited viewable area, relying on the repeatedly acquired X-rays of the affected part, discontinuously acquiring information relative pose between the implant and the risk of bone or surgical tool, which gives the surgeon operating level makes high requirements. 为了在短时间内以较低的成本提高医生的技术水平,有必要开发专门面向脊柱椎弓根螺钉植入的手术虚拟仿真系统。 In order to lower costs to improve skills of doctors in a short time, it is necessary for the development of specialized spinal pedicle screw implant surgery virtual simulation system.

[0004] 为了达到逼真的手术虚拟仿真效果,从而根据人体椎体不同部位物理特性的不同以及打孔及植钉深度、方位、速度、加速度等参数的不同而输出不同的反馈力,力觉反馈系统是必不可少的组成部分。 [0004] In order to achieve realistic surgical virtual simulation results, so as to output different feedback force depending on the different and the parameters of the punch and Stud depth, orientation, velocity, acceleration and other physical characteristics of the different parts of the body vertebrae, force sense feedback system is essential component. 基本的力觉反馈系统包括力反馈装置及力觉建模。 The basic system includes a force sense feedback means and the force sense feedback force modeling. 现有的力觉模型牵涉大量的复杂计算且理论性很强,而人体椎体的结构及生物力学特性非常复杂,单纯靠理论计算得出的力觉信息与手术中表现出的真实反馈力具有一定的差别,从而影响手术虚拟仿真的逼真度。 Existing force feedback model involves a lot of complex calculations and highly theoretical, and the structure and biomechanical properties of the human vertebral body is very complex, simply relying on real force feedback and force feedback information calculated surgery theory has exhibited some differences, thus affecting the fidelity virtual surgery simulation. 与单纯的理论计算相比,通过力觉采集装置采集实际椎弓根螺钉植入术中真实的反馈力信息,并在此基础上进行建模分析和研究是一种更为直接有效的解决手段。 Compared with purely theoretical calculations, by force sensation acquisition device actual honest feedback force pedicle screw implantation of information, analysis and modeling and research on this basis is a more direct and effective means of settlement .

[0005] 经对现有技术的文献检索发现,专利号为ZL02118522.0的中国发明专利《虚拟手术刀装置》(公告号为CN1176448C)公开了一种虚拟手术刀,申请号为200410031486.1的中国发明专利《一种手术刀的力采集装置》(公开号为CN1677064A)则公开了这种虚拟手术刀的力采集装置,申请号为200910308169.2的中国发明专利《虚拟手术力觉信息采集装置》(公开号为CN101653356A)公开了一种虚拟手术力觉信息采集装置。 [0005] The prior art literature search found in China Patent No. ZL02118522.0 patent "virtual scalpel device" (Publication No. is CN1176448C) discloses a virtual scalpel, Chinese Application No. 200410031486.1 of the invention patent "forces with scalpel collection device" (Publication No. CN1677064A) discloses a force is such a virtual scalpel collecting apparatus, application No. of China Patent 200910308169.2 "virtual surgical force sensation information acquisition device" (Publication No. as CN101653356A) discloses a virtual surgery force sense information collecting apparatus. 这三个专利均涉及人体软组织力反馈信息采集,但未考虑信息采集过程中操作对象(人体组织)的夹紧定位,到目前为止,尚无面向椎弓根钉植入虚拟手术的力觉信息采集装置。 These three patents are related to human soft tissue force feedback information collection, but did not consider clamping positioning information acquisition process operation object (human tissue), so far, there is no sense for pedicle screw implantation force information virtual surgery collecting apparatus.

发明内容 SUMMARY

[0006] 本发明的目的,就是为了解决现有技术存在的上述问题,提供一种椎弓根螺钉植入反馈力信息采集装置。 [0006] The object of the present invention is to solve the above problems of the prior art, to provide a pedicle screw implant force feedback information collecting apparatus.

[0007] 为了实现上述目的,本发明采用了以下技术方案:一种椎弓根螺钉植入反馈力信息采集装置,其包括: [0007] To achieve the above object, the present invention employs the following technical solution: A pedicle screw insertion force feedback information collecting apparatus, comprising:

[0008] 手柄,由连成一体的梨形尾部和圆筒形头部构成,手柄内设有轴向贯通的型槽; [0008] The handle, the integral pear-shaped head and a cylindrical tail configuration, the handle is equipped with an axial through-groove;

[0009] 扭转传力机构,嵌装在手柄的型槽内,包括活动卡套相连的扭矩传感器和扭转接头,扭矩传感器设置在手柄的圆筒形头部的后部,扭转接头设置在手柄的圆筒形头部的前部并与圆筒形头部形成可转动连接; [0009] The torsional force transmission mechanism, fitted in the handle-groove, including those connected to the ferrule rear portion of the torsion torque sensor and the cylindrical joint head, a torque sensor is provided in the handle, the handle of the torsion joint is provided the front portion of the cylindrical head portion and rotatably connected to form a cylindrical head portion;

[0010] 拉压传力机构,连接在扭转传力机构的前端,包括拉压接头和拉压传感器,拉压接头与扭转接头嵌套相连并与扭转接头形成可移动连接,拉压接头的后部设有型腔,拉压传感器设置在拉压接头的型腔内并与拉压接头固定连接,拉压传感器的后部与扭转接头固定连接; [0010] tensile and compressive force-transmitting means, connected to the front end of the torsional force transmission mechanism, comprising a pull and tension and compression fitting pressure sensor, tension-compression and torsion joint is connected after the splice nest and movably connected to the tension and compression fitting is formed with the torsion joint is provided with a cavity portion, pull pressure sensor disposed in a mold cavity pressure and tension and compression fitting joints fixedly connected with the pull, the tension and compression sensors rear torsion joint is fixedly connected;

[0011] 操作头,连接在拉压传力机构的前端,包括安装套头和切割器,安装套头与拉压接头固定连接,切割器与安装套头嵌套活动相连并与拉压接头嵌套传动相连; [0011] the operating head, connected to the tension and compression distal force transmission mechanism, including mounting sleeve head and the cutter, the mounting hub and the tension and compression joints fixedly connected, is connected to the cutter mounting hub nested activities and with tension and compression splice nest connected to the drive ;

[0012] 参考架,连接在拉压接头上。 [0012] reference frame, connected to the tension and compression fittings.

[0013] 所述的手柄的梨形尾部外表面开有轴向防滑槽;所述的手柄的圆筒形头部的筒壁上设有6个用于固定扭转传感器的螺纹孔和8个用于定位扭转接头的螺纹孔。 [0013] The outer surface of the tail skid grooves with an axial opening in the handle of pear; tube wall of the cylindrical head portion 6 is provided with a handle for fixing the screw holes and torsional sensor 8 with positioning the torsion joint screw hole.

[0014] 所述的扭矩传感器的主体呈圆柱体形,圆柱体表面设有轴向防滑槽,圆柱体尾端连接有一根导线,该导线从手柄的梨形尾部穿出;所述的扭转接头呈阶梯轴结构,包括直径较大的前段和直径较小的后段;扭转接头前段外壁设有4个均匀间隔分布的轴向滑槽;扭转接头后段外壁设有两道环形滑槽,扭转接头后段与手柄内的型腔形成间隙配合,通过将8颗连接螺钉从手柄的圆筒形头部的8个用于连接扭转接头的螺纹孔旋入,使8个连接螺钉与扭转接头后段的两道环形滑槽配合,实现扭转接头与手柄的圆筒形头部的可转动连接。 The body of the torque sensor [0014] the circular cylindrical, cylindrical body provided with an axial slip surface grooves, the trailing end of the cylinder is connected to a line which is pear-shaped tail portion from piercing the handle; form of the torsional joint a stepped shaft arrangement, including larger and smaller diameter anterior posterior segment diameter; the outer wall of the pre-stage torsional linker four evenly spaced axially sliding; torsional outer wall segment after fitting provided prescribe annular chute torsion joint and the cavity formed in the handle section after clearance fit, by screwing the screws from the connection 8 connected to a cylindrical head portion 8 of the handle torsion joint screw hole, so that the connection screw 8 with the torsion joint segments the two annular sliding fit, to achieve the cylindrical head portion of the handle torsion joint rotatably connected.

[0015] 所述的拉压传感器包括头部螺纹轴段、中部圆盘段和后部螺纹轴段,头部螺纹轴段与拉压接头固定连接,中部圆盘状段连接有导线,该导线径向穿过拉压接头向外伸出,后部螺纹轴段与扭转传力机构的扭转接头固定连接;所述的拉压接头包括直径依次缩小的后段、中段和前段;所述的拉压接头后部的型腔设置在拉压接头的后段并延伸到中段,后段腔壁外表面设有两个呈对称分布的削平面,腔壁上设有4个均匀间隔分布的径向螺钉孔;拉压接头的前段为螺纹轴,螺纹轴的顶端顺延为V形凸出;通过向4个螺钉孔内旋入4个连接螺钉,使4个连接螺钉的头部与扭转接头上的4个轴向滑槽配合,实现拉压接头与扭转接头的可移动连接。 Pull pressure sensor [0015] The threaded shaft includes a head section, middle section and a threaded shaft segment discs rear head section and the threaded shaft is fixedly connected to tension and compression fittings, a disc-shaped central section is connected to the wires that radially outwardly through the tension and compression fittings projecting, threaded shaft section and a rear torsion force-transmission means is fixedly connected to torsion joint; the tension and compression fitting comprising successively reduced diameter rear, middle and front section; said pull the cavity provided in the rear portion of the press-fitting section tension and compression joints and extends to the middle section of the outer surface of the cavity wall is provided with two symmetrically distributed as a cutting plane, the chamber wall is provided with four evenly spaced radially a screw hole; pull preceding compression joint is a threaded shaft, the threaded shaft extended to the top of the V-shaped projection; by the four screws screwed into the bore of the connection screws 4, 4 so that the screw head is connected to the torsion joint 4 with axial chutes, tension and compression to achieve the torsion joint and a movable connection fitting.

[0016] 所述的切割器为破骨器、通路器或螺纹丝攻中的一种,切割器尾端开有用于与拉压接头的V形凸出嵌套传动相连的V形连接槽,切割器前端设有切削刃;所述的安装套头为圆柱筒状结构,安装套头前部外表面设有两个呈对称分布的削平面。 [0016] the broken bone cutter is a threaded passage or the wire tapping, the trailing end of the cutter opening for a V-shaped joint with tension-compression nesting projection connected to the drive V-groove connection, the front end of the cutter provided with a cutting edge; the mounting ferrule is a cylindrical tubular structure, the outer surface of the front head portion is provided with two sets of mounting faceted shape symmetrical distribution.

[0017] 所述的参考架包括顺序连成一体的支杆、十字形载球架和红外反射球;支杆下端固定于拉压传力机构的拉压接头上,支杆上端与十字形载球架的交叉点固连,红外反射球共4个分别连接在十字形载球架的4个角点处。 [0017] The reference frame includes a sequence of integral struts, cross ball carrier frame and infrared reflective spheres; tension-compression strut is fixed to the lower end of the tension and compression fitting force transmission mechanism, and upper cross struts carrier intersection of the ball cage is fixedly connected to the infrared reflective spheres are connected to a total of four points at the four corners of the cross-shaped ball carrier frame.

[0018] 本发明椎弓根螺钉植入反馈力信息采集装置配合光学定位系统使用,可在椎弓根螺钉植入手术过程中直接作用于人体胸、腰椎,并同步采集反馈力信息;也可通过专门的信息采集实验作用于人体胸、腰椎标本,采集反馈力信息。 [0018] The present invention implanted pedicle screw force feedback information collecting apparatus with the optical positioning system, an implantable surgical procedure directly on the human body thoracic, lumbar, and sync acquisition information pedicle screw force feedback; may by special experiments the role of information collected from human chest, spine specimens, collect feedback force information. 所采集的力觉信息可用于虚拟椎弓根钉植入手术系统中的力觉模型构建。 The force sense information collected may be used to sense the force virtual model pedicle screw implant surgical system construct. 附图说明 BRIEF DESCRIPTION

[0019] 图1为本发明椎弓根螺钉植入反馈力信息采集装置的立体结构示意图; [0019] Fig 1 a perspective schematic structural view of the pedicle screw force feedback information collecting apparatus of the present invention implanted;

[0020] 图2为本发明椎弓根螺钉植入反馈力信息采集装置的剖视结构示意图; [0020] FIG. 2 is a schematic cross-sectional view of the structure of screw insertion force feedback information collecting apparatus of the present invention, a pedicle;

[0021] 图3为本发明中的手柄的立体结构示意图; [0021] The three-dimensional structure of the handle of FIG. 3 is a schematic view of the invention;

[0022] 图4为本发明中的扭转传力机构的立体结构示意图; [0022] The three-dimensional structure torsional force transmission mechanism of the present invention, FIG. 4 a schematic view;

[0023] 图5为本发明中的扭转接头的立体结构示意图; [0023] The three-dimensional structure of the torsion joint 5 of the present invention in a schematic view of FIG;

[0024] 图6为本发明中的拉压传力机构的立体结构示意图; Perspective structural view of the force-transmission means [0024] FIG. 6 of the present invention, tension and compression;

[0025] 图7为本发明中的拉压接头的立体结构示意图; [0025] The three-dimensional structures in tension and compression fitting Figure 7 is a schematic view of the invention;

[0026] 图8为本发明中的拉压传感器的立体结构示意图; [0026] FIG. 8 is a schematic structural diagram of a perspective view of the tension and compression sensors invention;

[0027] 图9为本发明中的操作头的立体结构示意图; [0027] The three-dimensional structure of the present invention, FIG. 9 is a schematic view of the operating head;

[0028] 图10为本发明中的安装套头的立体结构示意图; [0028] The three-dimensional structure is mounted in the ferrule 10 of the present invention is a schematic diagram;

[0029] 图11为本发明中的切割器的立体结构示意图; [0029] The three-dimensional structure of the present invention. FIG. 11 is a schematic view of the cutter;

[0030] 图12为本发明中的参考架的立体结构示意图。 [0030] FIG. 12 is a perspective schematic structural view of the invention reference frame.

具体实施方式 Detailed ways

[0031] 下面结合附图和具体实施例对本发明进行详细说明。 Drawings and specific embodiments of the present invention will be described in detail [0031] below in conjunction.

[0032] 参见图1、图2,本发明椎弓根螺钉植入反馈力信息采集装置,包括手柄1、扭转传力机构2、拉压传力机构3、操作头4和参考架5。 [0032] Referring to FIG. 1, FIG. 2, the pedicle screw implant of the present invention the force feedback information collecting apparatus, comprising a handle 1, the torsional force transmission mechanism 2, tension and compression force transmission means 3, the operating head 4 and 5 the reference frame.

[0033] 继续参见图1、图2,配合参见图3,本发明中的手柄I由连成一体的梨形尾部11和圆筒形头部12构成,手柄内设有轴向贯通的型槽13。 [0033] With continued reference to FIGS. 1 and 2, with Figure 3, the present invention is composed of a pear-shaped handle I integral tail portion 11 and a cylindrical head 12, a handle equipped with an axial through-slot type 13. 在梨形尾部11外表面开有轴向防滑槽111,在圆筒形头部12的筒壁上设有6个用于固定扭转传感器的螺纹孔121和8个用于定位扭转接头的螺纹孔122。 Pear-shaped outer surface of the tail portion 11 with an axial opening skid grooves 111 in the cylindrical wall of the cylinder head 12 is provided with a torsional sensor 6 for fixing screw holes 121 and eight threaded holes for positioning the torsion joint 122.

[0034] 继续参见图1、图2,配合参见图4、图5,本发明中的扭转传力机构2嵌装在手柄I的型槽13内,包括活动卡套相连的扭矩传感器21和扭转接头22,扭矩传感器21设置在手柄的圆筒形头部12的后部,扭转接头22设置在手柄的圆筒形头部12的前部并与圆筒形头部12形成可转动连接。 [0034] With continued reference to FIG. 1, FIG. 2, with 4, 5, the torsion force transmission mechanism of the present invention 2 is fitted in the shaped groove of the handle I 13, comprising movable clamping sleeve is connected to the torque sensor 21 and the torsion connector 22, the torque sensor 21 disposed at the rear of the cylindrical head portion of the handle 12, the torsion joint 22 disposed in the cylindrical head portion of the handle 12 and the front portion 12 is formed may be rotatably connected to the cylindrical head portion. 扭矩传感器21的主体呈圆柱体形,圆柱体表面设有轴向防滑槽211,圆柱体尾端连接有一根导线23,该导线从手柄的梨形尾部11穿出。 Body of the torque sensor 21 was cylindrical, an axial slip cylinder surface grooves 211, the trailing end of cylinder 23 is connected to a wire, the piercing wire 11 from the pear-shaped tail portion of the handle. 扭转接头22呈阶梯轴结构,包括直径较大的前段221和直径较小的后段222,前段外壁设有4个均匀间隔分布的轴向滑槽223,后段外壁设有两道环形滑槽224,扭转接头后段222与手柄内的型腔13形成间隙配合。 Stepped shaft torsional joint structure 22, front section 221 comprises a larger diameter and a smaller diameter rear section 222, front section of the outer wall 4 is provided with uniformly spaced axial connecting link 223, an annular rear section of the outer wall is provided prescribe chute 224, 222 cooperate to reverse the connection piece and the cavity gap 13 is formed in the handle. 通过将8颗连接螺钉从手柄的圆筒形头部12的8个用于连接扭转接头的螺纹孔122旋入,使8个连接螺钉与扭转接头22后段的两道环形滑槽224配合,实现扭转接头22与手柄的圆筒形头部12的可转动连接。 By connecting screw 8 from the cylindrical head portion of the handle 812 is a threaded hole for connecting the torsion joint 122 is screwed into the screw 8 is connected to the rear section 22 the torsion joint with two annular chute 224, twisting the handle joint 22 to achieve a cylindrical-shaped head 12 is rotatably connected. 上述扭矩传感器21只承受扭转力矩,扭转接头22同时承受扭转力矩及拉压力。 The torque sensor 21 subjected to torsional moments, the torsional moment of the torsional joint 22 and pull withstand pressure.

[0035] 继续参见图1、图2,配合参见图6、图7、图8,本发明中的拉压传力机构3连接在扭转传力机构2的前端,包括拉压接头31和拉压传感器32,拉压接头31与扭转接头22嵌套相连并与扭转接头22形成可移动连接,拉压接头31的后部设有型腔,该型腔设置在拉压接头31的后段并延伸到中段。 [0035] With continued reference to FIG. 1, FIG. 2, with reference to Figure 6, 7, 8, tensile and compressive force-transmitting mechanism of the present invention 3 is connected to the front end of the torsional force transmission mechanism 2, including tension and compression fitting 31 and the tension and compression sensor 32, and the tension and compression fitting 31 and the torsion joint is connected to nest 22 formed in the movable connector, to pull the rear pressing head 31 is provided with the cavity and extending the rear section of the cavity is provided with a tension and compression fitting 31 fitting twisted 22 to the middle. 拉压传感器32设置在该型腔内并与拉压接头31固定连接,拉压传感器32的后部与扭转接头22固定连接。 Pull pressure sensor 32 disposed fixedly connected to the cavity 31 and the tension and compression joints, tension and compression of the rear portion 32 of the torsion sensor 22 is fixed connector. 拉压接头31包括直径依次缩小的后段311、中段312和前段313 ;后段311外表面设有两个呈对称分布的削平面3111,并设有4个均匀间隔分布的径向螺钉孔3112 ;拉压接头的前段313为螺纹轴,螺纹轴的顶端顺延为V形凸出314。 Tension and compression fitting 31 comprising successively reduced diameter rear section 311, middle 312 and front section 313; 311 is provided with an outer surface of the rear section form two symmetrical cutting plane 3111, and has four uniformly spaced radial screw hole 3112 ; tension and compression joints anterior threaded shaft 313, the top of the threaded shaft extended V-shaped projection 314. 通过向4个螺钉孔3112内旋入4个连接螺钉,使4个连接螺钉的头部与扭转接头22上的4个轴向滑槽223配合,实现拉压接头31与扭转接头22的可移动连接。 4 by rotation into the screw hole 3112 connected to the four screws, so that the head 4 is connected to the torsion of the screw 4 axially sliding fit on the fitting 22223, movable joint 22 to achieve tension and compression fitting 31 and the torsion connection. 拉压传感器32包括头部螺纹轴段321、中部圆盘段322和后部螺纹轴段323,头部螺纹轴段321与拉压接头31固定连接,中部圆盘状段322连接有导线33,该导线33径向穿过拉压接头31向外伸出,后部螺纹轴段323与扭转传力机构的扭转接头22固定连接。 Pull pressure sensor 32 comprises a head section of the threaded shaft 321, middle section 322 and a threaded shaft disc segments rear portion 323, a head 321 and a threaded shaft section tension and compression fitting 31 is fixedly connected to a disc-shaped central section 322 is connected to wire 33, the pull wire 33 passes through the pressure-bonding head 31 radially outwardly projecting, rear section 323 and a threaded shaft torsional force transmission mechanism 22 is fixedly connected to the torsion joint. 上述拉压传感器32只承受拉压力,拉压接头31同时承受扭转力矩及拉压力。 It said pull pressure sensor 32 subjected to tensile stress, tension and compression fitting 31 and withstand the twisting moment pull pressure.

[0036] 继续参见图1、图2,配合参见图9、图10、图11,本发明中的操作头4连接在拉压传力机构3的前端,包括安装套头41和切割器42,安装套头41与拉压接头31固定连接,切割器42与安装套头41嵌套相连并与拉压接头31嵌套传动相连。 [0036] With continued reference to FIG. 1, FIG. 2, with the see FIG. 9, FIG 10, FIG 11, in the present invention the operating head 4 is connected to the front end of the tensile and compressive force-transmitting mechanism 3 comprises a mounting sleeve head 41 and the cutter 42, mounted sleeve head 41 and the tension and compression fitting 31 is fixedly connected to the cutter head 42 is connected to the mounting sleeve 41 and is connected to the tension and compression nesting joint gear 31 nest. 其中的安装套头41为圆柱筒状结构,安装套头41前部外表面设有两个呈对称分布的削平面411。 Wherein the mounting sleeve 41 has a cylindrical head of the cylindrical structure, the front portion 41 the outer surface of the mounting ferrule is provided with two symmetrically faceted shape 411. 切割器42为破骨器、通路器或螺纹丝攻中的一种,切割器42尾端开有用于与拉压接头31的V形凸出314嵌套传动相连的V形连接槽421,切割器前端设有切削刃422。 The cutter 42 is a broken bone a screw or a wire tapping passage of the cutter 42 the trailing end of a V-shaped opening for the tension and compression fitting 31 projecting V-shaped connection groove 314 of nested gear 421 connected to the cutting front-end 422 is provided with a cutting edge. [0037] 继续参见图1、图2,配合参见图12,本发明中参考架5连接在拉压接头31上,包括顺序连成一体的支杆51、十字形载球架52和红外反射球53 ;支杆51下端固定于拉压传力机构的拉压接头31上,支杆51上端与十字形载球架52的交叉点固连,红外反射球53共4个分别连接在十字形载球架52的4个角点处。 [0037] With continued reference to FIGS. 1 and 2, with Figure 12, the present invention with reference to frame 5 is connected to the tension and compression fitting 31, comprising a sequence of integral struts 51, ball holder 52 and the cross-shaped carrier IR reflective spheres 53; the lower end of arm 51 is fixed to the tensile and compressive force-transmitting tension and compression fitting means 31, the cross-shaped carrier arm 51 and the upper end of the ball-point 52 of intersection is fixedly connected to the infrared reflective spheres 53 are respectively connected to a total of four cross-shaped carrier at four corners of ball holder 52.

Claims (3)

1.一种椎弓根螺钉植入反馈力信息采集装置,包括: 手柄,由连成一体的梨形尾部和圆筒形头部构成,手柄内设有轴向贯通的型槽; 扭转传力机构,嵌装在手柄的型槽内,包括活动卡套相连的扭矩传感器和扭转接头,扭矩传感器设置在手柄的圆筒形头部的后部,扭转接头设置在手柄的圆筒形头部的前部并与圆筒形头部形成可转动连接; 拉压传力机构,连接在扭转传力机构的前端,包括拉压接头和拉压传感器,拉压接头与扭转接头嵌套相连并与扭转接头形成可移动连接,拉压接头的后部设有型腔,拉压传感器设置在拉压接头的型腔内并与拉压接头固定连接,拉压传感器的后部与扭转接头固定连接; 操作头,连接在拉压传力机构的前端,包括安装套头和切割器,安装套头与拉压接头固定连接,切割器与安装套头嵌套相连并与拉压接头嵌套传动相连; 参 A pedicle screw insertion force feedback information collecting apparatus, comprising: a handle, constituted by integral pear-shaped head and a cylindrical tail portion, the handle is equipped with an axial through-groove; torsional force transmission mechanism, in-groove fitted handle, including those connected to the ferrule joint and torsional torque sensor, the torque sensor is provided at the rear of the cylindrical head portion of the handle, the torsion joint is provided in the cylindrical head portion of the handle formed in the front portion and rotatably connected to the cylinder head; tensile and compressive force-transmitting means, connected to the front end of the torsional force transmission mechanism, comprising a pull and tension and compression fitting pressure sensor, tension-compression and torsion joint is connected with the torsion and the splice nest forming a movable joint connecting the rear portion, is provided with tension and compression fitting cavity pull pressure sensor disposed in the cavity and the tension and compression and tension and compression fitting joints fixedly connected to the pressure sensor pull the rear connector is fixedly connected to the torsion; operation head, the front end connected to the tension and compression force transmission mechanism comprising a cutter head and a mounting sleeve, the mounting head and the tension and compression fitting sleeve is fixedly connected to the cutter head with the mounting sleeve is connected to nest the tension and compression and connected to drive the splice nest; see 架,连接在拉压接头上; 其特征在于:所述的手柄的梨形尾部外表面开有轴向防滑槽;所述的手柄的圆筒形头部的筒壁上设有6个用于固定扭转传感器的螺纹孔和8个用于定位扭转接头的螺纹孔;所述的扭矩传感器的主体呈圆柱体形,圆柱体表面设有轴向防滑槽,圆柱体尾端连接有一根导线,该导线从手柄的梨形尾部穿出;所述的扭转接头呈阶梯轴结构,包括直径较大的前段和直径较小的后段;扭转接头前段外壁设有4个均匀间隔分布的轴向滑槽;扭转接头后段外壁设有两道环形滑槽,扭转接头后段与手柄内的型腔形成间隙配合,通过将8颗连接螺钉从手柄的圆筒形头部的8个用于连接扭转接头的螺纹孔旋入,使8个连接螺钉与扭转接头后段的两道环形滑槽配合,实现扭转接头与手柄的圆筒形头部的可转动连接;所述的拉压传感器包括头部螺纹轴段、中部 Frame, connected to the tension and compression fitting; wherein: said trailing surface of outer handle pear-slip grooves with an axial opening; cylindrical wall of the cylindrical head portion 6 is provided with a handle for tapped holes torsional sensor 8 and a threaded hole for positioning the torsion joint; body of the torque sensor is circular cylindrical, cylindrical body provided with an axial slip surface grooves, the trailing end of the cylinder is connected to a wire, the wire pear out through the tail of the handle; said stepped joint torsional shaft arrangement, including larger and smaller diameter anterior posterior segment diameter; the outer wall of the pre-stage torsional linker four evenly spaced axially sliding; after twisting the outer wall of the joint segments arranged prescribe annular chute rear torsion joint section formed in the handle and the cavity clearance fit, connected by a connecting screw 8 from the cylindrical head 8 for twisting the joint of the handle screwed into the threaded hole, so that the connection screw 8 with the torsion two annular sliding fit connection piece after achieve torsional cylindrical head portion of the handle joint rotatably connected; pull said pressure sensor comprises a head of a threaded shaft segment, the middle 圆盘段和后部螺纹轴段,头部螺纹轴段与拉压接头固定连接,中部圆盘状段连接有导线,该导线径向穿过拉压接头向外伸出,后部螺纹轴段与扭转传力机构的扭转接头固定连接;所述的拉压接头包括直径依次缩小的后段、中段和前段;所述的拉压接头后部的型腔设置在拉压接头的后段并延伸到中段,后段腔壁外表面设有两个呈对称分布的削平面,腔壁上设有4个均匀间隔分布的径向螺钉孔;拉压接头的前段为螺纹轴,螺纹轴的顶端顺延为V形凸出;通过向4个螺钉孔内旋入4个连接螺钉,使4个连接螺钉的头部与扭转接头上的4个轴向滑槽配合,实现拉压接头与扭转接头的可移动连接。 Disk segments and the screw shaft rear section, the head section and the threaded shaft is fixedly connected to tension and compression fittings, a disc-shaped central section is connected to the wires that extend radially outwardly through the tension and compression fittings, threaded shaft rear section fixedly connected to the force-transmission means twisting the torsion joint; the tension and compression fitting comprising successively reduced diameter rear section, middle and front section; and a rear extending cavity provided in the tension and compression in the joint section of the tension-compression fitting to the middle section of the outer rear surface of the cavity wall is provided with two symmetrically distributed as a cutting plane, the chamber wall is provided with four uniformly spaced radial screw hole; anterior tension and compression fitting is a threaded shaft, the threaded shaft extended top projecting V-shaped; four screws through the four-hole connection screw screwed into the head portion 4 is connected to the screw 4 axially twisting the connector mating chutes, tension and compression to achieve the torsion joint linker may mobile connectivity.
2.如权利要求1所述的椎弓根螺钉植入反馈力信息采集装置,其特征在于:所述的切割器为破骨器、通路器或螺纹丝攻中的一种,切割器尾端开有用于与拉压接头的V形凸出嵌套传动相连的V形连接槽,切割器前端设有切削刃;所述的安装套头为圆柱筒状结构,安装套头前部外表面设有两个呈对称分布的削平面。 2. The pedicle screw implant according to claim 1 the force feedback information collecting apparatus, wherein: the broken bone cutter is a threaded passage or the wire tapping, the trailing end cutter the V-shaped opening for the tension and compression fitting connected to the drive nested projecting V-shaped groove connection, the front end of the cutter is provided with a cutting edge; the mounting ferrule is a cylindrical tubular configuration, the outer surface of the ferrule front mounting portion is provided with two a faceted shape symmetrical distribution.
3.如权利要求1所述的椎弓根螺钉植入反馈力信息采集装置,其特征在于:所述的参考架包括顺序连成一体的支杆、十字形载球架和红外反射球;支杆下端固定于拉压传力机构的拉压接头上,支杆上端与十字形载球架的交叉点固连,红外反射球共4个分别连接在十字形载球架的4个角点处。 3. The pedicle screw implant according to claim 1 the force feedback information collecting apparatus, wherein: said reference frame comprises a sequence of integral struts, cross ball carrier frame and infrared reflective spheres; branched the lower end of the pull rod is fixed to the tensile and compressive force-fitting compression mechanism, a cross-shaped intersection with the upper end of the strut is fixedly connected to the ball-carrier, a total of four infrared reflective spheres are connected at four corners of the frame cross ball carrier .
CN201110045902.3A 2011-02-25 2011-02-25 Spinal pedicle screw implantation feedback force information collection device CN102648870B (en)

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