CN103598916A - Auxiliary device for craniofacial plastic surgery - Google Patents
Auxiliary device for craniofacial plastic surgery Download PDFInfo
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- CN103598916A CN103598916A CN201310526110.7A CN201310526110A CN103598916A CN 103598916 A CN103598916 A CN 103598916A CN 201310526110 A CN201310526110 A CN 201310526110A CN 103598916 A CN103598916 A CN 103598916A
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Abstract
The invention provides an auxiliary device for a craniofacial plastic surgery. The auxiliary device for the craniofacial plastic surgery comprises a support module, a position control module, a gesture control module, a motor motion module and a surgery operation module, wherein the support module comprises a base bracket, a beam rod, a transversely H-shaped support frame and a round sleeve fixing member; the position control module is composed of a stepped rod and a drive rod and is connected to a spatial position needed by an adjustment surgery through a bolt; the gesture control module is formed by connecting two mutually orthogonal arc-shaped rods through a bearing, and composes a terminal end gesture needed by the surgery through spatial rotation; the motor motion module comprises a servo motor, a shaft coupler, a lead screw, a light bar, a bearing, a fixing frame and a connecting plate; motion along the axial direction is realized by connecting the shaft coupler, the connecting plate, the light bar and the like through the lead screw. The surgery operation module comprises a handle, a guide rail fixing block, a sliding block, a light bar, a clamp and a cutter. A strain foil sensor is adhered to the inner part of the clamp to display a force size in real time in the operation, so that the depth of bone cutting can be judged.
Description
Technical field
The present invention relates to minimally invasive surgery plastic operation robot field, particularly, relate to a kind of auxiliary device for cranio-facial surgery plastic operation.
Background technology
Computer aided technique is increasingly extensive in the application of medical domain, and over nearly 20 years, oneself becomes one of conventional direction of surgical field research application.
Robotic surgery becomes the main flow of surgery Minimally Invasive Surgery gradually.Robot system has the incomparable stability of staff and accuracy, in art, can accurately locate, and reduces operation wound and complication, improves success rate of operation.
The main treatment target of plastic surgery operations is various first, craniofacial bones that acquired disposition causes and the severe deformities of corresponding soft tissue.Because cranium jaw face anatomical structure is complicated, vital sensibilities organ gathers, and in most cases the cranium Maxillofacial surgery visual field is limited, and important neurovascular structure is positioned at osseous tissue, or is positioned at rear; Must accomplish that appearance and function take into account simultaneously.
In tradition plastic operation, cranium face plastic operation is doctor's hand operation surgical knife tool, still rest in traditional hand dipping, eye estimate and facsimile reproduction model surgery method for designing at present, operation plan is subject to the subjective thinking factors such as doctor personal experience, custom to affect very large.
Therefore, foundation be applicable to orthopedic auxiliary robot device for alleviating doctor's work fatigue, reduce operation wound, improve accurately location and success rate of operation tool and be of great significance.
Through prior art patent retrieval is found, only retrieve " a kind of nasal cartilages support auxiliary device for Reshaping the nasal tip operation " by name, China Patent No. is 200880019014.0.Do not find about cranium face plastic operation Patents.
Because cranium jaw face anatomical structure is complicated and contain arteries, slightly deviation just has the arterial hemorrhage of causing.The hand-held scalpel of veteran doctor cuts operation to mandibular bone, and due to the tangential stressed complexity of scalpel in art and inhomogeneous, doctor need spend and maintain energetically the stable of scalpel; Long-time operation doctor is very easily tired, is difficult to guarantee that operative stabilization accurately carries out.
For these reasons, technical staff is devoted to research and develop a pinpoint craniofacial plastic surgery operating robot auxiliary device.In this auxiliary device, by frame for movement, can realize the accurate location within the scope of narrow and small surgical field of view, thereby improve the success rate of operation.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of cranio-facial surgery plastic operation auxiliary device, in the cranium face plastic operation that uses mouth guard as fixed coordinates, this auxiliary device is a kind of auxiliary precision positioning machine device robot system, can in limited space, accurately locate and arrive operation object.
For achieving the above object, the invention provides a kind of cranio-facial surgery plastic operation auxiliary device, comprise supporting module, position control module, attitude control module, motor movement module and operation technique module; Wherein position control module is fixed on supporting module, the central axis of both connecting portions and base support central axes; Attitude control module and position control module are fixed by the symmetrical connector of side two; Motor movement module connects with attitude control module, and motor movement module centers axis and attitude control module upside axis conllinear; Operation technique module is connected in motor movement module bottom, both central axis conllinear.
Described supporting module comprises base support, crossbeam bar, I-shaped support frame and circular cover fixture, and bracing frame is separately fixed on base support and crossbeam bar, is used for keeping the stable of crossbeam bar, and circular cover fixture is fixed on base support.I-shaped support frame end is connected with position control module.
Described position control module is comprised of stepped stem and dwang, stepped stem one end connects on above-mentioned I-shaped support frame, the stepped stem other end connects with dwang, adjusts the required locus of operation, and the dwang other end connects with arc rod member in attitude control module.
Described attitude control module is connected by bearing by two mutually orthogonal arc rod members, by spatial rotational, forms the needed terminal angle of operation.In two arc rod members: upper end arc rod member connects with above-mentioned dwang, lower end arc rod member connects with motor movement module fixing rack.
Described motor movement module comprises servomotor, shaft coupling, leading screw, the first feed rod, bearing, fixed mount and two gusset pieces.Motor is connected on fixed mount and connects with shaft coupling, and the shaft coupling other end connects leading screw, by bearing, is fixed on fixed mount bottom, leading screw with connects flange and passes through threaded engagement, the other end is fixed on connection notch board; First feed rod one end frame that is connected and fixed, the other end is fixed on connection notch board, wherein connects notch board and fixes, and connects flange and coordinates with wire rod thread.When motor forward or reverse, by leading screw transmitting movement, make to connect flange and realize axially-movable.
Described operation technique module comprises handle, guide rail fixed block, slide block, the second feed rod, fixture and surgical knife tool.Guide rail fixed block with connect flange and connect, handle connects guide rail fixed block side, the second feed rod is fixedly slide block, then stationary fixture holding cutter in guide rail fixed block bottom.In fixture, post four foil gauges, in art, the size of real-time demonstration power, judges the degree of depth of osteotomy with this.
The present invention forms cartesian coordinate system kinematic axis by the arc rod member of stepped stem, dwang and quadrature, realizes three-dimensional motion.By such mechanism kinematic, accurately locate at the operation visual angle being readily embodied within the scope of narrow and small limited oral cavity, thereby complete operation smoothly.
The whole robot assisted device of the present invention adopts aluminium alloy manufacture, under the prerequisite of proof strength and rigidity, the effective weight of alleviator, this device is also furnished with gravity compensation: the corresponding spring in both sides connects I-shaped support frame and position control module dwang, and the tension of motor process medi-spring compensates the error that causes positional precision due to gravity factor.
Preferably, described operation technique module has the boring requirement that 1 degree of freedom is realized skull face, needs in addition to have force feedback link, during operation, and according to medical image, the operating grip hands art of holing; When arriving the first boring point, start electric drill and motor switch in surgical knife tool, motor drives electric drill to move downward, and now, foil gauge has force signal and spreads out of, and with this, judges drilling depth and the position that drill bit was arrived; Complete again after first boring, motor reversal, drill bit away from, stop operating after arriving above-mentioned motor zero.
Preferably, described servomotor motion has dead-center position and emergency braking device; Described dead-center position judges by external adjunct circuit, when connection flange moves to specified point, outreaches circuit and connects, and by signal of telecommunication contrary with open-circuit condition of oscilloscope display, determines thus dead-center position.
Compared with prior art, the present invention has following beneficial effect:
The present invention is in carrying out cranium face plastic operation process, and robot assisted system can accurately be located fast, widens the limited visual range of cranio-facial surgery doctor and has assisted operation.Therefore, it is of great significance for improving location of operation precision, reduce surgical injury, optimize operation pathway and improving the tools such as success rate of operation.The present invention is applicable to minimally invasive surgery field, and power value in detection technique in real time, has overcome traditional treatment limitation, to improve accuracy and the safety of plastic operation, has important clinical meaning.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the population structure schematic diagram of cranium face plastic operation auxiliary device assembling.
Fig. 2 is supporting module structure front view.
Fig. 3 is position control module structural representation.
Fig. 4 is attitude control module structural representation.
Fig. 5 is motor movement modular structure diagram.
Fig. 6 is operation technique modular structure diagram.
Fig. 7 is the force feedback loop in robot system.
The explanation of vitals reference marks:
Supporting module 10, position control module 20, attitude control module 30, motor movement module 40 and operation technique module 50;
Stepped stem 203, dwang 201, bolt-connection 202, screwed hole 204,205;
Up-and-down rod 304, circular rod 302, screw thread 303,305, bearing 301,306;
Servomotor 401, shaft coupling 404, leading screw 410, feed rod 405, fixed mount 403, connects flange 409, connects notch board 408, bearing 404,406, screw thread 402,407,411;
Handle 501, guide rail fixed block 508, slide block 502, feed rod 503, fixture 505,506, scalpel 504, screw thread 507,509.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, the cranio-facial surgery plastic operation auxiliary device that one embodiment of the invention provides, it comprises supporting module 10, position control module 20, attitude control module 30, motor movement module 40 and operation technique module 50, be shown in Fig. 1.Wherein position control module 20 is connected and fixed on supporting module 10 by bolt and nut, base support 101 central axes in the central axis of both connecting portions and supporting module; Attitude control module 30 is fixed by the symmetrical screw of side two with position control module 20; Motor movement module 40 is passed through four thread connection of side with 30 of attitude control modules, and motor movement module 40 central axis and attitude control module 30 upside axis conllinear; Operation technique module 50 by thread connection at motor movement module 40 bottoms, central axis conllinear.
As shown in Figure 2, described supporting module comprises base support 101, crossbeam bar 105, I-shaped support frame 103, circular cover fixture 102.I-shaped support frame 103 connects 104 by screw nut and is connected to crossbeam bar 105, and the other end connects 106 by screw nut and connects circular cover fixture 102; Bracing frame is used for keeping the stable of crossbeam bar, is fixed on base support 101 and crossbeam bar 105 respectively by four sunk screws, and circular 102 of fixtures of cover are fixed on base support 101 by nut.
As shown in Figure 3, described position control module is comprised of stepped stem 203 and dwang 201, stepped stem 203 one end connect on above-mentioned I-shaped support frame 103, stepped stem 203 other ends pass through bolt-connection 202 with dwang 201, adjust the required locus of operation, dwang 201 other ends connect with arc rod member in attitude control module (up-and-down rod 304).
In the center of dwang 201, be provided with screwed hole 204, be gravity-compensated device Spring Card stomion herein.
As shown in Figure 4, described attitude control module is connected by bearing by two mutually orthogonal arc rod members (being up-and-down rod 304, circular rod 302), by spatial rotational, forms the needed terminal angle of operation.Up-and-down rod 304 upper ends and bearing 306 interference fit, connect screwed hole 205 by screw thread 305 and be fixed on dwang 201.The same, up-and-down rod 304 lower ends and bearing 301 interference fit, be connected with circular rod 302 by screw thread 303, can realize vertical direction and rotate.
As shown in Figure 5, described motor movement module comprises servomotor 401, shaft coupling 404, and leading screw 410, the first feed rods 405, fixed mount 403, connects flange 409, connects notch board 408, bearing 404,406, screw thread 402,407,411.Motor 401 is fixed on fixed mount 403 and with shaft coupling 404 and is connected by screw thread 402, shaft coupling 404 other ends connect leading screw 410, by bearing 404 interference fit, be fixed on fixed mount 403 bottoms, leading screw 410 with connect flange 409 by threaded engagement, the other end is fixed on and is connected on notch board 408 by bearing 406; First feed rod 405 one end frame 403 that is connected and fixed, the other end is screwed in and connects notch board 408.When motor forward or reverse, by leading screw 410 transmitting movements, make to connect flange 409 and realize axle and move up or down.
As shown in Figure 6, operation technique module comprises handle 501, guide rail fixed block 508, slide block 502, the second feed rods 503, fixture 505,506, scalpel 504, screw thread 507,509.Handle 501 is connected with guide rail fixed block 508 by screw thread, slide block 502 connects with guide rail fixed block 508 by screw thread 507, the second feed rod 503 is fixed on slide block 502 bottoms by screw thread 509 connecting clamps 505,506, and scalpel 504 is fixedly clamped by fixture 505,506.
In fixture, post four foil gauges, foil gauge position is arranged on fixture 505,506 retaining part inner sides, symmetrical placement.In art, detect in real time the size of electric drill feedback force (axial force), by external display, show, with this, judge the degree of depth of osteotomy.
The present embodiment service condition: before operation, with CT scan operation, need data message, at image processing platform, realize the reconstruction of three-dimensional head image, extract operation key message and form virtual image, then, according to placing template after operative site design template support, the mock-up that wears template is combined with virtual image.When operation starts, robot assisted device after sterilization is placed on to appropriate location, according to Design virtual reality, go out the position of needs of patients operation, presetting robot device determines the approximate spatial locations of scalpel, then regulate attitude module accurately to determine scalpel position, the plane parallel going out with virtual reality image.Servomotor rotating drive leading screw, polished rod motion, order about operation technique module and move up and down, and auxiliary doctor completes operation smoothly.
In order to consider the safety of operation, in the present embodiment of the present invention, described motor movement module has dead-center position and emergency braking device.Primary structure is as follows: servomotor 401 is screwed on fixed mount 403, fixed mount 403 with connect notch board 408 by feed rod 405 thread connection; When electric machine rotation, drive shaft coupling 404, leading screw 410 to rotate together, owing to connecting flange 409, be that threaded engagement and leading screw 410 are fixing with leading screw 410, therefore, connect flange 409 and drive feed rod 405 to move vertically.Screw mandrel 410 somewheres with connect flange 409 on each welding have non-conductive of metal, then be external in adjunct circuit, when connection flange 409 moves to herein, outreach adjunct circuit and connect, oscillograph shows a signal of telecommunication contrary with open-circuit condition, determines thus dead-center position.In addition, also need to add urgent prevention device and prevent accident, sentinel plant is peripheral hardware breaker device, after power-off, stops immediately.
In the present embodiment of the present invention, described operation technique module should have the boring requirement that 1 degree of freedom is realized skull face.Primary structure is as follows: slide block 502 and guide rail fixed block 508, and guide rail fixed block 508 is thread connection with handle 501, and slide block can slide and can be fixed on a certain position that needs along guide rail fixed block 508; Fixture 505,506 connects with scalpel 504 bolt and nuts, can suitably regulate cutter holding position.During operation, according to medical image, doctor's operating grip hands art of holing; When arriving the first boring point, start electric drill (electric drill is positioned at scalpel 504, is controlled by external power supply) and motor 401 switches, motor drives electric drill to move downward; Now, foil gauge has force signal and spreads out of, and doctor judges drilling depth and the position that drill bit was arrived with this.Complete again after first boring, motor reversal (with last switched in opposite), drill bit is away from patient's skull, stops operating after arriving above-mentioned motor zero.Doctor unscrews slide block 502, after sliding slider 502 to second boring points, tightens slide block 502, so repeat the action of the first boring until bored the hole of design.
Unload robot assisted device, change surgical knife tool.Doctor is along the complete a series of holes of above-mentioned brill successively osteotomy, and the very big like this amount for surgical that alleviates doctor, completes operation more accurately.
Force feedback loop in described robot system as shown in Figure 7.Doctor, according to own micro-judgment scalpel Position Approximate, controls robot movement by communications setting, and registered placement under medical image is controlled scalpel motion; The position of feedback scalpel and induction stressing conditions, feed back to doctor then, holds in real time operation process.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1. a cranio-facial surgery plastic operation auxiliary device, is characterized in that: comprise supporting module, position control module, attitude control module, motor movement module and operation technique module; Wherein position control module is fixed on supporting module, two module connecting portion central axis and base support central axes; Attitude control module and position control module are fixed by the symmetrical connector of side two; Motor movement module connects with attitude control module, and motor movement module centers axis and attitude control module upside axis conllinear; Operation technique module is connected in motor movement module bottom, both central axis conllinear;
Described supporting module comprises base support, crossbeam bar, I-shaped support frame and circular cover fixture, bracing frame is separately fixed on base support and crossbeam bar, be used for keeping the stable of crossbeam bar, circular cover fixture is fixed on base support, and I-shaped support frame end is connected with position control module;
Described position control module is comprised of stepped stem and dwang, stepped stem one end connects on above-mentioned I-shaped support frame, the stepped stem other end connects with dwang, adjusts the required locus of operation, and the dwang other end connects with arc rod member in attitude control module;
Described attitude control module is connected by bearing by two mutually orthogonal arc rod members, by spatial rotational, forms the needed terminal angle of operation; In two arc rod members: upper end arc rod member connects with above-mentioned dwang, lower end arc rod member connects with motor movement module fixing rack; The arc rod member of described stepped stem, dwang and quadrature forms cartesian coordinate system kinematic axis, realizes three-dimensional motion;
Described motor movement module comprises servomotor, shaft coupling, leading screw, the first feed rod, bearing, fixed mount, connection notch board and connection flange, motor is connected on fixed mount and connects with shaft coupling, and the shaft coupling other end connects leading screw, by bearing, is fixed on fixed mount bottom, leading screw with connect flange by threaded engagement, the other end is fixed on and connects on notch board; First feed rod one end frame that is connected and fixed, the other end is also fixed on and connects on notch board, wherein connects notch board and fixes, and connects flange and coordinates with wire rod thread; When motor forward or reverse, by leading screw transmitting movement, make to connect flange and realize axially-movable;
Described operation technique module comprises handle, guide rail fixed block, slide block, the second feed rod, fixture and surgical knife tool; Guide rail fixed block with connect flange and connect, handle connects guide rail fixed block side, the second feed rod is fixing slide block in guide rail fixed block bottom, the second feed rod connecting clamp is fixed on slider bottom, surgical knife tool is fixed by clamp, in fixture, post four foil gauges, in art, the size of real-time demonstration power, judges the degree of depth of osteotomy with this.
2. cranio-facial surgery plastic operation auxiliary device according to claim 1, it is characterized in that: described supporting module is used for keeping the stable of crossbeam bar by bracing frame, by four sunk screws, be fixed on base support and crossbeam bar respectively, circular cover fixture is fixed on base support by nut; The center of dwang is provided with screwed hole, is gravity-compensated device Spring Card stomion herein, with this, realizes gravity compensation.
3. cranio-facial surgery plastic operation auxiliary device according to claim 1 and 2, is characterized in that: described servomotor motion has dead-center position and emergency braking device; Described dead-center position judges by external adjunct circuit, when connection flange moves to specified point, outreaches circuit and connects, and by signal of telecommunication contrary with open-circuit condition of oscilloscope display, determines thus dead-center position.
4. cranio-facial surgery plastic operation auxiliary device according to claim 3, is characterized in that: described servomotor is screwed on fixed mount, fixed mount with connect notch board by feed rod thread connection; When servomotor rotates, drive shaft coupling, leading screw to rotate together, connecting flange and leading screw is that threaded engagement and leading screw are fixed, and therefore, connects flange and drives the first feed rod to move vertically, screw mandrel somewhere with connect flange on each welding have non-conductive of metal, then be external in adjunct circuit, when connection flange moves to herein, outreach adjunct circuit and connect, oscillograph shows a signal of telecommunication contrary with open-circuit condition, determines thus dead-center position.
5. cranio-facial surgery plastic operation auxiliary device according to claim 3, is characterized in that: described emergency braking device is peripheral hardware breaker device, after power-off, stops immediately.
6. cranio-facial surgery plastic operation auxiliary device according to claim 1 and 2, it is characterized in that: described operation technique module has the boring requirement that 1 degree of freedom is realized skull face, has in addition force feedback link, during operation, according to medical image, the operating grip operation of holing; When arriving the first boring point, start electric drill and servomotor switch in surgical knife tool, driven by servomotor electric drill moves downward, and now, foil gauge has force signal and spreads out of, and with this, judges drilling depth and the position that drill bit was arrived; Complete again after first boring, servomotor reversion, drill bit away from, arrive above-mentioned servomotor and stop operating after zero point.
7. cranio-facial surgery plastic operation auxiliary device according to claim 6, is characterized in that: described slide block and guide rail fixed block, and guide rail fixed block and handle are thread connection, and slide block can slide and can be fixed on a certain position that needs along guide rail fixed block; Fixture connects with surgical knife tool bolt and nut, scalable cutter holding position.
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| CN201310526110.7A CN103598916B (en) | 2013-10-29 | 2013-10-29 | A kind of auxiliary device for craniofacial plastic surgery |
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| CN201310526110.7A CN103598916B (en) | 2013-10-29 | 2013-10-29 | A kind of auxiliary device for craniofacial plastic surgery |
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| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
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| CN106821559B (en) * | 2017-03-22 | 2018-07-06 | 兰州大学第一医院 | A kind of medical assistance instrument of orthopaedics biological support implantation |
| CN106821559A (en) * | 2017-03-22 | 2017-06-13 | 徐升 | A kind of medical assistance apparatus of orthopaedics biological support implantation |
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| CN106901935B (en) * | 2017-04-23 | 2018-12-18 | 诸暨市领跑管理咨询事务所 | A kind of hospital's shaping device easy to use |
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| CN107510505A (en) * | 2017-07-17 | 2017-12-26 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN107510505B (en) * | 2017-07-17 | 2019-10-18 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN108670396A (en) * | 2018-04-27 | 2018-10-19 | 长春理工大学 | Pedicle nail drill autofeeder |
| CN109316241A (en) * | 2018-11-19 | 2019-02-12 | 上海交通大学医学院附属第九人民医院 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
| CN112998775A (en) * | 2021-02-18 | 2021-06-22 | 盛保璐 | Liver cancer local ablation laparoscope insertion device |
| CN112998775B (en) * | 2021-02-18 | 2021-12-21 | 南方医科大学南方医院 | Liver cancer local ablation laparoscope insertion device |
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