CN103815970B - Orthopedic robot guide pin locator, guider and navigation system - Google Patents
Orthopedic robot guide pin locator, guider and navigation system Download PDFInfo
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- CN103815970B CN103815970B CN201410056737.5A CN201410056737A CN103815970B CN 103815970 B CN103815970 B CN 103815970B CN 201410056737 A CN201410056737 A CN 201410056737A CN 103815970 B CN103815970 B CN 103815970B
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Abstract
The present invention relates to a kind of orthopedic robot guide pin locator, guider and navigation system, it is guide locating device provided that this orthopedic robot guide pin locator comprises flexure type, flexure type is guide locating device provided comprises the connecting rod and support that are connected to each other, connecting rod is provided with can along the slip cap of connecting rod axial sliding movement, support is provided with sleeve fixed structure, by the pilot sleeve that described sleeve fixed structure fixed installation is guide pin guiding, pilot sleeve installs the angle of its axis rear and connecting rod axis between 15 degree to 75 degree.Guide locating device provided by arranging flexure type, the guide pin length coordinated can be shortened greatly, and make guide pin away from the mechanical arm of orthopedic robot, overcome the interference of guide pin and C-arm, thus meet the demand of operation better.
Description
Technical field
The present invention relates to a kind of armarium, particularly a kind of orthopedic robot guide pin locator for orthopaedics Minimally Invasive Surgery, robot navigation device and navigation system.
Background technology
Along with the continuous progress of orthopaedic trauma treatment technology and perfect, orthopaedics Minimally Invasive Surgery has become the Main way of orthopaedic trauma development.This novel operation mode is owing to being that closed reduction and Wicresoft are fixed, this just determines under a lot of work will be exposed to X-ray and completes, the a large amount of X-ray given off in operation process easily cause serious threat even to injure to the health of patient and operative doctor, especially for operative doctor, long X-radiation can cause a series of health problems such as hypoimmunity.A lot of country is all devoted to develop various novel airmanship in the world at present, to improve the precision of Minimally Invasive Surgery, and the X-radiation that minimizing operative doctor and patient are suffered in operation as far as possible.
For the defect existed in current orthopaedics Minimally Invasive Surgery and deficiency, create computer and control operation software thereof gradually, locating rack carrys out the intra medullary nail far-end locking technology that assist physician carries out performing the operation, see that the patent No. is 02158691.8, denomination of invention is the patent of computer aided system for locking far terminal of intramedullary nail, this patent is on the basis of conventional intramedullary nails technique for fixing, the three-dimensional imaging geometrical principle of computer vision is utilized to determine impact point geometric position, and design locating rack structure to realize the quick position of operation pathway, thus realize the semi-automation of Intramedullary nailing.System described in this patent is that suffering limb is put into locating rack inside, by U-shaped frame, guider is fixed, and penetrate pinning by the pilot hole on guider, complete operation to be fixed on by pinning in the pin-and-hole on intramedullary pin, the shortcoming of this system is that guider must be fixed by U-shaped frame, and the processing of this U-shaped frame relates to the complicated technologies such as cutting, calibration, and cost is high, and once due to timeliness reason generation slight deformation, guider can be made to locate inaccurate, bring very large error; In addition, place suffering limb in locating rack inside, the relative position of guider and patient cannot be adjusted on a large scale in, can make operation for the position of suffering limb limited, this patent is only suitable for the intramedullary pin operation to tibia or femur, is not suitable for the skeletal fixation of optional position; And locating rack needs to carry out disinfection, assemble and dismantle supervisor, intricate operation at each perioperatively, consumes manpower and materials, there is the inaccurate hidden danger in the incorrect location of bringing of assembling simultaneously.For the problems referred to above, the patent No. is 200910237998.6, denomination of invention guider disclosed in the patent of orthopedic robot navigation device and navigation system comprises straight rod type guider, be arranged at suffering limb side and by straight rod type guider being directly connected to the accurate location two universal joints realizing straight rod type guider self, pilot sleeve is put into straight rod type guider, guide pin is finally inserted in suffering limb by pilot sleeve inside, without the need to arranging this equipment of U-shaped frame, the position of straight rod type guider and direction are once determine, the position of pilot sleeve and guide pin and direction are just accurately determined thereupon, operation pathway fixing accurately spatially can be realized.This device is performed the operation by straight rod type guider in the side being placed on suffering limb, require with the use of guide pin length very long, cost is higher.And due to the restriction of size between the X-ray light source at the C-arm two ends of orthopedic robot and X-ray imaging device, guide pin is inserted in process, C-arm cannot be utilized to carry out the perspective checking of some position, such as, in femoral neck cannulated screw operation, because guide pin and localizer and C-arm are interfered and can not be carried out position, side perspective, the application of orthopaedics Minimally Invasive Surgery is made to be subject to a definite limitation.
Summary of the invention
The present invention is directed to the defect or deficiency that exist in prior art, a kind of novel orthopedic robot guide pin locator is provided, guide locating device provided by arranging flexure type, the guide pin length coordinated can be shortened greatly, and make guide pin away from the mechanical arm of orthopedic robot, overcome the interference of guide pin and C-arm.The invention still further relates to a kind of orthopedic robot navigation device for orthopaedics Minimally Invasive Surgery and navigation system.
Technical scheme of the present invention is as follows:
A kind of orthopedic robot guide pin locator, it is characterized in that, comprise flexure type guide locating device provided, described flexure type is guide locating device provided comprises the connecting rod and support that are connected to each other, described connecting rod is provided with can along the slip cap of connecting rod axial sliding movement, described support is provided with sleeve fixed structure, be the pilot sleeve of guide pin guiding by described sleeve fixed structure fixed installation, described pilot sleeve installs the angle of its axis rear and connecting rod axis between 15 degree to 75 degree.
Described connecting rod is also provided with can not along the fixed cover of connecting rod axial sliding movement, and described fixed cover and slip cap are the parts realizing clamping with the universal joint of orthopedic robot navigation device.
Described fixed cover is provided with for two planes with described universal joint clamping.
Two planes on described fixed cover are mutually vertical.
Described fixed cover is provided with alignment pin; And/or, described connecting rod is provided with the catch preventing described slip cap from coming off.
Described pilot sleeve installs the angle of its axis rear and connecting rod axis between 25 degree to 50 degree.
The angle that described pilot sleeve installs its axis rear and connecting rod axis is 30 degree.
Described sleeve fixed structure is mating with pilot sleeve of arranging on support to insert and the through hole of fixed guide sleeve.
The wall of described through hole is provided with withdraw of the needle groove, described withdraw of the needle groove is along the axially through breach for taking out guide pin of through hole.
Described sleeve fixed structure is the buckling groove for clamping pilot sleeve.
A kind of orthopedic robot navigation device, comprise support, first cascade machine mechanical arm and the second cascade machine mechanical arm, described first cascade machine mechanical arm comprises the first horizontal movement assembly be connected in series, first vertical motion assembly and the first universal joint, described second cascade machine mechanical arm comprises the second horizontal movement assembly be connected in series, second vertical motion assembly and the second universal joint, described first horizontal movement assembly is all connected with support with the second horizontal movement assembly, between described first horizontal movement assembly and the first vertical motion assembly, between first vertical motion assembly and the first universal joint, between second horizontal movement assembly with the second vertical motion assembly and the second vertical motion assembly be all connected by guide rail with between the second universal joint, it is characterized in that, also comprise above-mentioned orthopedic robot guide pin locator, described first universal joint and described slip cap clamping, when described connecting rod is provided with fixed cover, described second universal joint and described fixed cover clamping, when described connecting rod not being arranged fixed cover, certain the part clamping on described second universal joint and described connecting rod beyond slip cap.
Described first universal joint and the second universal joint include be connected successively base, horizontally rotate parts, vertically rotary part and clamping part, described clamping part comprises vee-block and wedge to complete the clamping of pilot sleeve, described vee-block and wedge are all arranged on vertical rotary part, and the inclined-plane of the corresponding described wedge of the V-shaped groove of described vee-block; Described clamping part adopts V-shaped groove location, and coordinate horizontal rotary part horizontally rotate and the vertical rotation of vertical rotary part realizes the accurate location of pilot sleeve.
The described parts that horizontally rotate comprise Y shaped bracket and swivel bearing, be connected with base by swivel bearing bottom the Y shape of described Y shaped bracket, described vertical rotary part is U-shaped support, the U-shaped two-arm of described U-shaped support is connected axisymmetricly with the inner side of the Y shape two-arm of Y shaped bracket respectively, described vee-block is arranged at inside a U-shaped arm of U-shaped support, and wedge is arranged at inside the another one U-shaped arm of U-shaped support; And/or, described in horizontally rotate parts be the parts that can rotate around self vertical axis, described vertical rotary part is and horizontally rotates component activity and be connected and the parts that can rotate around its horizontal axis.
Also comprise height adjustment assembly, horizontal adjustment parts and control panel, described first horizontal movement assembly is connected with support with height adjustment parts by horizontal adjustment assembly respectively with the second horizontal movement assembly, described support is provided with castor and support fixture, described control panel is provided with the control knob of control first horizontal movement assembly, the first vertical motion assembly, the second horizontal movement assembly, the second vertical motion assembly, height adjustment assembly and horizontal adjustment component movement.
A kind of navigation system, comprises C-arm, computer and is stored in the image controlling operation software in computer, it is characterized in that, also comprise above-mentioned orthopedic robot navigation device.
Technique effect of the present invention is as follows:
Orthopedic robot guide pin locator provided by the invention, it is the termination on orthopedic robot navigation device, comprise flexure type guide locating device provided, flexure type is guide locating device provided comprises the connecting rod and support that are connected to each other, connecting rod is provided with can along the slip cap of connecting rod axial sliding movement, support is provided with sleeve fixed structure, wherein, the slip cap of connecting rod and setting thereof is the parts of the universal joint connecting orthopedic robot navigation device, support is the parts of fixed guide sleeve, by the flexure type guiding-positioning structure that connecting rod and support are formed, after pilot sleeve is installed, the angle of its axis and connecting rod axis is between 15 degree to 75 degree, the position of orthopedic robot guide pin locator and direction are once determine, the position of pilot sleeve and guide pin and direction are just accurately determined thereupon, this orthopedic robot guide pin locator is utilized to carry out bone surgery, the holding of guide pin position in bone surgery can be realized and stablize, and accurately locate the locus of guide pin, this flexure mode structure that the present invention has special angle makes the installation site of guide pin no longer by the restriction of universal center position, can naturally reasonably away from the mechanical arm of orthopedic robot navigation device, limitedly avoid interference and the collision that guide pin inserts C-arm and mechanical arm when having an X-rayed in process, simultaneously, guide pin length is no longer subject to the restriction of the spacing of mechanical arm size and two universal joints, can greatly shorten guide pin length, reduce the impact that guide pin is subject to the restriction of size between the X-ray light source at the C-arm two ends of orthopedic robot and X-ray imaging device, overcome the interference of guide pin and C-arm, avoid the problem that existing location technology is restricted in the application of orthopaedics Minimally Invasive Surgery, the perspective checking that C-arm still can be utilized to carry out operation relevant position is inserted in process at guide pin, and guide pin contraction in length, avoid the requirement of existing straight rod type guider with the use of the long manufacture difficulty caused of guide pin length, the problem that cost is higher.In maximum magnitude, so just unhinderedly can adjust the relative position of this orthopedic robot guide pin locator and patient, be applicable to the orthopaedics Minimally Invasive Surgery at any suffering limb position, thus meet the demand of operation better.
Connecting rod is arranged can not along the fixed cover of connecting rod axial sliding movement, fixed cover on connecting rod and slip cap are the parts realizing clamping with the universal joint of orthopedic robot navigation device, by the clamping with two universal joints, connecting rod can be arranged on the location line between two universal center points, the position that flexure type is guide locating device provided and direction are all fixed, just achieve flexure type self location guide locating device provided, furthermore achieved that the position of pilot sleeve and guide pin and the accurate location in direction, the mechanical arm of orthopedic robot navigation device is by driving whole orthopedic robot guide pin locator to do the motion of N number of degree of freedom with the universal joint of fixed cover and slip cap clamping, realize location and the guide function of orthopedic robot guide pin locator more neatly.
Fixed cover is provided with for two planes with universal joint clamping, these two planes coordinate with universal joint, can limit relatively rotating between fixed cover and universal joint, furthermore achieved that the location of guide pin sleeve, finally realize the location of guide pin, improve the precision of orthopaedics Minimally Invasive Surgery.
Sleeve fixed structure on support during flexure type is guide locating device provided is the through hole arranged on support, and this through hole mates with pilot sleeve, is inserted and fixed guide sleeve by this through hole, realizes the fixing of guide pin, and this structure is simple and easy to realize; The wall of through hole is provided with withdraw of the needle groove, this withdraw of the needle groove is along the axially through breach for taking out guide pin of through hole, be inserted into after in suffering limb by pilot sleeve inside at guide pin, pilot sleeve can be removed along through hole, the part that guide pin does not insert suffering limb can exit along through hole, but directly exited by the withdraw of the needle groove on through-hole wall, make simple to operate, reduce and move back the guide locating device provided Large Amplitude Motion of whole flexure type that guide pin brings from through hole, shorten the spent time of whole operation, improve procedure efficiency.
The orthopedic robot navigation device that the present invention relates to, comprise support, the first cascade machine mechanical arm, the second cascade machine mechanical arm and orthopedic robot guide pin locator of the present invention, first cascade machine mechanical arm comprises the first horizontal movement assembly, the first vertical motion assembly and the first universal joint that are connected in series, realizes the motion of two degree of freedom in the plane that the first universal joint can be formed at the first horizontal movement assembly and the first vertical motion assembly; Described second cascade machine mechanical arm comprises the second horizontal movement assembly, the second vertical motion assembly and the second universal joint that are connected in series, the motion of two degree of freedom is realized in the plane that second universal joint also can be formed at the second horizontal movement assembly and the second vertical motion assembly, first universal joint and slip cap clamping, when connecting rod has fixed cover, second universal joint and fixed cover clamping, when connecting rod there is no fixed cover, certain the part clamping on the second universal joint and connecting rod beyond slip cap.When the first universal joint and the second universal joint move to impact point geometric position respectively in respective plane, position and the direction of the orthopedic robot guide pin locator after clamping are all fixed, just achieve the location of orthopedic robot guide pin locator self, this orthopedic robot guide pin locator finally can realize the motion of four degree of freedom, therefore this orthopedic robot guide pin locator is in fact a device with positioning action and guide effect.Hands art is carried out in side orthopedic robot navigation device of the present invention being placed on suffering limb, the position of orthopedic robot guide pin locator and direction are once determine, operation pathway just can fixing on implementation space accurately, such as the most frequently used orthopaedics Minimally Invasive Surgery guide pin is inserted in suffering limb, by the sleeve fixed structure fixed guide sleeve of orthopedic robot guide pin locator, guide pin is finally inserted in suffering limb by pilot sleeve inside, so the position of orthopedic robot guide pin locator and direction are once determine, the position of pilot sleeve and guide pin and direction are just accurately determined thereupon, this device is without the need to arranging this equipment of U-shaped frame, therefore complicated technology when eliminating the U-shaped frame of processing, reduce cost, solve simultaneously U-shaped frame due to secular distortion reason cause locate the inaccurate problem bringing error.In addition, due to the side hands art that orthopedic robot navigation device of the present invention is in suffering limb, and be provided with the orthopedic robot guide pin locator of flexure mode structure, greatly can shorten the guide pin length of cooperation, and make guide pin away from the mechanical arm of orthopedic robot, overcome the interference of guide pin and C-arm, after guide pin position is accurately determined, just can this guide pin be inserted in suffering limb, the relative position of this orthopedic robot navigation device and patient can be adjusted in larger more fully scope, and it is flexibly easy to adjust, operate also very easy, easily obtain the putting position of orthopedic robot navigation device the best, improve the compliance of this device, therefore be applicable to the skeletal fixation at any suffering limb position, and the intramedullary pin hands art be not only for tibia or femur, therefore this device of the present invention has been broken in prior art owing to placing the limitation to operative site that suffering limb causes in locating rack inside, and avoid in prior art adopt the requirement of straight rod type guider with the use of guide pin length long and cost is high and there is the position of guide pin and direction is subject to the problem that C-arm hinders.
First universal joint is set and includes with the second universal joint the base be connected successively, horizontally rotate parts, vertical rotary part and clamping part, clamping part comprises vee-block and wedge to complete the clamping of pilot sleeve, adopt V-shaped groove positioning principle, and coordinate horizontal rotary part horizontally rotate and the vertical rotation of vertical rotary part realizes the accurate location of pilot sleeve, when performing the operation, can directly sterilizing covers or other nontoxic thin film in these two universal joint upper covers, this sterilizing covers or nontoxic thin film can by orthopedic robot guide pin locator and two universal joints completely isolated, effectively isolate by between pilot sleeve and surgical navigational robot body, prevent universal joint even surgical navigational robot to the pollution of operative space, operative space is made to reach the Sterile standard of requirements of operation, effectively can also prevent sterilizing covers or nontoxic thin film fold, at utmost reduce sterilizing covers or nontoxic thin film to the impact of pilot sleeve positioning precision, even if make across sterilizing covers, orthopedic robot guide pin locator still can accurately be located, precision is high, location and good fixing effect, the requirement of the positioning precision of the pilot sleeve in orthopaedics Minimally Invasive Surgery can be met, and without the need to assembling surgical instrument fixing device even each parts of surgical navigational robot afterwards before surgery, dismounting, and the sterilization process such as high temperature steaming.
Preferred setting horizontally rotates parts and comprises Y shaped bracket and swivel bearing, be connected with base by swivel bearing bottom the Y shape of Y shaped bracket, vertical rotary part is U-shaped support, the U-shaped two-arm of U-shaped support is distinguished symmetrical and is connected with the inner shafts of the Y shape two-arm of Y shaped bracket, vee-block is arranged at inside a U-shaped arm of U-shaped support, and wedge is arranged at inside the another one U-shaped arm of U-shaped support.The gimbal structure of this ad hoc structure is compact, navigation instrument human body can be coordinated to realize operation pathway fixing accurately spatially, and in scope large as far as possible, the relative position of pilot sleeve and patient can be adjusted flexibly, be applicable to the orthopaedics Minimally Invasive Surgery at any suffering limb position, thus better meet operation demand and manufacture technics is simple, easy to operate, and improve precision.
The navigation system that the present invention relates to comprises C-arm, computer and the image controlling operation software be stored in computer, and orthopedic robot navigation device of the present invention, orthopedic robot navigation device comprises orthopedic robot guide pin locator of the present invention, suffering limb is placed on operation table, orthopedic robot navigation device is placed on suffering limb side, the irradiation of the X-ray light source in C-arm is utilized to form image on imaging plane, then obtained the locating information of guide pin by the image controlling operation software in computer based on Binocular Vision Principle, finally regulate orthopedic robot navigation device according to these locating information, in order to have realized the guide locating device provided accurate location of flexure type, thus realize operation pathway fixing accurately spatially.Navigation system of the present invention, because guide pin is away from the mechanical arm of orthopedic robot, overcome the interference of guide pin and C-arm, therefore whole system is reliable and stable, and is applicable to the skeletal fixation at any suffering limb position, can be good at satisfied operation demand.
Accompanying drawing explanation
Fig. 1 is the preferred structure schematic diagram of orthopedic robot guide pin locator of the present invention.
Fig. 2 is the structural representation of a kind of preferred embodiment of orthopedic robot navigation device of the present invention.
Fig. 3 is the structural representation of the another kind of preferred embodiment of orthopedic robot navigation device of the present invention.
Fig. 4 is the structural representation of the universal joint in Fig. 2.
Fig. 5 is the structural representation of navigation system of the present invention.
In figure, each label lists as follows:
1-connecting rod; 2-support; 3-slip cap; 4-fixed cover; 5-alignment pin; 6-catch; 7-through hole; 8-withdraw of the needle groove; 9-pilot sleeve; 10-guide pin; 11-first horizontal movement assembly; 12-first vertical motion assembly; 13-first universal joint; 14-orthopedic robot guide pin locator; 15-horizontal adjustment assembly; 16-height adjustment assembly; 17-control panel; 18-second horizontal movement assembly; 19-second vertical motion assembly; 20-second universal joint; 21-support; 22-foot is taken turns; 23-base; 24-swivel bearing; 25-Y shape support; 26-U shape support; 27-V shape block; 28-wedge; 29-Compress Spring; 30-Y shape support axis; 31-U shape support axis; 32-X radiant; 33-C arm; 34-X photoimaging equipment; 35-computer; 36-orthopedic robot navigation device; 37-suffering limb.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be described.
The present invention relates to a kind of orthopedic robot guide pin locator, its preferred structure as shown in Figure 1, comprise flexure type guide locating device provided, this flexure type is guide locating device provided comprises the connecting rod 1 and support 2 that are connected to each other, connecting rod 1 is provided with can along the slip cap 3 of connecting rod axial sliding movement, preferably this connecting rod 1 is also provided with fixed cover 4, this fixed cover 4 is fixed on connecting rod 1 that it can not along connecting rod 1 axial sliding movement, support 2 is provided with sleeve fixed structure, this sleeve fixed structure is for fixedly mounting pilot sleeve 9, guide pin 10 is penetrated to lead for guide pin 10 in pilot sleeve 9, this orthopedic robot guide pin locator is after installation pilot sleeve 9, the angle of pilot sleeve 9 axis and connecting rod 1 axis is between 15 degree to 75 degree, preferably between 25 degree to 50 degree, this embodiment is 30 degree.Fixed cover and 4 slip caps 3 are the parts realizing clamping with the universal joint of orthopedic robot navigation device.Certainly, if do not arrange fixed cover 4, then a universal joint of orthopedic robot navigation device and slip cap 3 clamping, other certain the part clamping directly and on connecting rod of another universal joint.
Fixed cover 4 is provided with two planes, these two planes can be mutually vertical, these two planes are used for coordinating with universal joint, realize the clamping of universal joint and fixed cover 4, the rotation of fixed cover 4 in universal joint can be limited, be conducive to the fixing of orthopedic robot guide pin locator of the present invention, furthermore achieved that the location of guide pin sleeve 9, finally realize the location of guide pin 10, improve the precision of orthopaedics Minimally Invasive Surgery.In addition, connecting rod 1 can also preferably arrange the catch 6 preventing slip cap 3 from coming off, fixed cover 4 is provided with alignment pin 5, after two planes of cover 4 to be fixed and universal joint clamping, fit in alignment pin 5 and universal joint side, restriction fixed cover 4 universal joint slide anteroposterior relatively.
Sleeve fixed structure in embodiment illustrated in fig. 1 be arrange on support 2 mate to insert the through hole 7 of also fixed guide sleeve 9 with pilot sleeve 9, the wall of through hole 7 is provided with withdraw of the needle groove 8, this withdraw of the needle groove 8 is along the axially through breach for taking out guide pin 10 of through hole 7.Pilot sleeve 9 is inserted along this through hole 7, reach the effect that pilot sleeve 9 is fixing and lead, after operation completes, guide pin 10 is inserted in suffering limb by pilot sleeve 9, first pilot sleeve 9 can be extracted out along through hole 7, the part that guide pin 10 fixed by orthopedic robot guide pin locator is exited again by the withdraw of the needle groove 8 on through-hole wall, guide pin 10 and orthopedic robot guide pin locator are hightailed, guide pin 10 does not insert the part of suffering limb without the need to exiting from through hole 7, arranging withdraw of the needle groove 8, that guide pin 10 is exited is simple to operate, reduce and move back the guide locating device provided Large Amplitude Motion of whole flexure type that guide pin 10 brings from through hole 7, improve procedure efficiency.Certainly, the sleeve fixed structure shown in Fig. 1 is not exclusive architecture, directly sleeve fixed structure can be set to the buckling groove for clamping pilot sleeve 9 yet.
The flexure type of orthopedic robot guide pin locator provided by the invention is guide locating device provided, and the connecting rod 1 comprised and support 2 can be one-body molded or be formed by fixedly connecting by modes such as welding by these two parts.Orthopedic robot guide pin locator is the termination on orthopedic robot navigation device, for the holding of guide pin position in bone surgery and stable, need the locus of accurately location guide pin, the flexure mode structure of this orthopedic robot guide pin locator makes the guide pin length coordinated greatly to shorten, and make guide pin away from the mechanical arm of orthopedic robot navigation device, overcome the interference of guide pin and C-arm, the problem that the application avoiding orthopaedics Minimally Invasive Surgery is restricted, thus the requirement meeting operation better.
Adopt the preferred structure of the orthopedic robot navigation device of orthopedic robot guide pin locator of the present invention as shown in Figure 3, comprise orthopedic robot guide pin locator 14, first cascade machine mechanical arm, second cascade machine mechanical arm, horizontal adjustment assembly 15, height adjustment assembly 16 and support 21, first cascade machine mechanical arm comprises the first horizontal movement assembly 11 be connected in series, first vertical motion assembly 12 and the first universal joint 13, second cascade machine mechanical arm comprises the second horizontal movement assembly 18 be connected in series, second vertical motion assembly 19 and the second universal joint 20, first horizontal movement assembly 11 and the second horizontal movement assembly 18 are connected with support 21 with height adjustment assembly 16 by horizontal adjustment assembly 15 all successively, between first horizontal movement assembly 11 and the first vertical motion assembly 12, between first vertical motion assembly 12 and the first universal joint 13, all be connected by guide rail between second horizontal movement assembly 18 with the second vertical motion assembly 19 and between the second vertical motion assembly 19 with the second universal joint 20, first universal joint 13 and slip cap 3 clamping, second universal joint 20 and fixed cover 4 clamping.When connecting rod 1 not being arranged fixed cover, the first universal joint 13 and slip cap 3 clamping, the second universal joint 20 and connecting rod 1 certain part clamping except slip cap 3.
First horizontal movement assembly 11 is provided with guide rail (also can by feed screw nut as driver part), on the first horizontal movement assembly 11, sensor or show rulers scale etc. can be set as displacement detector, first vertical motion assembly 12 can horizontal slip on the first horizontal movement assembly 11, thus drive the first universal joint 13 to do horizontal movement, first vertical motion assembly 12 is also provided with guide rail (also can by feed screw nut as driver part) and displacement detector is set, first universal joint 13 vertically can slide on the first vertical motion assembly 12, therefore in the first universal joint 13 perpendicular that can form at the first horizontal movement assembly 11 and the first vertical motion assembly 12, realize the motion of two degree of freedom, in like manner, the motion of two degree of freedom is realized in the perpendicular that the second universal joint 20 can be formed at the second horizontal movement assembly 18 and the second vertical motion assembly 19, and first universal joint 13 and the second universal joint 20 in respective plane, do relatively independent motion.When the first universal joint 13 and the second universal joint 20 move to respective impact point geometric position respectively, also achieve the accurate location on self position and direction with the orthopedic robot guide pin locator 14 of the first universal joint 3 and the second universal joint 13 clamping simultaneously, this orthopedic robot guide pin locator finally can realize the motion of four degree of freedom, therefore orthopedic robot guide pin locator 14 is in fact one has the device of positioning action and guide effect to pilot sleeve 9 and guide pin 10.When the most frequently used orthopaedics Wicresoft navigating surgery guide pin 10 is inserted in suffering limb, suffering limb is placed on operation table, the location of orthopedic robot guide pin locator 14 is carried out in the side that orthopedic robot navigation device of the present invention is placed on operation table, pilot sleeve 9 is put into the sleeve fixed structure of orthopedic robot guide pin locator 14, the position of orthopedic robot guide pin locator 14 and direction are once determine, the position of pilot sleeve 9 and direction are just accurately determined thereupon, guide pin 10 is inserted into pilot sleeve 9, simultaneously the position of guide pin 10 and direction are just accurately determined thereupon, and guide pin 10 and connecting rod 1 form special angle, guide pin 10 is away from two cascade machine mechanical arm of orthopedic robot navigation device, perform the operation so guide pin 10 can be inserted into suffering limb inside by doctor accurately.
Preferably, bottom support 21, castor 22 can be set surrounding, such convenience is to the passing of whole orthopedic robot navigation device, this device can be shifted onto operation bedside flexibly, support fixture can be set in the bottom of support 21 in addition, after adjusting the position of this orthopedic robot navigation device, support fixture can control castor 22 to be made it to be lifted away from ground, prevents the position of orthopedic robot navigation device in performing the operation from offseting.Height adjustment assembly 16 can realize the significantly adjustment of two cascade machine mechanical arm in short transverse, horizontal adjustment assembly 15 can realize the significantly adjustment in the horizontal direction of two cascade machine mechanical arm, orthopedic robot navigation device is made to be adjusted to best putting position, be equivalent to do corresponding adjustment according to the height at suffering limb on operation table and position to orthopedic robot guide pin locator 14, without the need to mobile support, substantially increase the motility of orthopedic robot navigation device, shorten operating time, thus it is convenient to perform the operation.Even in operation, the interference can avoiding doctor by the motion of horizontal adjustment assembly 15 and height adjustment assembly 16, after surgical release, orthopedic robot navigation device accurately can return to the position before motion, and this function substantially increases the motility of orthopedic robot navigation device.In addition, a control panel 17 can also be set on the apparatus, and the control knob that can control the motion of the first horizontal movement assembly 11, first vertical motion assembly 12, second horizontal movement assembly 18, second vertical motion assembly 19, height adjustment assembly 16 and horizontal adjustment assembly 15 is set on control panel 17.Before surgery, can on the outer cover of the first cascade machine mechanical arm and the second cascade machine mechanical arm sterilizing covers, again by orthopedic robot guide pin locator 14 respectively with the first universal joint 13 and the first universal joint 20 clamping, the completely isolated of whole device except orthopedic robot guide pin locator 14 and operative space can be realized like this by sterilizing covers, prevent orthopedic robot navigation device to the pollution of operative space, make operative space reach the Sterile standard of requirements of operation; And without the need to assembling each parts of orthopedic robot navigation device, dismantle afterwards before surgery, and the sterilization process such as high temperature steaming, more solve the problem that parts that in orthopedic robot navigation device, volume is larger and electrical category device cannot carry out conventional high temperature steaming sterilization at all.
The preferred structure of orthopedic robot navigation device of the present invention can also be as shown in Figure 2, Fig. 2 is the part-structure figure of orthopedic robot navigation device, this orthopedic robot navigation device comprises orthopedic robot guide pin locator 14 equally, first cascade machine mechanical arm, second cascade machine mechanical arm and support (not shown), first cascade machine mechanical arm comprises the first horizontal movement assembly (not shown) be connected in series, first vertical motion assembly 12 and the first universal joint 13, second cascade machine mechanical arm comprises the second horizontal movement assembly (not shown) be connected in series, second vertical motion assembly 19 and the second universal joint 20.The first universal joint 13 in this embodiment and the second universal joint 20 all adopt the gimbal structure shown in Fig. 4, this universal joint comprises the base 23 connected successively, horizontally rotate parts, vertical rotary part and clamping part, base 23 can slide on the vertical motion assembly of cascade machine mechanical arm along guide rail, horizontally rotating parts is the parts that can rotate around self vertical axis, horizontally rotate parts and comprise Y shaped bracket 25 and swivel bearing 24, be connected with base 23 by swivel bearing 24 bottom the Y shape of Y shaped bracket 25, the outside of swivel bearing 24 coordinates with base 23, match with bottom the Y shape of Y shaped bracket 25 in inner side.Y shaped bracket 25 can do 360 ° of rotations around Y shaped bracket axis 30.Vertical rotary part is and horizontally rotates component activity and be connected and the parts that can rotate around its horizontal axis, vertical rotary part is U-shaped support 26, the U-shaped two-arm of U-shaped support 26 is connected axisymmetricly with the inner side of the Y shape two-arm of Y shaped bracket 25 respectively, now Y shaped bracket 25 is the support member of U-shaped support 26, U-shaped support 26 can rotate around U-shaped support axis 31, and this U-shaped support axis 31 intersects vertically with Y shaped bracket axis 30.Clamping part is the clamping positioning element of pilot sleeve 9, comprise vee-block 27 and wedge 28 to complete the clamping of orthopedic robot guide pin locator 14, vee-block 27 is arranged at inside a U-shaped arm of U-shaped support 26, wedge 28 is arranged at inside the another one U-shaped arm of U-shaped support 26, vee-block 27 and wedge 28 left and right on two U-shaped arms of U-shaped support 26 is corresponding to be arranged, the inclined-plane of the corresponding wedge 28 of V-shaped groove of vee-block 27, clamping part adopts V-shaped groove location, and coordinate horizontal rotary part horizontally rotate and the vertical rotation of vertical rotary part realizes the clamping of orthopedic robot guide pin locator 14, accurate location and clamping.
This universal joint also comprises the Compress Spring 29 vertically arranged, the bottom of wedge 28 is fixed in one end of this Compress Spring 29, the other end is fixed on the inner side bottom the U-shaped of U-shaped support 26, wedge 28 is slidably connected with the U-shaped arm of U-shaped support 26, wedge 28 is the clamping device of orthopedic robot guide pin locator 14, under the effect of Compress Spring 29, wedge 28 moves upward, Automatic-clamping orthopedic robot guide pin locator 14, wedge 28 particular by the first universal joint 13 steps up slip cap 3, step up fixed cover 4 by the wedge 28 of the second universal joint 20 or directly step up connecting rod 1.Slip cap 3 and fixed cover 4 snap in universal joint respectively, on fixed cover 4, orthogonal plane coordinates with the V-block 27 of universal joint, restriction fixed cover 4 rotates in V-block 27, fit in alignment pin 5 and universal joint side, restriction fixed cover 4 slide anteroposterior, the i.e. slip of limiting rod 1 and whole orthopedic robot guide pin locator 14, realized the requirement of orthopedic robot guide pin locator 14 location by vee-block 27, promote wedge 28 by Compress Spring 29 and clamp the fixing requirement of orthopedic robot guide pin locator 14 realization.Along with the motion of the horizontal movement assembly in two cascade machine mechanical arm and vertical motion assembly, two universal joints step up orthopedic robot guide pin locator 14, realize the multivariant accurate location of the biplane of orthopedic robot guide pin locator 14, pilot sleeve 9 and guide pin 10.
Fig. 5 is the structural representation of navigation system of the present invention, this system comprises the orthopedic robot navigation device 14 shown in Fig. 2 or Fig. 3, also comprise C-arm 33, computer 35 and the image controlling operation software be stored in computer 35, orthopedic robot navigation device 36 is placed on the side of suffering limb 37, wherein, C-arm 33 comprises X-ray light source 32 and X-ray imaging device 34, X-ray light source 32 is from two angular illumination suffering limbs 37, and image is formed on X-ray imaging device 34, transfer in computer 35 by after this image acquisition through video data line, image controlling operation software as calculated in machine 35 is set up two-dimensional coordinate system and is carried out computing based on Binocular Vision Principle and finally determines operation pathway, namely determine the guide pin that need insert axial location coordinate and as impact point geometric position, operation button can be set in image controlling operation software, the robot guide pin locator 14 that can control after clicking this operation button in orthopedic robot navigation device 36 moves, further, impact point geometric position is moved to respectively by the first universal joint 13 and the second universal joint 20, then robot guide pin locator 14 is snapped fit onto in the first universal joint 13 and the second universal joint 20, pilot sleeve 9 is put into the sleeve fixed structure (as through hole 7) of robot guide pin locator 14, again guide pin 10 is inserted this pilot sleeve 9, guide pin 10 is inserted in suffering limb 37 and completes operation the most at last.The image controlling operation software that also can arrange in computer 35 is connected with the control knob on the control panel 17 in orthopedic robot navigation device 36, this control knob is used for the component movement such as control first horizontal movement assembly 11, first vertical motion assembly 12, second horizontal movement assembly 18, second vertical motion assembly 19, height adjustment assembly 16 and horizontal adjustment assembly 15, makes the first universal joint 13 in orthopedic robot navigation device 36 and the second universal joint 20 move to impact point geometric position respectively by pressing control knob.
It should be pointed out that the above detailed description of the invention can make the invention of those skilled in the art's comprehend, but do not limit the present invention in any way creation.Therefore; although this description has been described in detail the invention with reference to drawings and Examples; but; those skilled in the art are to be understood that; still can modify to the invention or equivalent replacement; in a word, all do not depart from technical scheme and the improvement thereof of the spirit and scope of the invention, and it all should be encompassed in the middle of the protection domain of the invention patent.
Claims (15)
1. an orthopedic robot guide pin locator, it is characterized in that, comprise flexure type guide locating device provided, described flexure type is guide locating device provided comprises the connecting rod and support that are connected to each other, described connecting rod is provided with can along the slip cap of connecting rod axial sliding movement, described support is provided with sleeve fixed structure, be the pilot sleeve of guide pin guiding by described sleeve fixed structure fixed installation, described pilot sleeve installs the angle of its axis rear and connecting rod axis between 15 degree to 75 degree.
2. orthopedic robot guide pin locator according to claim 1, it is characterized in that, described connecting rod is also provided with can not along the fixed cover of connecting rod axial sliding movement, and described fixed cover and slip cap are the parts realizing clamping with the universal joint of orthopedic robot navigation device.
3. orthopedic robot guide pin locator according to claim 2, is characterized in that, described fixed cover is provided with for two planes with described universal joint clamping.
4. orthopedic robot guide pin locator according to claim 3, is characterized in that, two planes on described fixed cover are mutually vertical.
5. according to the orthopedic robot guide pin locator one of claim 2 to 4 Suo Shu, it is characterized in that, described fixed cover is provided with alignment pin; And/or, described connecting rod is provided with the catch preventing described slip cap from coming off.
6. according to the orthopedic robot guide pin locator one of Claims 1-4 Suo Shu, it is characterized in that, described pilot sleeve installs the angle of its axis rear and connecting rod axis between 25 degree to 50 degree.
7. orthopedic robot guide pin locator according to claim 6, is characterized in that, the angle that described pilot sleeve installs its axis rear and connecting rod axis is 30 degree.
8. according to the orthopedic robot guide pin locator one of Claims 1-4 Suo Shu, it is characterized in that, described sleeve fixed structure is mating with pilot sleeve of arranging on support to insert and the through hole of fixed guide sleeve.
9. orthopedic robot guide pin locator according to claim 8, is characterized in that, the wall of described through hole is provided with withdraw of the needle groove, and described withdraw of the needle groove is along the axially through breach for taking out guide pin of through hole.
10. according to the orthopedic robot guide pin locator one of Claims 1-4 Suo Shu, it is characterized in that, described sleeve fixed structure is the buckling groove for clamping pilot sleeve.
11. 1 kinds of orthopedic robot navigation devices, comprise support, first cascade machine mechanical arm and the second cascade machine mechanical arm, described first cascade machine mechanical arm comprises the first horizontal movement assembly be connected in series, first vertical motion assembly and the first universal joint, described second cascade machine mechanical arm comprises the second horizontal movement assembly be connected in series, second vertical motion assembly and the second universal joint, described first horizontal movement assembly is all connected with support with the second horizontal movement assembly, between described first horizontal movement assembly and the first vertical motion assembly, between first vertical motion assembly and the first universal joint, between second horizontal movement assembly with the second vertical motion assembly and the second vertical motion assembly be all connected by guide rail with between the second universal joint, it is characterized in that, also comprise the orthopedic robot guide pin locator that one of claim 1 to 10 is described, described first universal joint and described slip cap clamping, when described connecting rod is provided with fixed cover, described second universal joint and described fixed cover clamping, when described connecting rod not being arranged fixed cover, certain the part clamping on described second universal joint and described connecting rod beyond slip cap.
12. orthopedic robot navigation devices according to claim 11, it is characterized in that, described first universal joint and the second universal joint include be connected successively base, horizontally rotate parts, vertically rotary part and clamping part, described clamping part comprises vee-block and wedge to complete the clamping of pilot sleeve, described vee-block and wedge are all arranged on vertical rotary part, and the inclined-plane of the corresponding described wedge of the V-shaped groove of described vee-block; Described clamping part adopts V-shaped groove location, and coordinate horizontal rotary part horizontally rotate and the vertical rotation of vertical rotary part realizes the accurate location of pilot sleeve.
13. orthopedic robot navigation devices according to claim 12, it is characterized in that, the described parts that horizontally rotate comprise Y shaped bracket and swivel bearing, be connected with base by swivel bearing bottom the Y shape of described Y shaped bracket, described vertical rotary part is U-shaped support, the U-shaped two-arm of described U-shaped support is connected axisymmetricly with the inner side of the Y shape two-arm of Y shaped bracket respectively, and described vee-block is arranged at inside a U-shaped arm of U-shaped support, and wedge is arranged at inside the another one U-shaped arm of U-shaped support; And/or, described in horizontally rotate parts be the parts that can rotate around self vertical axis, described vertical rotary part is and horizontally rotates component activity and be connected and the parts that can rotate around its horizontal axis.
14. according to claim 11 to the orthopedic robot navigation device one of 13 described, it is characterized in that, also comprise height adjustment assembly, horizontal adjustment parts and control panel, described first horizontal movement assembly is connected with support with height adjustment parts by horizontal adjustment assembly respectively with the second horizontal movement assembly, described support is provided with castor and support fixture, described control panel is provided with control first horizontal movement assembly, first vertical motion assembly, second horizontal movement assembly, second vertical motion assembly, the control knob of height adjustment assembly and horizontal adjustment component movement.
15. 1 kinds of navigation systems, comprise C-arm, computer and are stored in the image controlling operation software in computer, it is characterized in that, also comprise the orthopedic robot navigation device that one of claim 11 to 14 is described.
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| CN106388928B (en) * | 2016-11-02 | 2020-05-01 | 何斌 | Finger fracture reduction instrument |
| CN107669328B (en) * | 2017-11-20 | 2024-03-26 | 陈聚伍 | Two-point multidimensional positioning device for femoral intramedullary nail |
| CN108175508B (en) * | 2018-01-02 | 2019-10-29 | 极限人工智能(北京)有限公司 | A kind of medical operating robot arm |
| CN109998683A (en) * | 2019-05-06 | 2019-07-12 | 路迎 | A kind of image-guided surgery navigation device |
| CA3146183A1 (en) * | 2019-07-15 | 2021-01-21 | Amdt Holdings, Inc. | Strut assemblies and external fixation systems |
| CN113558738B (en) * | 2021-06-04 | 2024-01-26 | 北京达芬奇视界医疗科技发展有限公司 | Multifunctional positioning and guiding device for orthopedic operation |
| CN114469326B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Energy ablation needle clamping device, surgical robot and energy ablation system |
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| US7892243B2 (en) * | 2001-01-16 | 2011-02-22 | Microdexterity Systems, Inc. | Surgical manipulator |
| CN2756167Y (en) * | 2004-09-28 | 2006-02-08 | 联合骨科器材股份有限公司 | Fixing tool for intramedullary pin |
| CN1775488A (en) * | 2005-12-21 | 2006-05-24 | 王满宜 | Modular orthopedic robot for auxiliary intra medullary nail far-end locking |
| CN101700184B (en) * | 2009-11-26 | 2011-01-12 | 北京天智航技术有限公司 | Orthopedic robot navigation device and positioning system |
| CN102247211B (en) * | 2011-03-24 | 2013-02-20 | 北京天智航医疗科技股份有限公司 | Surgical instrument fixing device |
| CN203885617U (en) * | 2014-02-19 | 2014-10-22 | 北京天智航医疗科技股份有限公司 | Orthopaedic robot guide needle locator and navigation device |
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