CN105055030A - Through pincer type spinal micro surgery mechanical arm - Google Patents
Through pincer type spinal micro surgery mechanical arm Download PDFInfo
- Publication number
- CN105055030A CN105055030A CN201510584724.XA CN201510584724A CN105055030A CN 105055030 A CN105055030 A CN 105055030A CN 201510584724 A CN201510584724 A CN 201510584724A CN 105055030 A CN105055030 A CN 105055030A
- Authority
- CN
- China
- Prior art keywords
- conduit
- screw mandrel
- inner core
- lifting
- power device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Surgical Instruments (AREA)
Abstract
The invention relates to a through pincer type spinal micro surgery mechanical arm which comprises a machine shell. A base plate is arranged on the machine shell. A working channel formed by a guide cylinder is arranged below the machine shell. The through pincer type spinal micro surgery mechanical arm is characterized in that a plurality of through holes are formed in the base plate and internally provided with a through pincer type soft tissue treatment mechanism, a through pincer type bone tissue treatment mechanism, an endoscope and a nerve retracting and attracting mechanism. In addition, a connecting mechanism is arranged on the machine shell. Thus, free function switching between a pure tool and a pincer type structure can be achieved, decompression can be achieved, and pedicle screws can be built in as well. All the mechanisms are designed integrally and are small in occupied size. Meanwhile, all the mechanisms can be used in cooperation effectively, and the use requirements for decompression, built-in of the pedicle screws and the like of safe and efficient spinal micro surgery mechanical arm are met.
Description
Technical field
The present invention relates to a kind of mechanical hand, particularly relate to a kind of through jaw type spinal column Miniature surgical mechanical hand.
Background technology
In recent years along with the development of robotics, Medical Robot has had considerable progress, as Leonardo da Vinci's operating robot of the U.S., good application is achieved at general outer, gynecological, Urology Surgery, but its volume is larger, have four mechanical arms, every mechanical arm function is relatively single, is applied to Minimally invasive procedure field and does not have advantage.
Following problem is there is at present in the robot of Minimally invasive procedure field application:
(1) volume is all comparatively large, and mechanical arm is more, as the Vector-Bot robot system of Germany, and the SPINEBOT etc. of Korea S.Operation consent is installed and in operation to change apparatus all more loaded down with trivial details.Though the SPINEASSSIANT volume of Israel's research and development is less but need installation frame, wound is larger.
(2) function singleness, can not meet minimally invasive spine surgical decompression and internal fixtion two basic operative requirements simultaneously.
The spinal operation robot function of current research and development be substantially be all conceived to be applied to pedicle screw inserts and can not reduce pressure especially can not be micro-wound pressure-reduced, so just significantly limit the development of robotics in Minimally invasive procedure field.
Prior art 201280049592.5, which provides a kind of Medical mechanical hand, comprising: surgical instrument portion, and described surgical instrument portion has enforcement division, and this enforcement division is constructed to manipulation of objects object; And surgical instrument drive division, described surgical instrument drive division is constructed to provide driving force, and described driving force is for driving the described enforcement division provided separably relative to described surgical instrument portion.
The unusual part of the program is, described surgical instrument drive division comprises: input block, described input block is arranged in relative to the one end on the attachment detaching direction in described surgical instrument portion to form a pair, and be constructed to move forward and backward in directions opposite each other, and be constructed to transmit described driving force in a forward direction when advancing towards described surgical instrument portion.
Also include drive source, described drive source is constructed to described a pair input block is moved forward and backward, and described surgical instrument portion comprises:
First transmission part, described first transmission part and in described input block are relative and be supported for and moving forward and backward relative to the one end on the described attachment detaching direction of described surgical instrument drive division, described first transmission part is constructed to receive the driving force of described in described input block and is moving up with the described identical side in described input block, and is connected to described enforcement division at the other end.
Second transmission part, described second transmission part is relative with another in described input block and be supported for and moving forward and backward relative to the one end on the described attachment detaching direction of described surgical instrument drive division, and described second transmission part be constructed to receive in described input block described another driving force and with in described input block described in another identical side move up; And side, surgical instrument portion reversion linkage part, the reversion of side, described surgical instrument portion linkage part and described first transmission part with
Described second transmission part engages, and is constructed to be transferred to by the amount of movement of in described first transmission part and described second transmission part while reversion moving direction another in described first transmission part and described second transmission part.
Its problem mainly solved and advantage are, driving force is transferred to the paired input block in surgical instrument portion and the first and second transmission parts from surgical instrument drive division and is arranged in end attachment detaching direction toward each other transmit driving force, only move and perform on attachment detaching direction and be attached and be separated.For this reason, the attachment that can perform easily and rapidly the surgical instrument portion on surgical instrument drive division be separated.
But be only attachment and the separation problem in the surgical instrument portion solved on drive division, effective needs for Minimally invasive procedure, do not provide effective technical support, fail to give the enlightenment of effective technology.
Because above-mentioned defect, the design people, actively in addition research and innovation, to founding a kind of through jaw type spinal column Miniature surgical mechanical hand, make it have more value in industry.
Summary of the invention
For solving the problems of the technologies described above, the object of this invention is to provide a kind of through jaw type spinal column Miniature surgical mechanical hand.
Through jaw type spinal column Miniature surgical mechanical hand of the present invention, include casing, described casing is provided with base plate, service aisle is provided with below described casing, wherein: described base plate is provided with some through holes, be provided with through jaw type Soft Tissue Treatment mechanism in described through hole, logical pass through jaw-type bone organized processing mechanism, endoscope, nerve retract and attracting mechanism, described casing is provided with bindiny mechanism, and described service aisle is guide cylinder structure.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, describedly logical pass through jaw type Soft Tissue Treatment mechanism and include conduit, described conduit is connected with lowering or hoisting gear and transfer, described conduit is externally connected with lifting and turns to transfer motion power device, described conduit side is also provided with inner core lifting transfer motion power device, the outer edge being positioned at described rear end of conduit is distributed with lower convex platform, the both sides of described upper lower convex platform are distributed with plane, the front end of described conduit arranges porose, the side of described catheter proximal end is also provided with hole, the front end of conduit is made to form duck tongue shaped structure.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, described lowering or hoisting gear includes screw mandrel, and described screw mandrel is connected with nut, and described nut is connected with side lever, described side lever top is with gemel ring-shaped structure, on described between lower convex platform.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, described transfer includes pinion stand, and described pinion stand is connected with hollow gear, described hollow gear is provided with transfer motion power device, described transfer motion power device is connected with synchronous pulley by Timing Belt, described synchronous pulley is connected with motor, is provided with gear hole in described hollow gear, the both sides of described gear hole are distributed with plane.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, describedly logical pass through jaw type Soft Tissue Treatment organization establishes and have inner core, described inner core forms by the shaft-like cutter being applicable to process soft tissue.Described inner core is connected with lifting and transfer motion power device, described lifting and transfer motion power device include screw mandrel, described screw mandrel is connected with side lever by nut, described screw mandrel connects synchronous pulley by Timing Belt, described synchronous pulley is connected with motor, described side lever top is with gemel ring-type, and described side lever is between the upper lower convex platform of tool bar.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, describedly logical pass through jaw-type bone organized processing mechanism and include conduit, described conduit is connected with lifting commutation and rotational power plant, inner core lifting and transfer motion power device, the back segment outside of described conduit is distributed with lower convex platform, described upper lower convex platform both sides are distributed with plane, the front end of described conduit arranges porose, the side of described catheter proximal end is also provided with hole, make the front end of conduit be duck tongue shaped structure, described conduit is also connected with lowering or hoisting gear and reversing arrangement.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, described lowering or hoisting gear includes screw mandrel, described screw mandrel is connected with side lever by nut, and described screw mandrel connects synchronous pulley by Timing Belt, and described synchronous pulley is connected with motor, described side lever top is with gemel ring-type, and side lever is between the upper lower convex platform of conduit.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, described reversing arrangement includes pinion stand, described pinion stand is connected with hollow gear, described hollow gear is provided with lifting commutation and rotational power plant, described lifting commutation and rotational power plant are connected with synchronous pulley by Timing Belt, described synchronous pulley is connected with motor, gear hole is provided with in described hollow gear, the both sides of described gear hole are distributed with plane, and the plane outside this plane and conduit matches.
Further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, describedly logical pass through jaw-type bone organized processing mechanism and be provided with inner core, described inner core is made up of the shaft-like cutter being applicable to process osseous tissue, described inner core is connected with lifting and transfer motion power device, described lifting and transfer motion power device include screw mandrel, described screw mandrel is connected with side lever by nut, described screw mandrel connects synchronous pulley by Timing Belt, described synchronous pulley is connected with motor, and described side lever top is with gemel ring-type, and described side lever is between upper lower convex platform.
Again further, above-mentioned through jaw type spinal column Miniature surgical mechanical hand, wherein, described nerve retracts and attracting mechanism includes hollow and retracts sheet, described hollow retracts sheet top and is provided with suction pump union joint, described hollow retracts outside sheet and is distributed with spring and spring joint pin, and described hollow retracts on sheet and is connected with transfer motion power device.
By such scheme, the present invention at least has the following advantages:
1, the function that can realize between simple cutter and clamp type structure switches freely, can reduce pressure and can carry out pedicle screw to insert.
2, have employed through jaw type Soft Tissue Treatment mechanism, logical pass through jaw-type bone organized processing mechanism, endoscope, nerve retract and the Integration Design of attracting mechanism, take volume little.
3, each mechanism effectively can realize cooperation each other, meets miniature spinal operation robot arm safely and efficiently and uses needs.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of description, coordinates accompanying drawing to be described in detail as follows below with preferred embodiment of the present invention.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of through jaw type spinal column Miniature surgical mechanical hand.
Fig. 2 is depending on partly cuing open structural representation along the right side in the A-A ' direction of Fig. 1.
Fig. 3 is depending on partly cuing open structural representation along the right side in the B-B ' direction of Fig. 1.
Fig. 4 is depending on partly cuing open structural representation along the right side in the C-C ' direction of Fig. 1.
Fig. 5 is D-D ' the horizontal section structural representation along Fig. 1.
Fig. 6 is the structural representation of the duck tongue shaped structure having unbroken loop.
Fig. 7 is the structural representation of the duck tongue shaped structure having incomplete ring.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
As the through jaw type spinal column Miniature surgical mechanical hand of Fig. 1 to 7, include casing 7, casing 7 is provided with base plate 3, service aisle 6 is provided with below casing 7, its unusual part is: the installation for the ease of follow-up mechanism is located, base plate 3 is provided with some through holes, in through hole, is provided with through jaw type Soft Tissue Treatment mechanism 1, logical passes through jaw-type bone organized processing mechanism 2, endoscope 4, nerve retract and attracting mechanism 5.Meanwhile, for the ease of carrying out firm connection with follow-up robot body, casing 7 is provided with bindiny mechanism 8.Further, implement, consider and can be convenient to the guiding of each assembly by service aisle 6 in conjunction with actual, carry out interting location smoothly, the service aisle 6 adopted is guide cylinder structure.Like this, in through hole, be provided with through jaw type Soft Tissue Treatment mechanism 1, logical pass through jaw-type bone organized processing mechanism 2, endoscope 4, nerve retract and attracting mechanism 5 interspersed position fixing process in, there will not be stuck phenomenon.
In conjunction with the present invention one preferably embodiment, the process for the ease of soft tissue operates, and coordinate the robot body of subsequent installation to operate, the logical jaw type Soft Tissue Treatment mechanism 1 of passing through that the present invention adopts includes conduit 9.Specifically, for the ease of carrying out effective position control to conduit 9, the operation meeting diverse location performs needs, and conduit 9 is connected with lowering or hoisting gear 10 and transfer 11.Meanwhile, controlling to realize effective transmission, being externally connected with lifting at conduit 9 and turning to transfer motion power device 12, and conduit 9 side is also provided with inner core lifting transfer motion power device 16.Further, in order to realize the auxiliary positioning of conduit 9, the outer edge being positioned at conduit 9 rear end is distributed with lower convex platform 17, and on this, the both sides of lower convex platform 17 are distributed with plane 23.What is more important, the present invention arranges porose 18 in the front end of conduit 9.Corresponding with it, the side of conduit 9 front end is also provided with hole 19, makes the front end of conduit 9 form duck tongue shaped structure 33.As shown in Figure 6, the front end of conduit 9 arranges porose 18 can be a complete ring-type.Further, consider that the tissue that may occur between the operating period stops, also can as shown in Figure 7, the front end of conduit 9 arranges porose 18 and establishes an opening, forms incomplete ring-type, effectively holds tissue pass through by this opening.
Further, in order to realize stable lifting, the lowering or hoisting gear 10 that the present invention adopts includes screw mandrel 20, and screw mandrel 20 is connected with nut 21, and this nut 21 is connected with side lever 22.Meanwhile, side lever 22 top is with gemel ring-shaped structure, between upper lower convex platform 17.Such structure, is convenient to install and promotes conduit 9 and move up and down.Consider in actual mechanical process, have and stable turn to mechanism, and there will not be movement interference, transfer 11 includes pinion stand 25.Specifically, pinion stand 25 is connected with hollow gear 24, this hollow gear 24 is provided with transfer motion power device 12.Further, transfer motion power device 12 is connected with synchronous pulley 27 by Timing Belt 28.In order to carry out effective drived control, synchronous pulley 27 is connected with motor 29.Certainly, the transmission means of band wheel construction is just suitable for the one embodiment comparatively easily of the present invention, according to other such as kinds of drive such as bracing wire or pull bar, applicable equally.As long as meet motor to drive smoothly all parts.
The present invention, in implementation process, is provided with gear hole 30 in hollow gear 24, and the both sides of gear hole 30 are distributed with plane 31.This plane 31 matches with the plane 23 outside conduit 9, is convenient to drive that conduit 9 rotates, duck tongue shaped structure 33 commutation like this.Thus, along with the electric motor starting of transfer 11, guide pipe 9 can be driven to move up and down and front end rotation.Like this, when conduit 9 drops to certain altitude, the duck tongue shaped structure 33 of its front end can be used for soft tissue and is separated.
Again by reference to the accompanying drawings, logical pass through jaw type Soft Tissue Treatment mechanism 1 and be provided with inner core 14, this inner core 14 forms by the shaft-like cutter being applicable to process soft tissue.Specifically, considering that the kind of cutter is more, performing needs to adapt to different sufferer, can be mechanical type cutting knife, electric knife or Collation surgery cutter head etc.For Collation surgery cutter, outside its tool bar back segment, also there is upper lower convex platform 34.Inner core 14 is connected with lifting and transfer motion power device 16.
In order to meet multi-angle displacement and location needs, the lifting that the present invention adopts and transfer motion power device 16 include screw mandrel 35, and this screw mandrel 35 is connected with side lever 37 by nut 36.Meanwhile, in order to meet effective drived control, screw mandrel 35 connects synchronous pulley 39 by Timing Belt 38, and synchronous pulley 39 is connected with motor 40.Further, side lever 37 top adopted is with gemel ring-type, and this side lever 37 is between the upper lower convex platform 34 of tool bar.Like this, start along with motor 40, screw mandrel 35 rotates, nut 36 promotes inner core 14 and move up and down.
When reality is implemented, various combination can be there is.
1, when on the side opening 18 that inner core 14 top is positioned at conduit 9 during marginal pore place, 33 composition clamp type structures can be constructed with duck tongue shaped.Rely on such structure, soft tissue can be clamped and mention, now start such as Collation surgery cutter, inner core cutter etc. by soft tissue excision or can melt.Because the important set such as this inner core cutter distance nerve are woven with certain distance, can ensure that soft tissue excision is safer like this, improve enforcement convenience.
2, when inner core cutter continue descending stretch out the hole 18 outer certain distance of conduit 9 front end time, namely can be used as low temperature-controlled plasma radio-frequency ablation tool and be used alone.Like this, control inner core 14 and the relative position of conduit 9, just can realize the conversion of following one's bent of " simple cutter, clamp type structure ".What is more important, this conversion is without the need to changing apparatus, thus it is safe and efficient to realize operation technique, rapidly effectively.
Again further, the logical jaw-type bone organized processing mechanism 2 of passing through that the present invention adopts includes conduit 41.For the ease of the control operation of conduit 41, it is connected with lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile, in order to meet the auxiliary positioning to conduit 41, and taking into account necessary motion guide, being distributed with lower convex platform 48 in the back segment outside of conduit 41, being distributed with plane 49 in upper lower convex platform 48 both sides.Same, in order to make the front end of conduit 41 can form duck tongue shaped structure 52, arrange porose 50 in the front end of conduit 41, the side of conduit 41 front end is also provided with hole 51.It can be a complete ring-type that the front end of conduit 41 arranges porose 51.Further, consider that the tissue that may occur between the operating period stops, porose 51 can also be arranged in the front end of conduit 41 and establish an opening, form incomplete ring-type, effectively hold tissue by this opening and pass through.
In conjunction with practical application, conduit 41 is also connected with lowering or hoisting gear 42 and reversing arrangement 43.Like this, suitable angle commutation can also be carried out while meeting the actual elevating control adjustment of conduit 41.Specifically, the reversing arrangement 43 of employing includes pinion stand 25, and this pinion stand 25 is connected with hollow gear 56, hollow gear 56 is provided with lifting commutation and rotational power plant 44.
Consider the independent control realizing unit, lifting commutation and rotational power plant 44 are connected with synchronous pulley 58 by Timing Belt 59, synchronous pulley 58 are connected with motor 29.Meanwhile, in order to meet the smooth installation location of hollow gear 24, be provided with gear hole 60 in hollow gear 24, the both sides of gear hole 60 are distributed with plane 61, and this plane 61 matches with the plane 49 outside conduit 41.Like this, can also be convenient to drive conduit 41 rotate, duck tongue shaped structure 52 commutation.Along with conduit lifting and the electric motor starting of reversing arrangement 43, conduit 41 can be driven to move up and down and front end rotates.Like this, can extend below osseous tissue when conduit 41 drops to certain altitude.
Meanwhile, logically pass through jaw-type bone organized processing mechanism 2 and be provided with inner core 45.Consider the facility implementing operation, inner core 45 is made up of, as milling cutter, abrasive drilling etc. the shaft-like cutter being applicable to process osseous tissue.In conjunction with the convenience implemented, inner core 45 is connected with lifting and transfer motion power device 47.Specifically, lifting of the present invention and transfer motion power device 47 include screw mandrel 63, and this screw mandrel 63 is connected with side lever 65 by nut 64.Drive to realize follow-up stable motion, screw mandrel 63 connects synchronous pulley 67 by Timing Belt 66, and this synchronous pulley 67 is connected with motor 68.Further, consider the auxiliary positioning needs of side lever 65, side lever 65 top is with gemel ring-type.Make side lever 65 between upper lower convex platform 62, the needs that are located by connecting of side lever 65 can be realized.
Thus, along with the startup of motor 68, screw mandrel 63 rotates, and makes nut 64 promote inner core 45 and moves up and down.Further, adopt such inner core 45 to coordinate and logical pass through jaw-type bone organized processing mechanism 2 and construct, following various combination can be occurred:
1, when on the side opening 51 that inner core 45 top is positioned at conduit 41 during marginal pore place, 52 composition clamp type structures can be constructed with duck tongue shaped.During this period, start abrasive drilling, can by worn for osseous tissue to poor shape.If stop abrasive drilling rotating, inner core 45 continues to decline, and remnants can be belittled osseous tissue and crush by abrasive drilling.Meanwhile, bone bits can be got rid of in the hole 50 of conduit 41 front end.Like this, bistrique when abrasive drilling brill is deep to be organized can be thoroughly avoided to rotate the risk that the tissue winding brought causes nerve injury.
2, inner core 45 cutter continues descending, when stretching out the hole 50 outer certain distance of conduit 41 front end, namely can be used as abrasive drilling and is used alone.Like this, the relative position of inner core 45 and conduit 41 can be controlled, can realize that " simple cutter, clamp type structure " is arbitrary each other to be changed freely.Further, above-mentioned conversion does not need to change apparatus and can complete, and can realize operation technique faster, safe and efficient.
If 3 adopt abrasive drilling, then, when the hole 50 outer certain distance in catheter proximal end portion is stretched out in abrasive drilling, when accurate positioning, also can be used for Zuan Kaiding road and insert pedicle screw.
Moreover consider that can carry out necessary traction to nerve in enforcement operation process guides, what ensure to operate is smooth, and the nerve of employing retracts and attracting mechanism 5 includes hollow and retracts sheet 69.When reality is implemented, the top that hollow retracts sheet 69 is provided with suction pump union joint 70, and hollow retracts and to be distributed with spring 76 and spring joint pin 71 outside sheet 69.Consider that necessary driving transmission guides, hollow retracts on sheet 69 and is connected with transfer motion power device 72.
Embodiment one
Through jaw type spinal column Miniature surgical mechanical hand, it includes casing 7, casing 7 is provided with base plate 3, service aisle 6 is provided with below casing 7, its special feature is: on base plate 3, be provided with some through holes, is provided with through jaw type Soft Tissue Treatment mechanism 1, logical passes through jaw-type bone organized processing mechanism 2, endoscope 4, nerve retract and attracting mechanism 5 in through hole.Like this, rely on the existence of through hole, effective orientation direction can be realized to each mechanism above-mentioned.Meanwhile, for the ease of carrying out firm connection with follow-up robot body, casing 7 being provided with the bindiny mechanism 8 of guide cylinder structure, avoiding occurring that parts connect stuck phenomenon.
Implementing for the ease of manufacturing, carrying out elaboration concrete as follows in conjunction with each mechanism of the present invention:
Logical pass through jaw type Soft Tissue Treatment mechanism 1 and include conduit 9, conduit 9 is connected with lowering or hoisting gear 10 and transfer 11.Meanwhile, controlling to realize effective transmission, being externally connected with lifting at conduit 9 and turning to transfer motion power device 12, and conduit 9 side is also provided with inner core lifting transfer motion power device 16.The outer edge being positioned at conduit 9 rear end is distributed with lower convex platform 17, and on this, the both sides of lower convex platform 17 are distributed with plane 23.Duck tongue shaped structure 33 is provided with in the front end of conduit 9.Further, the front end of conduit 9 is provided with a complete hole 18, forms a complete ring-type.
Consider the effective operation technique to soft tissue, adopt mechanical type cutting knife to form the logical inner core 14 passing through setting in jaw type Soft Tissue Treatment mechanism 1.Also upper lower convex platform 34 is had outside the tool bar back segment of mechanical type cutting knife.Inner core 14 is connected with lifting and transfer motion power device 16.This lifting and transfer motion power device 16 include screw mandrel 35, and this screw mandrel 35 is connected with side lever 37 by nut 36.Meanwhile, screw mandrel 35 connects synchronous pulley 39 by Timing Belt 38, and synchronous pulley 39 is connected with motor 40.Further, side lever 37 top adopted is with gemel ring-type, and this side lever 37 is between the upper lower convex platform 34 of tool bar.
Lowering or hoisting gear 10 includes screw mandrel 20, and screw mandrel 20 is connected with nut 21, and this nut 21 is connected with side lever 22.Meanwhile, side lever 22 top is with gemel ring-shaped structure, between upper lower convex platform 17.Such structure, is convenient to install and promotes conduit 9 and move up and down.
Transfer 11, includes pinion stand 25.Pinion stand 25 is connected with hollow gear 24, this hollow gear 24 is provided with transfer motion power device 12.Further, transfer motion power device 12 is connected with synchronous pulley 27 by Timing Belt 28.In order to carry out effective drived control, synchronous pulley 27 is connected with motor 29.In hollow gear 24, be provided with gear hole 30, the both sides of gear hole 30 are distributed with plane 31.This plane 31 matches with the plane 23 outside conduit 9.
Lead to and pass through jaw-type bone organized processing mechanism 2, include conduit 41.For the ease of the control operation of conduit 41, it is connected with lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile, in order to meet the auxiliary positioning to conduit 41, and taking into account necessary motion guide, being distributed with lower convex platform 48 in the back segment outside of conduit 41, being distributed with plane 49 in upper lower convex platform 48 both sides.Same, in order to make the front end of conduit 41 can form duck tongue shaped structure 52, arrange porose 50 in the front end of conduit 41, the side of conduit 41 front end is also provided with hole 51.Specifically, an opening is established in this hole 51, forms incomplete ring-type.When reality is implemented, by the incidental opening of this incomplete ring-type, effectively hold tissue and pass through, there will not be stuck phenomenon.
Meanwhile, conduit 41 is also connected with lowering or hoisting gear 42 and reversing arrangement 43.Reversing arrangement 43 includes pinion stand 25, and this pinion stand 25 is connected with hollow gear 56, hollow gear 56 is provided with lifting commutation and rotational power plant 44.
Specifically, logical pass through jaw-type bone organized processing mechanism 2 and be provided with inner core 45, this inner core 45 is made up of the shaft-like milling cutter being applicable to process osseous tissue.Inner core 45 is connected with lifting and transfer motion power device 47.It includes screw mandrel 63, and this screw mandrel 63 is connected with side lever 65 by nut 64.Drive to realize follow-up stable motion, screw mandrel 63 connects synchronous pulley 67 by Timing Belt 66, and this synchronous pulley 67 is connected with motor 68.Further, side lever 65 top is with gemel ring-type.Make side lever 65 between upper lower convex platform 62.Meanwhile, lifting commutation and rotational power plant 44 are connected with synchronous pulley 58 by Timing Belt 59, synchronous pulley 58 are connected with motor 29.Meanwhile, be provided with gear hole 60 in hollow gear 24, the both sides of gear hole 60 are distributed with plane 61, and this plane 61 matches with the plane 49 outside conduit 41.
Nerve retracts and attracting mechanism 5 includes hollow and retracts sheet 69.The top that this hollow retracts sheet 69 is provided with suction pump union joint 70, and hollow retracts and to be distributed with spring 76 and spring joint pin 71 outside sheet 69.Consider that necessary driving transmission guides, hollow retracts on sheet 69 and is connected with transfer motion power device 72.
Embodiment two
Through jaw type spinal column Miniature surgical mechanical hand, it includes casing 7, casing 7 is provided with base plate 3, service aisle 6 is provided with below casing 7, its special feature is: on base plate 3, be provided with some through holes, is provided with through jaw type Soft Tissue Treatment mechanism 1, logical passes through jaw-type bone organized processing mechanism 2, endoscope 4, nerve retract and attracting mechanism 5 in through hole.Like this, rely on the existence of through hole, effective orientation direction can be realized to each mechanism above-mentioned.Meanwhile, for the ease of carrying out firm connection with follow-up robot body, the bindiny mechanism 8 of the guide cylinder structure that casing 7 is provided with, avoids occurring that parts connect stuck phenomenon.
Implementing for the ease of manufacturing, carrying out elaboration concrete as follows in conjunction with each mechanism of the present invention:
Logical pass through jaw type Soft Tissue Treatment mechanism 1 and include conduit 9, conduit 9 is connected with lowering or hoisting gear 10 and transfer 11.Meanwhile, controlling to realize effective transmission, being externally connected with lifting at conduit 9 and turning to transfer motion power device 12, and conduit 9 side is also provided with inner core lifting transfer motion power device 16.The outer edge being positioned at conduit 9 rear end is distributed with lower convex platform 17, and on this, the both sides of lower convex platform 17 are distributed with plane 23.Duck tongue shaped structure 33 is provided with in the front end of conduit 9.Further, duck tongue shaped structure 33 establishes an opening, forms incomplete ring-type.When reality is implemented, by the incidental opening of this incomplete ring-type, effectively hold tissue and pass through, there will not be stuck phenomenon.
Logical pass through jaw type Soft Tissue Treatment mechanism 1 and be provided with inner core 14.Specifically, this inner core 14 forms by the shaft-like electric knife cutter being applicable to process soft tissue.Also upper lower convex platform 34 is had outside its tool bar back segment.Inner core 14 is connected with lifting and transfer motion power device 16.This lifting and transfer motion power device 16 include screw mandrel 35, and this screw mandrel 35 is connected with side lever 37 by nut 36.Meanwhile, screw mandrel 35 connects synchronous pulley 39 by Timing Belt 38, and synchronous pulley 39 is connected with motor 40.Further, side lever 37 top adopted is with gemel ring-type, and this side lever 37 is between the upper lower convex platform 34 of tool bar.
Lowering or hoisting gear 10 includes screw mandrel 20, and screw mandrel 20 is connected with nut 21, and this nut 21 is connected with side lever 22.Meanwhile, side lever 22 top is with gemel ring-shaped structure, between upper lower convex platform 17.Such structure, is convenient to install and promotes conduit 9 and move up and down.
Transfer 11 includes pinion stand 25.Pinion stand 25 is connected with hollow gear 24, this hollow gear 24 is provided with transfer motion power device 12.Further, transfer motion power device 12 is connected with synchronous pulley 27 by Timing Belt 28.In order to carry out effective drived control, synchronous pulley 27 is connected with motor 29.In hollow gear 24, be provided with gear hole 30, the both sides of gear hole 30 are distributed with plane 31.This plane 31 matches with the plane 23 outside conduit 9.
Logical pass through jaw-type bone organized processing mechanism 2 and include conduit 41.For the ease of the control operation of conduit 41, it is connected with lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile, in order to meet the auxiliary positioning to conduit 41, and taking into account necessary motion guide, being distributed with lower convex platform 48 in the back segment outside of conduit 41, being distributed with plane 49 in upper lower convex platform 48 both sides.Same, in order to make the front end of conduit 41 can form duck tongue shaped structure 52, arrange porose 50 in the front end of conduit 41, the side of conduit 41 front end is also provided with hole 51.Further, the hole 51 of conduit 41 front end is a complete ring-type, plays necessary constraint, be convenient to subsequent operation to some tissue.Conduit 41 is also connected with lowering or hoisting gear 42 and reversing arrangement 43.Reversing arrangement 43 includes pinion stand 25, and this pinion stand 25 is connected with hollow gear 56, hollow gear 56 is provided with lifting commutation and rotational power plant 44.
Specifically, logical pass through jaw-type bone organized processing mechanism 2 and be provided with inner core 45, this inner core 45 is made up of the shaft-like abrasive drilling being applicable to process osseous tissue.Inner core 45 is connected with lifting and transfer motion power device 47.It includes screw mandrel 63, and this screw mandrel 63 is connected with side lever 65 by nut 64.Drive to realize follow-up stable motion, screw mandrel 63 connects synchronous pulley 67 by Timing Belt 66, and this synchronous pulley 67 is connected with motor 68.Further, side lever 65 top is with gemel ring-type.Make side lever 65 between upper lower convex platform 62.Meanwhile, lifting commutation and rotational power plant 44 are connected with synchronous pulley 58 by Timing Belt 59, synchronous pulley 58 are connected with motor 29.Meanwhile, be provided with gear hole 60 in hollow gear 24, the both sides of gear hole 60 are distributed with plane 61, and this plane 61 matches with the plane 49 outside conduit 41.
Nerve retracts and attracting mechanism 5 includes hollow and retracts sheet 69.The top that this hollow retracts sheet 69 is provided with suction pump union joint 70, and hollow retracts and to be distributed with spring 76 and spring joint pin 71 outside sheet 69.Consider that necessary driving transmission guides, hollow retracts on sheet 69 and is connected with transfer motion power device 72.
Embodiment three
Through jaw type spinal column Miniature surgical mechanical hand, it includes casing 7, casing 7 is provided with base plate 3, service aisle 6 is provided with below casing 7, its special feature is: on base plate 3, be provided with some through holes, is provided with through jaw type Soft Tissue Treatment mechanism 1, logical passes through jaw-type bone organized processing mechanism 2, endoscope 4, nerve retract and attracting mechanism 5 in through hole.Like this, rely on the existence of through hole, effective orientation direction can be realized to each mechanism above-mentioned.Meanwhile, for the ease of carrying out firm connection with follow-up robot body, the bindiny mechanism 8 of the guide cylinder structure that casing 7 is provided with, avoids occurring that parts connect stuck phenomenon.
Implementing for the ease of manufacturing, carrying out elaboration concrete as follows in conjunction with each mechanism of the present invention:
Logical pass through jaw type Soft Tissue Treatment mechanism 1 and include conduit 9, conduit 9 is connected with lowering or hoisting gear 10 and transfer 11.Meanwhile, controlling to realize effective transmission, being externally connected with lifting at conduit 9 and turning to transfer motion power device 12, and conduit 9 side is also provided with inner core lifting transfer motion power device 16.The outer edge being positioned at conduit 9 rear end is distributed with lower convex platform 17, and on this, the both sides of lower convex platform 17 are distributed with plane 23.Duck tongue shaped structure 33 is provided with in the front end of conduit 9.Specifically, hold for the ease of the tissue between the operating period and pass through, an opening is established in the hole 18 of the front end of duck tongue shaped structure 33, forms incomplete ring-type.
Logical pass through jaw type Soft Tissue Treatment mechanism 1 and be provided with inner core 14, this inner core 14 forms by the shaft-like Inferior turbinate hypertrophy cutter head being applicable to process soft tissue.Also upper lower convex platform 34 is had outside its tool bar back segment.Inner core 14 is connected with lifting and transfer motion power device 16.This lifting and transfer motion power device 16 include screw mandrel 35, and this screw mandrel 35 is connected with side lever 37 by nut 36.Meanwhile, screw mandrel 35 connects synchronous pulley 39 by Timing Belt 38, and synchronous pulley 39 is connected with motor 40.Further, side lever 37 top adopted is with gemel ring-type, and this side lever 37 is between the upper lower convex platform 34 of tool bar.
Lowering or hoisting gear 10 includes screw mandrel 20, and screw mandrel 20 is connected with nut 21, and this nut 21 is connected with side lever 22.Meanwhile, side lever 22 top is with gemel ring-shaped structure, between upper lower convex platform 17.Such structure, is convenient to install and promotes conduit 9 and move up and down.
Transfer 11 includes pinion stand 25.Pinion stand 25 is connected with hollow gear 24, this hollow gear 24 is provided with transfer motion power device 12.Further, transfer motion power device 12 is connected with synchronous pulley 27 by Timing Belt 28.In order to carry out effective drived control, synchronous pulley 27 is connected with motor 29.In hollow gear 24, be provided with gear hole 30, the both sides of gear hole 30 are distributed with plane 31.This plane 31 matches with the plane 23 outside conduit 9.
Logical pass through jaw-type bone organized processing mechanism 2 and include conduit 41.For the ease of the control operation of conduit 41, it is connected with lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile, in order to meet the auxiliary positioning to conduit 41, and taking into account necessary motion guide, being distributed with lower convex platform 48 in the back segment outside of conduit 41, being distributed with plane 49 in upper lower convex platform 48 both sides.Same, in order to make the front end of conduit 41 can form duck tongue shaped structure 52, arrange porose 50 in the front end of conduit 41, the side of conduit 41 front end is also provided with hole 51.Further, an opening is established in this hole 51, forms incomplete ring-type, meets tissue by needs.Conduit 41 is also connected with lowering or hoisting gear 42 and reversing arrangement 43.Reversing arrangement 43 includes pinion stand 25, and this pinion stand 25 is connected with hollow gear 56, hollow gear 56 is provided with lifting commutation and rotational power plant 44.
Specifically, logical pass through jaw-type bone organized processing mechanism 2 and be provided with inner core 45, this inner core 45 is made up of the shaft-like milling cutter being applicable to process osseous tissue.Inner core 45 is connected with lifting and transfer motion power device 47.It includes screw mandrel 63, and this screw mandrel 63 is connected with side lever 65 by nut 64.Drive to realize follow-up stable motion, screw mandrel 63 connects synchronous pulley 67 by Timing Belt 66, and this synchronous pulley 67 is connected with motor 68.Further, side lever 65 top is with gemel ring-type.Make side lever 65 between upper lower convex platform 62.Meanwhile, lifting commutation and rotational power plant 44 are connected with synchronous pulley 58 by Timing Belt 59, synchronous pulley 58 are connected with motor 29.Meanwhile, be provided with gear hole 60 in hollow gear 24, the both sides of gear hole 60 are distributed with plane 61, and this plane 61 matches with the plane 49 outside conduit 41.
Nerve retracts and attracting mechanism 5 includes hollow and retracts sheet 69.The top that this hollow retracts sheet 69 is provided with suction pump union joint 70, and hollow retracts and to be distributed with spring 76 and spring joint pin 71 outside sheet 69.Consider that necessary driving transmission guides, hollow retracts on sheet 69 and is connected with transfer motion power device 72.
Below with L4,5 discectomies, pedicle internal fixators are that example illustrates application of the present invention, coordinate use implementation step of the present invention as follows:
1, positive small incision after getting waist, stretch in body by this through jaw type spinal column Miniature surgical mechanical hand, passage is placed in lamina surface.
2, according to the size of extent of disease, open seam window carry out spinal canal decompression.Start logical pass through jaw-type bone organized processing mechanism 1 motor 32, namely screw mandrel 63 drives inner core 45 to decline by the side lever 65 of nut 64, makes abrasive drilling decline and stretches out the outer certain distance in hole 50 of conduit 41 front end.Afterwards, start abrasive drilling, can first by worn for osseous tissue to poor shape, then make abrasive drilling rise side opening more than 51 position bounced back in conduit 41 front end.Afterwards, starter motor 29 completes follow-up operation.Like this, can be convenient to drive conduit 41 to decline, conduit 41 can be driven again to rotate the commutation with the duck tongue shaped structure 52 of its lower end.Further, when conduit 41 drops to certain altitude, duck tongue shaped structure 52 can extend the below of vertebral plate osseous tissue from lamina gap.
Now, make inner core 45 decline but abrasive drilling non rotating, crusher drill namely can conduit 41 front end duck tongue shaped structure 52 for rely on, composition clamp type structure, remnants are belittled osseous tissue crush.Meanwhile, bone bits can be got rid of in the hole 50 of conduit 41 front end, can thoroughly avoid bistrique when abrasive drilling brill is deep to be organized to rotate the risk that the tissue winding brought causes nerve injury like this.Repeatable operation like this, can open a desirable bone window and can realize canalis spinalis nerve decompression.
3, ligamenta flava excision, nerve appear.After the conduit 41 passing through jaw-type bone organized processing mechanism by logical and inner core 45 rise to certain altitude, starter motor 29, can drive conduit 9 to move up and down and front end duck tongue shaped structure 33 rotates.Like this, when conduit 9 drops to certain altitude, the duck tongue shaped of its front end structure 33 can be used for being separated of ligamenta flava and dural sac.Starter motor 40, when screw mandrel 35 rotates, nut 36 promotes marginal pore place on side opening 18 that inner core 14 is displaced downwardly to conduit 9, can construct 33 composition clamp type structures with duck tongue shaped, in the lump riser duct 9 and inner core 14.Like this, soft tissue can be clamped and mention.Now, start Collation surgery cutter, ligamenta flava excision also fully can be appeared nervous tissue.Because the important set such as this inner core cutter distance nerve are woven with certain distance, so both can ensure soft tissue excision safety to turn improve convenience and the reliability of enforcement.
4, nerve retracts, appears intervertebral disc.Starter motor, make hollow retract side that sheet 69 drops to dural sac, integral inclined by through jaw type spinal column Miniature surgical mechanical hand, retracts nervous tissue to the midline, appears intervertebral disc.
5, discectomy.Start the motor 40 that inner core 14 is elevated transfer motion power device, screw mandrel 35 rotates, nut 36 promotes inner core 14 when moving down the outer certain distance in hole 18 that extend out to conduit 9 front end and enter intervertebral space, now start Collation surgery cutter, reconstruction of nucleus gelatinosus tissue can be excised.
6, pedicle nail is inserted.Starter motor 32, namely screw mandrel 63 drives inner core 45 to decline by the side lever 65 of nut 64, makes abrasive drilling decline and stretches out the outer certain distance in hole 50 of conduit 41 front end.When position, x-ray positive side perspective checks and approves abrasive drilling inlet point and entry angle and accurate positioning, start abrasive drilling and namely can be used for Zuan Kaiding road, guide pedicle screw to insert.
Above-mentionedly use the operation process formed by the present invention, can process soft tissue and can process osseous tissue again, what is more important, can realize " simple cutter-clamp type structure " can arbitrary conversion and without the need to changing apparatus, thus realize the safe and efficient of operation technique, rapidly effectively.
Also can be found out by reference to the accompanying drawings by above-mentioned character express, after adopting the present invention, gather around and have the following advantages:
1, the function that can realize between simple cutter and clamp type structure switches freely, can reduce pressure and can carry out pedicle screw to insert.
2, have employed through jaw type Soft Tissue Treatment mechanism, logical pass through jaw-type bone organized processing mechanism, endoscope, nerve retract and the Integration Design of attracting mechanism, take volume little.
3, each mechanism effectively can realize cooperation each other, meets miniature spinal operation robot arm safely and efficiently and uses needs.
The above is only the preferred embodiment of the present invention; be not limited to the present invention; should be understood that; for those skilled in the art; under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (10)
1. through jaw type spinal column Miniature surgical mechanical hand, include casing (7), described casing (7) is provided with base plate (3), described casing (7) below is provided with service aisle (6), it is characterized in that: (3) are provided with some through holes to described base plate, through jaw type Soft Tissue Treatment mechanism (1) is provided with in described through hole, lead to and pass through jaw-type bone organized processing mechanism (2), endoscope (4), nerve retracts and attracting mechanism (5), described casing (7) is provided with bindiny mechanism (8), described service aisle (6) is guide cylinder structure.
2. through jaw type spinal column Miniature surgical mechanical hand according to claim 1, it is characterized in that: describedly logical pass through jaw type Soft Tissue Treatment mechanism (1) and include conduit (9), described conduit (9) is connected with lowering or hoisting gear (10) and transfer (11), described conduit (9) is externally connected with lifting and turns to transfer motion power device (12), described conduit (9) side is also provided with inner core lifting transfer motion power device (16), the outer edge being positioned at described conduit (9) rear end is distributed with lower convex platform (17), the both sides of described upper lower convex platform (17) are distributed with plane (23), the front end of described conduit (9) is arranged porose (18), the side of described conduit (9) front end is also provided with hole (19), the front end of conduit (9) is made to form duck tongue shaped structure (33).
3. through jaw type spinal column Miniature surgical mechanical hand according to claim 2, it is characterized in that: described lowering or hoisting gear (10) includes screw mandrel (20), described screw mandrel (20) is connected with nut (21), described nut (21) is connected with side lever (22), described side lever (22) top is with gemel ring-shaped structure, is positioned between described upper lower convex platform (17).
4. through jaw type spinal column Miniature surgical mechanical hand according to claim 2, it is characterized in that: described transfer (11) includes pinion stand (25), described pinion stand (25) is connected with hollow gear (24), described hollow gear (24) is provided with transfer motion power device (12), described transfer motion power device (12) is connected with synchronous pulley (27) by Timing Belt (28), described synchronous pulley (27) is connected with motor (29), gear hole (30) is provided with in described hollow gear (24), the both sides of described gear hole (30) are distributed with plane (31).
5. through jaw type spinal column Miniature surgical mechanical hand according to claim 1, it is characterized in that: describedly logical pass through jaw type Soft Tissue Treatment mechanism (1) and be provided with inner core (14), described inner core (14) forms by the shaft-like cutter being applicable to process soft tissue, described inner core (14) is connected with lifting and transfer motion power device (16), described lifting and transfer motion power device (16) include screw mandrel (35), described screw mandrel (35) is connected with side lever (37) by nut (36), described screw mandrel (35) connects synchronous pulley (39) by Timing Belt (38), described synchronous pulley (39) is connected with motor (40), described side lever (37) top is with gemel ring-type, described side lever (37) is positioned between the upper lower convex platform (34) of tool bar.
6. through jaw type spinal column Miniature surgical mechanical hand according to claim 1, it is characterized in that: describedly logical pass through jaw-type bone organized processing mechanism (2) and include conduit (41), described conduit (41) is connected with lifting commutation and rotational power plant (44), inner core lifting and transfer motion power device (47), the back segment outside of described conduit (41) is distributed with lower convex platform (48), described upper lower convex platform (48) both sides are distributed with plane (49), the front end of described conduit (41) is arranged porose (50), the side of described conduit (41) front end is also provided with hole (51), the front end of conduit (41) is made to be duck tongue shaped structure (52), described conduit (41) is also connected with lowering or hoisting gear (42) and reversing arrangement (43).
7. through jaw type spinal column Miniature surgical mechanical hand according to claim 6, it is characterized in that: described lowering or hoisting gear (42) includes screw mandrel (53), described screw mandrel (53) is connected with side lever (55) by nut (54), described screw mandrel (53) connects synchronous pulley (81) by Timing Belt (83), described synchronous pulley (81) is connected with motor (32), described side lever (55) top is with gemel ring-type, and side lever (55) is positioned between the upper lower convex platform (48) of conduit (41).
8. through jaw type spinal column Miniature surgical mechanical hand according to claim 6, it is characterized in that: described reversing arrangement (43) includes pinion stand (25), described pinion stand (25) is connected with hollow gear (56), described hollow gear (56) is provided with lifting commutation and rotational power plant (44), described lifting commutation and rotational power plant (44) are connected with synchronous pulley (58) by Timing Belt (59), described synchronous pulley (58) is connected with motor (29), gear hole (60) is provided with in described hollow gear (24), the both sides of described gear hole (60) are distributed with plane (61), this plane (61) matches with the plane (49) of conduit (41) outside.
9. through jaw type spinal column Miniature surgical mechanical hand according to claim 1, it is characterized in that: describedly logical pass through jaw-type bone organized processing mechanism (2) and be provided with inner core (45), described inner core (45) is made up of the shaft-like cutter being applicable to process osseous tissue, described inner core (45) is connected with lifting and transfer motion power device (47), described lifting and transfer motion power device (47) include screw mandrel (63), described screw mandrel (63) is connected with side lever (65) by nut (64), described screw mandrel (63) connects synchronous pulley (67) by Timing Belt (66), described synchronous pulley (67) is connected with motor (68), described side lever (65) top is with gemel ring-type, described side lever (65) is positioned between lower convex platform (62).
10. through jaw type spinal column Miniature surgical mechanical hand according to claim 1, it is characterized in that: described nerve retracts and attracting mechanism (5) includes hollow and retracts sheet (69), described hollow retracts sheet (69) top and is provided with suction pump union joint (70), described hollow retracts outside sheet (69) and is distributed with spring (76) and spring joint pin (71), and described hollow retracts on sheet (69) and is connected with transfer motion power device (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510584724.XA CN105055030B (en) | 2015-09-15 | 2015-09-15 | Penetrate through jaw type backbone Miniature surgical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510584724.XA CN105055030B (en) | 2015-09-15 | 2015-09-15 | Penetrate through jaw type backbone Miniature surgical manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105055030A true CN105055030A (en) | 2015-11-18 |
| CN105055030B CN105055030B (en) | 2018-05-08 |
Family
ID=54484728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510584724.XA Active CN105055030B (en) | 2015-09-15 | 2015-09-15 | Penetrate through jaw type backbone Miniature surgical manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105055030B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10003051C2 (en) * | 2000-01-25 | 2002-03-28 | Copf Jun | Instruments for lumbar spine surgery |
| CN102028548A (en) * | 2011-01-14 | 2011-04-27 | 哈尔滨工业大学 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
| CN103126767A (en) * | 2011-11-27 | 2013-06-05 | 张春霖 | Follow-up spine self-positioning navigation operational robot arm based on specific point locking |
| CN203609518U (en) * | 2013-12-09 | 2014-05-28 | 苏州点合医疗科技有限公司 | Digitized spinal surgery device based on microgap positioning |
| CN205163244U (en) * | 2015-09-15 | 2016-04-20 | 苏州点合医疗科技有限公司 | Link up jaw type manipulator suitable for miniature operation of backbone |
-
2015
- 2015-09-15 CN CN201510584724.XA patent/CN105055030B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10003051C2 (en) * | 2000-01-25 | 2002-03-28 | Copf Jun | Instruments for lumbar spine surgery |
| CN102028548A (en) * | 2011-01-14 | 2011-04-27 | 哈尔滨工业大学 | Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot |
| CN103126767A (en) * | 2011-11-27 | 2013-06-05 | 张春霖 | Follow-up spine self-positioning navigation operational robot arm based on specific point locking |
| CN203609518U (en) * | 2013-12-09 | 2014-05-28 | 苏州点合医疗科技有限公司 | Digitized spinal surgery device based on microgap positioning |
| CN205163244U (en) * | 2015-09-15 | 2016-04-20 | 苏州点合医疗科技有限公司 | Link up jaw type manipulator suitable for miniature operation of backbone |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105055030B (en) | 2018-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9848890B2 (en) | Devices and methods for the preparation of intervertebral discs | |
| US11058435B2 (en) | Powered surgical device | |
| CN205163244U (en) | Link up jaw type manipulator suitable for miniature operation of backbone | |
| MX2009004020A (en) | Catheter for sucking, fragmenting removing material extractable from blood vessels. | |
| CN104161562B (en) | Minimally invasive bone fetcher | |
| KR20020065423A (en) | Facial contouring device using a rasp | |
| WO2009033207A1 (en) | Equipment for, and a method of, removing tissue from a site in a patient's body | |
| CN105411646B (en) | It is medical can lateral bending grinding knife tool | |
| EP3225207B1 (en) | Surgical robot/instrument system | |
| CN211883946U (en) | Intervertebral foramen mirror down variable angle flat file grinding device | |
| CN105476713B (en) | A kind of robot for orthopaedic surgery that the antiwind micro-wound pressure-reduced manipulator of bushing type is avoided based on collet | |
| KR20120014758A (en) | Rcm structure of surgical robot arm | |
| CN101744656B (en) | Minimally invasive spine surgical robot against nerve injuries | |
| CN110123420B (en) | Digestive endoscope minimally invasive scalpel device | |
| CN112137685A (en) | High-stability ultrasonic knife handle instrument for surgical endoscopic surgery | |
| CN107205757A (en) | Departing actuator arm for draw-gear | |
| WO2019204000A1 (en) | Surgical robotic systems | |
| CN105796146B (en) | A kind of nail-head component and the hysteroscope Endo-GIA with the nail-head component | |
| CN105055030A (en) | Through pincer type spinal micro surgery mechanical arm | |
| CN109394396A (en) | Acetabular bone extractor | |
| CN106606367B (en) | A kind of percutaneous puncture skin traction drag hook of visual scope lower axle to outreach | |
| CN214712698U (en) | Laparoscopic scalpel | |
| CN109044493B (en) | Multifunctional tumor stripping scissors | |
| CN203988374U (en) | Non-intermittent automatic operation formula vertebral column minimally invasive robot arm based on flank guiding | |
| CN105310773B (en) | A kind of Non-intermittent guided based on flank is automatically brought into operation formula vertebral column minimally invasive mechanical hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |