CN105055030B - Penetrate through jaw type backbone Miniature surgical manipulator - Google Patents

Penetrate through jaw type backbone Miniature surgical manipulator Download PDF

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Publication number
CN105055030B
CN105055030B CN201510584724.XA CN201510584724A CN105055030B CN 105055030 B CN105055030 B CN 105055030B CN 201510584724 A CN201510584724 A CN 201510584724A CN 105055030 B CN105055030 B CN 105055030B
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lifting
main
conduit
core
gear
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CN105055030A (en
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张春霖
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SUZHOU DIANHE MEDICAL TECHNOLOGY Co Ltd
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SUZHOU DIANHE MEDICAL TECHNOLOGY Co Ltd
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Abstract

The present invention relates to one kind to penetrate through jaw type backbone Miniature surgical manipulator, includes casing, and base plate is provided with casing, and the service aisle of guide cylinder construction is provided with below casing, its main feature is that:Some through holes are provided with base plate, perforation jaw type Soft Tissue Treatment mechanism is provided with through hole, leads to and passes through jaw-type bone tissue treatment mechanism, endoscope, nerve traction and attracting mechanism.Also, bindiny mechanism is provided with casing.Thereby, it is possible to realize that the function switch between simple cutter and clamp type structure is changed freely, it can depressurize but also carry out what pedicle screw was inserted.Each mechanism employs Integration Design between each other, takes small.Meanwhile each mechanism can effectively realize mutual cooperation, meet safe and efficient miniature spinal operation mechanical hand decompression and pedicle nail is inserted etc. uses needs.

Description

Penetrate through jaw type backbone Miniature surgical manipulator
Technical field
The present invention relates to a kind of manipulator, more particularly to a kind of perforation jaw type backbone Miniature surgical manipulator.
Background technology
Recently as the development of robot technology, Medical Robot has considerable progress, such as Leonardo da Vinci's hand in the U.S. Art robot, good application is achieved in general outer, gynaecology, Urology Surgery, but its volume is larger, there is four mechanical arms, every Mechanical arm function is relatively single, is provided no advantage against applied to Minimally invasive procedure domain variability.
There are problems with for the robot applied at present in Minimally invasive procedure field:
(1) volume is larger, and mechanical arm is more, such as the Vector-Bot robot systems of Germany, the SPINEBOT of South Korea Deng.Replacement apparatus is cumbersome during operation consent is installed and performed the operation.Though the SPINEASSSIANT volumes of Israel's research and development are smaller but need Installation frame is wanted, wound is larger.
(2) function is single, it is impossible to while meet that minimally invasive spine surgical decompression fixes two basic operative requirements with interior.
The spinal operation robot function of researching and developing at present be substantially be conceived to inserted applied to pedicle screw and cannot Decompression especially cannot be micro-wound pressure-reduced, thus significantly limit development of the robot technology in Minimally invasive procedure field.
The prior art 201280049592.5, it provides a kind of Medical mechanical hand, including:Surgical instrument portion, the hand Art utensil portion has enforcement division, which is configured to manipulation of objects object;And surgical instrument drive division, the surgical device Tool drive division is configured to provide driving force, and the driving force is used to drive separably to be provided relative to the surgical instrument portion The enforcement division.
The unusual part of the program is that the surgical instrument drive division includes:Input block, the input block One end on the attachment detaching direction in the surgical instrument portion is disposed relative to form a pair, and is configured to each other Opposite side advances up and retreats, and is configured to transmit in a forward direction when towards the surgical instrument portion advancing The driving force.
Driving source is further included, the driving source is configured to make the pair of input block move forward and backward, and institute Stating surgical instrument portion includes:
First transmission part, first transmission part is opposite with one in the input block and is supported for Move forward and backward relative to one end on the attachment detaching direction of the surgical instrument drive division, first transmission part One driving force for being configured to receive in the input block and with it is one in the input block Identical side moves up, and is connected to the enforcement division in the other end.
Second transmission part, second transmission part with the input block another is opposite and be supported for One end on the attachment detaching direction relative to the surgical instrument drive division moves forward and backward, and described second passes Defeated component be configured to receive in the input block it is described another driving force and with the input block Another described identical side moves up;And surgical instrument portion side reversion linkage part, the reversion of surgical instrument portion side Linkage part and first transmission part and
The second transmission part engagement, and be configured to first transport part while moving direction is inverted The amount of movement of one in part and second transmission part is transferred to first transmission part and second transmission part In another.
It is mainly solved the problems, such as and advantage is, driving force is transferred to surgical instrument portion from surgical instrument drive division Paired input block and the first and second transmission parts be arranged in attachment detaching direction on end toward each other with Driving force is transmitted, is only moved on attachment detaching direction and performs attachment and separation.For this reason, can easy to quickly it perform The attachment and separation in the surgical instrument portion on surgical instrument drive division.
But be only attachment and the separation problem for solving the surgical instrument portion on drive division, it is not directed to effectively The needs of Minimally invasive procedure, there is provided effective technical support, fails to give effective technical inspiration.
In view of the above shortcomings, the designer, is actively subject to research and innovation, it is micro- to found a kind of perforation jaw type backbone Type surgery mechanical hand, makes it with more the utility value in industry.
The content of the invention
In order to solve the above technical problems, the object of the present invention is to provide one kind to penetrate through jaw type backbone Miniature surgical manipulator.
The perforation jaw type backbone Miniature surgical manipulator of the present invention, includes casing, base plate is provided with the casing, Service aisle is provided with below the casing, wherein:Some through holes are provided with the base plate, is provided with and passes through in the through hole Logical jaw type Soft Tissue Treatment mechanism, lead to and pass through jaw-type bone tissue treatment mechanism, endoscope, nerve traction and attracting mechanism, the machine Bindiny mechanism is provided with shell, the service aisle constructs for guide cylinder.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, it is described logical to pass through jaw type Soft Tissue Treatment Mechanism includes conduit, and lifting gear and transfer are connected with the conduit, and the conduit is externally connected with lifting and turns to biography Dynamic power set, the conduit side is additionally provided with inner core lifting and driving power set, positioned at the outer edge of the rear end of conduit It is distributed with lower convex platform, the both sides of the upper lower convex platform are distributed with plane, and the front end of the conduit is provided with hole, before the conduit The side at end is also equipped with hole, makes the front end of conduit form duck tongue shaped construction.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, the lifting gear includes silk Bar, is connected with nut on the screw, and the nut is connected with side lever, and the side lever top is in gemel ring-shaped structure, position Between the upper lower convex platform.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, the transfer includes with teeth Wheel seat, is connected with hollow gear on the pinion stand, transfer motion power device, the transfer motion power is provided with the hollow gear Device is connected with synchronous pulley by synchronous belt, and motor is connected with the synchronous pulley, is set in the hollow gear with teeth Plane is distributed with wheel bore, the both sides of the gear hole.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, it is described logical to pass through at jaw type soft tissue Reason mechanism is provided with inner core, and the inner core in the rod-shaped cutter for being suitable for processing soft tissue by forming.Connected on the inner core There are lifting and transfer motion power device, the lifting and transfer motion power device include screw, and the screw is connected with by nut Side lever, the screw are connected with motor, the side lever top is in band by synchronous band connection synchronous pulley on the synchronous pulley The ring-type of hinge, the side lever are located between the upper lower convex platform of tool bar.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, it is described logical to pass through at jaw type bone tissue Reason mechanism includes conduit, and lifting commutation and rotational power plant, inner core lifting and transfer motion power dress are connected with the conduit Put, boss up and down is distributed with outside the back segment of the conduit, plane, the front end of the conduit is distributed with the upper lower convex platform both sides Hole is provided with, the side of the catheter proximal end is also equipped with hole, makes the front end of conduit be constructed in duck tongue shaped, is also connected with the conduit There are lifting gear and reversing arrangement.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, the lifting gear includes silk Bar, the screw are connected with side lever by nut, and the screw is connected on the synchronous pulley by synchronous band connection synchronous pulley Motor is connected to, the side lever top is in gemel ring-type, and side lever is located between the upper lower convex platform of conduit.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, the reversing arrangement includes with teeth Wheel seat, is connected with hollow gear on the pinion stand, and lifting commutation and rotational power plant, institute are provided with the hollow gear State lifting commutation and rotational power plant is connected with synchronous pulley by synchronous belt, motor, institute are connected with the synchronous pulley State and gear hole is provided with hollow gear, plane is distributed with the both sides of the gear hole, the plane and the plane phase outside conduit It coincide.
Further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, it is described logical to pass through at jaw type bone tissue Reason mechanism is provided with inner core, and the inner core is made of the rod-shaped cutter for being suitable for processing bone tissue, is connected with the inner core Lifting and transfer motion power device, the lifting and transfer motion power device include screw, and the screw is connected with side by nut Bar, the screw are connected with motor by synchronous band connection synchronous pulley on the synchronous pulley, the side lever top is in that band is cut with scissors The ring-type of chain, the side lever is between upper lower convex platform.
Yet further, above-mentioned perforation jaw type backbone Miniature surgical manipulator, wherein, the nerve retracts and attractor Structure includes hollow traction piece, and the hollow traction piece top is provided with aspirator connector, is distributed outside the hollow traction piece There are spring and spring connecting pole, the hollow traction on piece is connected with transfer motion power device.
According to the above aspect of the present invention, the present invention has at least the following advantages:
1st, it can realize that the function between simple cutter and clamp type structure switches freely, can depressurize but also carry out pedicle of vertebral arch Screw is inserted.
2nd, perforation jaw type Soft Tissue Treatment mechanism is employed, logical jaw-type bone tissue treatment mechanism, endoscope, the nerve of passing through retracts And the Integration Design of attracting mechanism, take small.
3rd, each mechanism can effectively realize mutual cooperation, meet that safe and efficient miniature spinal operation mechanical hand makes With needs.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate attached drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the overall structure diagram for penetrating through jaw type backbone Miniature surgical manipulator.
Fig. 2 is to regard half section structure diagram along the right side in the A-A ' directions of Fig. 1.
Fig. 3 is to regard half section structure diagram along the right side in the B-B ' directions of Fig. 1.
Fig. 4 is to regard half section structure diagram along the right side in the C-C ' directions of Fig. 1.
Fig. 5 is the D-D ' horizontal cross-section structure diagrams along Fig. 1.
Fig. 6 is the structure diagram for the duck tongue shaped construction for possessing unbroken loop.
Fig. 7 is the structure diagram for the duck tongue shaped construction for possessing incomplete ring.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Such as the perforation jaw type backbone Miniature surgical manipulator of Fig. 1 to 7, include casing 7, base plate is provided with casing 7 3, the lower section of casing 7 is provided with service aisle 6, its unusual part is:Positioned for the ease of the installation of follow-up mechanism, in base Some through holes are provided with seat board 3, perforation jaw type Soft Tissue Treatment mechanism 1 is provided with through hole, leads to and passes through at jaw type bone tissue Manage mechanism 2, endoscope 4, nerve retracts and attracting mechanism 5.It is meanwhile firm for the ease of being carried out with follow-up robot body Connection, is provided with bindiny mechanism 8 on casing 7.Also, from the point of view of actual implementation, it is contemplated that can lead to easy to various components The guiding of service aisle 6 is crossed, is smoothed out interspersed positioning, used service aisle 6 constructs for guide cylinder.In this way, in through hole Inside it is provided with perforation jaw type Soft Tissue Treatment mechanism 1, logical jaw-type bone tissue treatment mechanism 2, endoscope 4, the nerve of passing through is retracted and inhaled Draw in the interspersed position fixing process of mechanism 5, be not in stuck phenomenon.
From the point of view of a preferable embodiment of the invention, operated for the ease of the processing of soft tissue, coordinate subsequent installation Robot body operated, the logical jaw type Soft Tissue Treatment mechanism 1 of passing through that uses of the present invention includes conduit 9.Specifically, For the ease of carrying out effective position control to conduit 9, meet that the operation of diverse location performs needs, be connected with conduit 9 Lifting gear 10 and transfer 11.Meanwhile in order to realize effective transmission control, it is externally connected with lifting in conduit 9 and turns To transfer motion power device 12, and 9 side of conduit is additionally provided with inner core lifting and driving power set 16.Also, in order to realize Upper lower convex platform 17 is distributed with the auxiliary positioning of conduit 9, the outer edge positioned at 9 rear end of conduit, the both sides distribution of lower convex platform 17 on this There is plane 23.What is more important, the present invention are provided with hole 18 in the front end of conduit 9.It is corresponding to be, 9 front end of conduit Side is also equipped with hole 19, makes the front end of conduit 9 form duck tongue shaped construction 33.As shown in fig. 6, the front end of conduit 9 is provided with hole 18 It can be a complete ring-type.Also, the tissue in view of being likely to occur during use stops, can also be as shown in fig. 7, leading The front end of pipe 9 is provided with hole 18 and sets an opening, forms incomplete ring-type, and effectively accommodating tissue by this opening passes through.
From the point of view of further, in order to realize stable lifting, the lifting gear 10 that the present invention uses includes screw 20, in silk Nut 21 is connected with bar 20, which is connected with side lever 22.Meanwhile 22 top of side lever is in gemel ring-shaped structure, position Between upper lower convex platform 17.Such construction, is easily installed and promotes conduit 9 to move up and down.In view of in actual mechanical process In, possess stable steering mechanism, and be not in movement interference, transfer 11 includes pinion stand 25.Specifically, exist Hollow gear 24 is connected with pinion stand 25, transfer motion power device 12 is provided with the hollow gear 24.Also, transfer motion power fills Put 12 and synchronous pulley 27 is connected with by synchronous belt 28.In order to carry out effective drive control, electricity is connected with synchronous pulley 27 Machine 29.Certainly, the transmission mode with wheel construction is suitable only for a kind of more easily embodiment for the present invention, according to The kind of drive such as other bracing wires or pull rod, it is similarly suitable.As long as meet that motor smoothly drives all parts.
The present invention is provided with gear hole 30, the both sides of gear hole 30 are distributed with implementation process in hollow gear 24 Plane 31.The plane 31 matches with the plane 23 of the outside of conduit 9, is so rotated easy to driving conduit 9, duck tongue shaped construction 33 changes To.Thus, with the electric motor starting of transfer 11, guide pipe 9 can be driven to move up and down and front end rotation.In this way, conduit 9 When dropping to certain altitude, the duck tongue shaped construction 33 of its front end can be used for soft tissue to separate.
From the point of view of attached drawing, logical to pass through jaw type Soft Tissue Treatment mechanism 1 and be provided with inner core 14, the inner core 14 is by rod-shaped Formed suitable for the cutter for handling soft tissue.Specifically, it is contemplated that the species of cutter is more, is performed to adapt to different sufferers Need, can be mechanical cutter, electric knife or Collation surgery cutter head etc..By taking Collation surgery cutter as an example, its Also there is upper lower convex platform 34 outside tool bar back segment.Lifting and transfer motion power device 16 are connected with inner core 14.
In order to meet multi-angle displacement and positioning needs, lifting and transfer motion power device 16 that the present invention uses include silk Bar 35, the screw 35 are connected with side lever 37 by nut 36.Meanwhile in order to meet effective drive control, screw 35 is by same Walk band 38 and connect synchronous pulley 39, motor 40 is connected with synchronous pulley 39.Also, used 37 top of side lever is in that band is cut with scissors The ring-type of chain, the side lever 37 are located between the upper lower convex platform 34 of tool bar.In this way, start with motor 40, screw 35 rotates, Nut 36 promotes inner core 14 to move up and down.
When actual implementation, various combination can occur.
1st, when 14 top of inner core is located on the side opening 18 of conduit 9 at marginal pore, you can with 33 composition jaw type of duck tongue shaped construction Structure.Such structure is relied on, soft tissue can be clamped and lifted, starts such as Collation surgery knife, inner core at this time Soft tissue can be cut off or melted by cutter etc..Since the inner core cutter apart from important sets such as nerves is woven with certain distance, so may be used To ensure that soft tissue excision is safer, implementation convenience is improved.
2nd, when inner core cutter continues traveling downwardly the 18 outer certain distance of hole for stretching out conduit 9 front end, you can as low temperature etc. from Sub- cutter is used alone.In this way, the relative position of control inner core 14 and conduit 9, it becomes possible to realize " simple cutter, clamp type structure " Conversion of following one's bent.What is more important, which need not replace apparatus, safe and efficient so as to fulfill surgical procedure, rapidly Effectively.
From the point of view of further, the logical jaw-type bone tissue treatment mechanism 2 of passing through that the present invention uses includes conduit 41.For the ease of The control operation of conduit 41, is connected with lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47 thereon. Meanwhile in order to meet the auxiliary positioning to conduit 41, and necessary motion guide is taken into account, it is distributed with outside the back segment of conduit 41 Upper lower convex platform 48, plane 49 is distributed with upper 48 both sides of lower convex platform.Likewise, in order to make the front end of conduit 41 may be constructed duck tongue Columnar structure 52, hole 50 is provided with the front end of conduit 41, and the side of 41 front end of conduit is also equipped with hole 51.The front end of conduit 41 is set It can be a complete ring-type to have hole 51.Also, the tissue in view of being likely to occur during use stops, can also be in conduit 41 front end is provided with hole 51 and sets an opening, forms incomplete ring-type, and effectively accommodating tissue by this opening passes through.
From the point of view of practical application, lifting gear 42 and reversing arrangement 43 are also associated with conduit 41.In this way, meet to lead The actual elevating control of pipe 41 can also carry out appropriate angle commutation while adjusting.Specifically, the reversing arrangement of use 43 include pinion stand 25, and hollow gear 56 is connected with the pinion stand 25, and lifting commutation is provided with hollow gear 56 and is turned Dynamic power set 44.
Independent control in view of realizing unit, lifting commutation and rotational power plant 44 are connected with together by synchronous belt 59 Belt wheel 58 is walked, motor 29 is connected with synchronous pulley 58.Meanwhile in order to meet the smooth installation positioning of hollow gear 24, it is hollow Gear hole 60 is provided with gear 24, plane 61 is distributed with the both sides of gear hole 60, the plane 61 and the plane of the outside of conduit 41 49 match.In this way, driving conduit 41 can also be easy to rotate, 52 commutation of duck tongue shaped construction.Lift and commutate with conduit The electric motor starting of device 43, can drive conduit 41 move up and down and front end rotation.In this way, conduit 41 can when dropping to certain altitude Extend below bone tissue.
Meanwhile logical pass through jaw-type bone tissue treatment mechanism 2 and be provided with inner core 45.Facility in view of implementing operation, inner core 45 It is made of the rod-shaped cutter for being suitable for processing bone tissue, such as milling cutter, abrasive drilling.From the point of view of convenience with reference to implementation, in inner core Lifting and transfer motion power device 47 are connected with 45.Specifically, lifting of the present invention and transfer motion power device 47 wrap Screw 63 is included, which is connected with side lever 65 by nut 64.In order to realize subsequently stable movement driving, screw 63 connect synchronous pulley 67 by synchronous belt 66, and motor 68 is connected with the synchronous pulley 67.Also, in view of the auxiliary of side lever 65 Positioning needs are helped, 65 top of side lever is in gemel ring-type.Side lever 65 is made between upper lower convex platform 62, you can realize side lever 65 The needs that are located by connecting.
Thus, rotated with the startup of motor 68, screw 63, make nut 64 promote inner core 45 to move up and down.Also, adopt Coordinated with such inner core 45 it is logical pass through jaw-type bone tissue treatment mechanism 2 and construct, may occur in which following various combination:
1st, when 45 top of inner core is located on the side opening 51 of conduit 41 at marginal pore, you can with 52 composition jaw type of duck tongue shaped construction Structure.During this period, start abrasive drilling, bone tissue can be abraded to poor shape.If stopping abrasive drilling rotating, inner core 45 continues to decline, Abrasive drilling can crush the poor bone tissues of remnants.Meanwhile bone bits can be excluded from the hole 50 of 41 front end of conduit.It is in such manner, it is possible to thorough The tissue winding that bistrique rotation is brought when bottom avoids the abrasive drilling from drilling through bone tissue causes the risk of neurotrosis.
2nd, 45 cutter of inner core continues traveling downwardly, when stretching out the 50 outer certain distance of hole of 41 front end of conduit, you can as abrasive drilling list Solely use.In such manner, it is possible to control the relative position of inner core 45 and conduit 41, you can realize that " simple cutter, clamp type structure " is mutual Between arbitrary change freely.Also, above-mentioned conversion need not replace apparatus and can complete, it can realize that surgical procedure is fast It is fast quick, it is safe and efficient.
If the 3rd, using abrasive drilling, when the 50 outer certain distance of hole in catheter proximal end portion is stretched out in abrasive drilling, in the feelings of accurate positioning Under condition, it can also be used to which brill opens screw way and inserts pedicle screw.
Furthermore, it is contemplated that necessary traction guiding can be carried out to nerve in surgical procedure is implemented, ensures the smooth of operation, The nerve of use retracts and attracting mechanism 5 includes hollow traction piece 69.When actual implementation, the hollow top for retracting piece 69 End is provided with aspirator connector 70, and spring 76 and spring connecting pole 71 is distributed with outside hollow traction piece 69.In view of necessity Driving transmission guiding, it is hollow traction piece 69 on be connected with transfer motion power device 72.
Embodiment one
Jaw type backbone Miniature surgical manipulator is penetrated through, it includes casing 7, and base plate 3, casing 7 are provided with casing 7 Lower section is provided with service aisle 6, it is particular in that:Some through holes are provided with base plate 3, is provided with and passes through in through hole Logical jaw type Soft Tissue Treatment mechanism 1, lead to and pass through jaw-type bone tissue treatment mechanism 2, endoscope 4, nerve traction and attracting mechanism 5.This Sample, relies on the presence of through hole, can realize effective orientation direction to above-mentioned each mechanism.Meanwhile for the ease of with it is follow-up Robot body carry out firm connection, be provided with casing 7 guide cylinder construction bindiny mechanism 8, avoid the occurrence of component Connect stuck phenomenon.
Implement for the ease of manufacture, specific as follows illustrate is carried out with reference to each mechanism of the present invention:
It is logical to pass through jaw type Soft Tissue Treatment mechanism 1 and include conduit 9, lifting gear 10 is connected with conduit 9 and is filled with turning to Put 11.Meanwhile in order to realize effective transmission control, be externally connected with lifting in conduit 9 and turn to transfer motion power device 12, and 9 side of conduit is additionally provided with inner core lifting and driving power set 16.Upper lower convex platform is distributed with outer edge positioned at 9 rear end of conduit 17, plane 23 is distributed with both sides of lower convex platform 17 on this.Duck tongue shaped construction 33 is equipped with the front end of conduit 9.Also, conduit 9 Front end is provided with a complete hole 18, forms a complete ring-type.
In view of effective surgical procedure to soft tissue, jaw type Soft Tissue Treatment machine is passed through to form to lead to using mechanical cutter The inner core 14 set in structure 1.Also there is upper lower convex platform 34 outside the tool bar back segment of mechanical cutter.Lifting is connected with inner core 14 And transfer motion power device 16.The lifting and transfer motion power device 16 include screw 35, which is connected with by nut 36 Side lever 37.Meanwhile screw 35 connects synchronous pulley 39 by synchronous belt 38, and motor 40 is connected with synchronous pulley 39.Also, Used 37 top of side lever is in gemel ring-type, which is located between the upper lower convex platform 34 of tool bar.
Lifting gear 10 includes screw 20, and nut 21 is connected with screw 20, which is connected with side lever 22.Together When, 22 top of side lever is in gemel ring-shaped structure, between upper lower convex platform 17.Such construction, is easily installed and promotes Conduit 9 moves up and down.
Transfer 11, includes pinion stand 25.Hollow gear 24 is connected with pinion stand 25, on the hollow gear 24 It is provided with transfer motion power device 12.Also, transfer motion power device 12 is connected with synchronous pulley 27 by synchronous belt 28.In order to carry out Effective drive control, is connected with motor 29 on synchronous pulley 27.Gear hole 30, gear hole 30 are provided with hollow gear 24 Both sides plane 31 is distributed with.The plane 31 matches with the plane 23 of the outside of conduit 9.
It is logical to pass through jaw-type bone tissue treatment mechanism 2, include conduit 41.For the ease of the control operation of conduit 41, connect thereon It is connected to lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile in order to meet to conduit 41 Auxiliary positioning, and necessary motion guide is taken into account, boss 48 up and down is distributed with outside the back segment of conduit 41, in upper lower convex platform 48 Plane 49 is distributed with both sides.Likewise, in order to make the front end of conduit 41 may be constructed duck tongue shaped construction 52, in the front end of conduit 41 Hole 50 is provided with, the side of 41 front end of conduit is also equipped with hole 51.Specifically, which sets an opening, forms incomplete Ring-type.When actual implementation, by this incomplete incidental opening of ring-type, tissue is effectively accommodated by will not There is stuck phenomenon.
Meanwhile lifting gear 42 and reversing arrangement 43 are also associated with conduit 41.Reversing arrangement 43 includes pinion stand 25, hollow gear 56 is connected with the pinion stand 25, and lifting commutation and rotational power plant 44 are provided with hollow gear 56.
Specifically, lead to and pass through jaw-type bone tissue treatment mechanism 2 and be provided with inner core 45, which is suitable for by rod-shaped Manage the milling cutter composition of bone tissue.Lifting and transfer motion power device 47 are connected with inner core 45.It includes screw 63, the screw 63 are connected with side lever 65 by nut 64.In order to realize, subsequently stable movement driving, screw 63 are connected by synchronous belt 66 Synchronous pulley 67 is connect, motor 68 is connected with the synchronous pulley 67.Also, 65 top of side lever is in gemel ring-type.Make side lever 65 between upper lower convex platform 62.Meanwhile lift commutation and rotational power plant 44 and synchronous pulley is connected with by synchronous belt 59 58, motor 29 is connected with synchronous pulley 58.Meanwhile gear hole 60 is provided with hollow gear 24, the both sides point of gear hole 60 Plane 61 is furnished with, which matches with the plane 49 of the outside of conduit 41.
Nerve retracts and attracting mechanism 5 includes hollow traction piece 69.The hollow top for retracting piece 69 is provided with attraction Device connector 70, and spring 76 and spring connecting pole 71 is distributed with outside hollow traction piece 69.Draw in view of necessary driving transmission Lead, transfer motion power device 72 is connected with hollow traction piece 69.
Embodiment two
Jaw type backbone Miniature surgical manipulator is penetrated through, it includes casing 7, and base plate 3, casing 7 are provided with casing 7 Lower section is provided with service aisle 6, it is particular in that:Some through holes are provided with base plate 3, is provided with and passes through in through hole Logical jaw type Soft Tissue Treatment mechanism 1, lead to and pass through jaw-type bone tissue treatment mechanism 2, endoscope 4, nerve traction and attracting mechanism 5.This Sample, relies on the presence of through hole, can realize effective orientation direction to above-mentioned each mechanism.Meanwhile for the ease of with it is follow-up Robot body carry out firm connection, the bindiny mechanism 8 of the guide cylinder that is provided with casing 7 construction, avoids the occurrence of portion Part connects stuck phenomenon.
Implement for the ease of manufacture, specific as follows illustrate is carried out with reference to each mechanism of the present invention:
It is logical to pass through jaw type Soft Tissue Treatment mechanism 1 and include conduit 9, lifting gear 10 is connected with conduit 9 and is filled with turning to Put 11.Meanwhile in order to realize effective transmission control, be externally connected with lifting in conduit 9 and turn to transfer motion power device 12, and 9 side of conduit is additionally provided with inner core lifting and driving power set 16.Upper lower convex platform is distributed with outer edge positioned at 9 rear end of conduit 17, plane 23 is distributed with both sides of lower convex platform 17 on this.Duck tongue shaped construction 33 is equipped with the front end of conduit 9.Also, duck tongue shaped structure Make 33 and set an opening, form incomplete ring-type.It is incidental by this incomplete ring-type when actual implementation Opening, effectively accommodates tissue by being not in stuck phenomenon.
It is logical to pass through jaw type Soft Tissue Treatment mechanism 1 and be provided with inner core 14.Specifically, the inner core 14 in rod-shaped by being suitable for Handle the electric knife cutter composition of soft tissue.Also there is upper lower convex platform 34 outside its tool bar back segment.Be connected with inner core 14 lifting and Transfer motion power device 16.The lifting and transfer motion power device 16 include screw 35, which is connected with side by nut 36 Bar 37.Meanwhile screw 35 connects synchronous pulley 39 by synchronous belt 38, and motor 40 is connected with synchronous pulley 39.Also, institute 37 top of side lever of use is in gemel ring-type, which is located between the upper lower convex platform 34 of tool bar.
Lifting gear 10 includes screw 20, and nut 21 is connected with screw 20, which is connected with side lever 22.Together When, 22 top of side lever is in gemel ring-shaped structure, between upper lower convex platform 17.Such construction, is easily installed and promotes Conduit 9 moves up and down.
Transfer 11 includes pinion stand 25.Hollow gear 24 is connected with pinion stand 25, on the hollow gear 24 It is provided with transfer motion power device 12.Also, transfer motion power device 12 is connected with synchronous pulley 27 by synchronous belt 28.In order to carry out Effective drive control, is connected with motor 29 on synchronous pulley 27.Gear hole 30, gear hole 30 are provided with hollow gear 24 Both sides plane 31 is distributed with.The plane 31 matches with the plane 23 of the outside of conduit 9.
It is logical to pass through jaw-type bone tissue treatment mechanism 2 and include conduit 41.For the ease of the control operation of conduit 41, connect thereon There are lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile in order to meet to the auxiliary of conduit 41 Positioning is helped, and takes into account necessary motion guide, boss 48 up and down is distributed with outside the back segment of conduit 41, in upper 48 liang of lower convex platform Plane 49 is distributed with side.Likewise, in order to make the front end of conduit 41 may be constructed duck tongue shaped construction 52, set in the front end of conduit 41 Hole 50 is equipped with, the side of 41 front end of conduit is also equipped with hole 51.Also, the hole 51 of 41 front end of conduit is a complete ring-type, right Some tissues play necessary constraint, easy to subsequent operation.Lifting gear 42 and reversing arrangement 43 are also associated with conduit 41. Reversing arrangement 43 includes pinion stand 25, and hollow gear 56 is connected with the pinion stand 25, lifting is provided with hollow gear 56 Commutation and rotational power plant 44.
Specifically, lead to and pass through jaw-type bone tissue treatment mechanism 2 and be provided with inner core 45, which is suitable for by rod-shaped Manage the abrasive drilling composition of bone tissue.Lifting and transfer motion power device 47 are connected with inner core 45.It includes screw 63, the screw 63 are connected with side lever 65 by nut 64.In order to realize, subsequently stable movement driving, screw 63 are connected by synchronous belt 66 Synchronous pulley 67 is connect, motor 68 is connected with the synchronous pulley 67.Also, 65 top of side lever is in gemel ring-type.Make side lever 65 between upper lower convex platform 62.Meanwhile lift commutation and rotational power plant 44 and synchronous pulley is connected with by synchronous belt 59 58, motor 29 is connected with synchronous pulley 58.Meanwhile gear hole 60 is provided with hollow gear 24, the both sides point of gear hole 60 Plane 61 is furnished with, which matches with the plane 49 of the outside of conduit 41.
Nerve retracts and attracting mechanism 5 includes hollow traction piece 69.The hollow top for retracting piece 69 is provided with attraction Device connector 70, and spring 76 and spring connecting pole 71 is distributed with outside hollow traction piece 69.Draw in view of necessary driving transmission Lead, transfer motion power device 72 is connected with hollow traction piece 69.
Embodiment three
Jaw type backbone Miniature surgical manipulator is penetrated through, it includes casing 7, and base plate 3, casing 7 are provided with casing 7 Lower section is provided with service aisle 6, it is particular in that:Some through holes are provided with base plate 3, is provided with and passes through in through hole Logical jaw type Soft Tissue Treatment mechanism 1, lead to and pass through jaw-type bone tissue treatment mechanism 2, endoscope 4, nerve traction and attracting mechanism 5.This Sample, relies on the presence of through hole, can realize effective orientation direction to above-mentioned each mechanism.Meanwhile for the ease of with it is follow-up Robot body carry out firm connection, the bindiny mechanism 8 of the guide cylinder that is provided with casing 7 construction, avoids the occurrence of portion Part connects stuck phenomenon.
Implement for the ease of manufacture, specific as follows illustrate is carried out with reference to each mechanism of the present invention:
It is logical to pass through jaw type Soft Tissue Treatment mechanism 1 and include conduit 9, lifting gear 10 is connected with conduit 9 and is filled with turning to Put 11.Meanwhile in order to realize effective transmission control, be externally connected with lifting in conduit 9 and turn to transfer motion power device 12, and 9 side of conduit is additionally provided with inner core lifting and driving power set 16.Upper lower convex platform is distributed with outer edge positioned at 9 rear end of conduit 17, plane 23 is distributed with both sides of lower convex platform 17 on this.Duck tongue shaped construction 33 is equipped with the front end of conduit 9.Specifically, in order to Tissue during being easy to use, which accommodates, to be passed through, and the hole 18 of the front end of duck tongue shaped construction 33 sets an opening, forms incomplete ring Shape.
Logical to pass through jaw type Soft Tissue Treatment mechanism 1 and be provided with inner core 14, the inner core 14 in rod-shaped by being suitable for soft group of processing The Inferior turbinate hypertrophy cutter head composition knitted.Also there is upper lower convex platform 34 outside its tool bar back segment.Lifting and biography are connected with inner core 14 Dynamic power set 16.The lifting and transfer motion power device 16 include screw 35, which is connected with side lever by nut 36 37.Meanwhile screw 35 connects synchronous pulley 39 by synchronous belt 38, and motor 40 is connected with synchronous pulley 39.Also, adopted 37 top of side lever is in gemel ring-type, which is located between the upper lower convex platform 34 of tool bar.
Lifting gear 10 includes screw 20, and nut 21 is connected with screw 20, which is connected with side lever 22.Together When, 22 top of side lever is in gemel ring-shaped structure, between upper lower convex platform 17.Such construction, is easily installed and promotes Conduit 9 moves up and down.
Transfer 11 includes pinion stand 25.Hollow gear 24 is connected with pinion stand 25, on the hollow gear 24 It is provided with transfer motion power device 12.Also, transfer motion power device 12 is connected with synchronous pulley 27 by synchronous belt 28.In order to carry out Effective drive control, is connected with motor 29 on synchronous pulley 27.Gear hole 30, gear hole 30 are provided with hollow gear 24 Both sides plane 31 is distributed with.The plane 31 matches with the plane 23 of the outside of conduit 9.
It is logical to pass through jaw-type bone tissue treatment mechanism 2 and include conduit 41.For the ease of the control operation of conduit 41, connect thereon There are lifting commutation and rotational power plant 44, inner core lifting and transfer motion power device 47.Meanwhile in order to meet to the auxiliary of conduit 41 Positioning is helped, and takes into account necessary motion guide, boss 48 up and down is distributed with outside the back segment of conduit 41, in upper 48 liang of lower convex platform Plane 49 is distributed with side.Likewise, in order to make the front end of conduit 41 may be constructed duck tongue shaped construction 52, set in the front end of conduit 41 Hole 50 is equipped with, the side of 41 front end of conduit is also equipped with hole 51.It is full also, the hole 51 sets an opening, forms incomplete ring-type Foot tissue passes through needs.Lifting gear 42 and reversing arrangement 43 are also associated with conduit 41.Reversing arrangement 43 includes gear Seat 25, is connected with hollow gear 56 on the pinion stand 25, and lifting commutation and rotational power plant 44 are provided with hollow gear 56.
Specifically, lead to and pass through jaw-type bone tissue treatment mechanism 2 and be provided with inner core 45, which is suitable for by rod-shaped Manage the milling cutter composition of bone tissue.Lifting and transfer motion power device 47 are connected with inner core 45.It includes screw 63, the screw 63 are connected with side lever 65 by nut 64.In order to realize, subsequently stable movement driving, screw 63 are connected by synchronous belt 66 Synchronous pulley 67 is connect, motor 68 is connected with the synchronous pulley 67.Also, 65 top of side lever is in gemel ring-type.Make side lever 65 between upper lower convex platform 62.Meanwhile lift commutation and rotational power plant 44 and synchronous pulley is connected with by synchronous belt 59 58, motor 29 is connected with synchronous pulley 58.Meanwhile gear hole 60 is provided with hollow gear 24, the both sides point of gear hole 60 Plane 61 is furnished with, which matches with the plane 49 of the outside of conduit 41.
Nerve retracts and attracting mechanism 5 includes hollow traction piece 69.The hollow top for retracting piece 69 is provided with attraction Device connector 70, and spring 76 and spring connecting pole 71 is distributed with outside hollow traction piece 69.Draw in view of necessary driving transmission Lead, transfer motion power device 72 is connected with hollow traction piece 69.
Below with L4, the application of the present invention is illustrated exemplified by 5 discectomies, pedicle internal fixators, coordinates the present invention's It is as follows using implementation steps:
1st, positive small incision after waist is taken, which is stretched into vivo, passage is placed in Lamina surface.
2nd, according to the size of extent of disease, opening seam window and carries out spinal canal decompression.Start to lead to and pass through jaw-type bone tissue treatment mechanism 1 Motor 32, screw 63 is to drive inner core 45 to decline by the side lever 65 of nut 64, makes abrasive drilling decline and stretches out 41 front end of conduit 50 outer certain distance of hole.Afterwards, start abrasive drilling, first can abrade bone tissue to poor shape, then make abrasive drilling rise and bounce back to More than 51 position of side opening of 41 front end of conduit.Afterwards, start motor 29 and complete follow-up operation.In this way, it can be led easy to driving Pipe 41 declines, and can drive the rotation of conduit 41 and the commutation of the duck tongue shaped construction 52 of its lower end.Also, conduit 41 drops to necessarily During height, duck tongue shaped construction 52 can extend the lower section of vertebral plate bone tissue at lamina gap.
At this time, make that inner core 45 declines but abrasive drilling does not rotate, crusher drill can the duck tongue shaped construction 52 of 41 front end of conduit be Rely on, form clamp type structure, the poor bone tissues of remnants are crushed.Meanwhile bone bits can be excluded from the hole 50 of 41 front end of conduit, this The tissue winding that bistrique rotation is brought when sample can thoroughly avoid the abrasive drilling from drilling through bone tissue causes the risk of neurotrosis.It is so anti- Multiple operation, can open a preferable bone window and can realize canalis spinalis nerve decompression.
3rd, ligamentum flavum excision, nerve appear.The logical conduit 41 for passing through jaw-type bone tissue treatment mechanism and inner core 45 are risen to After certain altitude, start motor 29, can drive conduit 9 move up and down and front end duck tongue shaped construction 33 rotation.In this way, under conduit 9 When dropping to certain altitude, the duck tongue shaped construction 33 of its front end can be used for the separation of ligamentum flavum and dural sac.Start motor 40, screw When 35 rotations, the promotion inner core 14 of nut 36 are displaced downwardly on the side opening 18 of conduit 9 at marginal pore, you can clamped with 33 composition of duck tongue shaped construction Formula structure, in the lump riser duct 9 and inner core 14.In this way, soft tissue can be clamped and lifted.At this time, start low-temperature plasma to disappear Melt knife, ligamentum flavum can be cut off and fully appear nerve fiber.Since the inner core cutter is woven with necessarily apart from important sets such as nerves Distance, so can not only ensure that soft tissue cut off security, but also improve the convenience and reliability of implementation.
4th, nerve retracts, appears interverbebral disc.Start motor, make hollow traction piece 69 drop to the side of dural sac, pass through The integral inclined of jaw type backbone Miniature surgical manipulator is penetrated through, nerve fiber is retracted to the midline, appears interverbebral disc.
5th, discectomy.Start the motor 40 of 14 lifting and driving power set of inner core, screw 35 rotates, nut 36 promotes When inner core 14 moves down the 18 outer certain distance of hole for extending out to 9 front end of conduit and enters intervertenral space, start low-temperature plasma at this time and disappear Melt knife, reconstruction of nucleus gelatinosus tissue can be cut off.
6th, pedicle nail is inserted.Start motor 32, screw 63 is to drive inner core 45 to decline by the side lever 65 of nut 64, is made Abrasive drilling declines the 50 outer certain distance of hole for stretching out 41 front end of conduit.Had an X-rayed in x-ray positive side position and check and approve abrasive drilling inlet point and entering angle In the case that degree is accurate positioning, startup abrasive drilling can be used to brill and open screw way, and guiding pedicle screw is inserted.
It is above-mentioned to use formed surgical procedure by the present invention, soft tissue can be handled but also handle bone tissue, more Importantly, can realize that " simple cutter-clamp type structure " arbitrary can be changed without replacing apparatus, so as to fulfill Surgical procedure it is safe and efficient, it is rapid effectively.
It can be seen that after applying the present invention by above-mentioned character express and with reference to attached drawing, gather around and have the following advantages:
1st, it can realize that the function between simple cutter and clamp type structure switches freely, can depressurize but also carry out pedicle of vertebral arch Screw is inserted.
2nd, perforation jaw type Soft Tissue Treatment mechanism is employed, logical jaw-type bone tissue treatment mechanism, endoscope, the nerve of passing through retracts And the Integration Design of attracting mechanism, take small.
3rd, each mechanism can effectively realize mutual cooperation, meet that safe and efficient miniature spinal operation mechanical hand makes With needs.
The above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and Modification, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (1)

1. penetrating through jaw type backbone Miniature surgical manipulator, include casing (7), base plate (3) be provided with the casing (7), Service aisle (6) is provided with below the casing (7), it is characterised in that:Some through holes, institute are provided with the base plate (3) State be provided with through hole perforation jaw type Soft Tissue Treatment mechanism (1), perforation jaw-type bone tissue treatment mechanism (2), endoscope (4), Nerve retracts and attracting mechanism (5), is provided with bindiny mechanism (8) on the casing (7), the service aisle (6) is guide cylinder Construction;
The perforation jaw type Soft Tissue Treatment mechanism (1) includes main pipe (9), and main lifting is connected with the main pipe (9) Device (10) and transfer (11), the main pipe (9) are externally connected with lifting steering device, and main pipe (9) side is also Main lifting and driving power set (16) are provided with, Your Majesty's lower convex platform is distributed with the outer edge positioned at the main pipe (9) rear end (17), plane (23) is distributed with the both sides of Your Majesty's lower convex platform (17), and the front end of the main pipe (9) is provided with hole (18), The side of main pipe (9) front end is also equipped with hole (19), makes the front end of main pipe (9) form duck tongue shaped construction (33);
The main lifting gear (10) includes main screw (20), and nut (21), the spiral shell are connected with the main screw (20) Female (21) are connected with master bar (22), and master bar (22) top is in gemel ring-shaped structure, convex under the Your Majesty Between platform (17);
The transfer (11) includes pinion stand (25), and main hollow gear (24), institute are connected with the pinion stand (25) State and gear drive (12) is provided with main hollow gear (24), the gear drive (12) is connected by synchronous belt (28) Main synchronous pulley (27) is connected to, motor (29) is connected with the main synchronous pulley (27), is set in the main hollow gear (24) Master gear hole (30) is equipped with, principal plane (31) is distributed with the both sides of the master gear hole (30);
The perforation jaw type Soft Tissue Treatment mechanism (1) is provided with main inner core (14), and the main inner core (14) in rod-shaped by fitting Cutter for handling soft tissue forms, and main lifting and driving power set (16), the master are connected with the main inner core (14) Lifting and driving power set (16) include the first paranema bar (35), and the first paranema bar (35) is connected with by nut (36) Secondary side lever (37), the first paranema bar (35) pass through synchronous belt (38) auxiliary connection synchronous pulley (39), the pair synchronous pulley (39) motor (40) is connected with, described pair side lever (37) top is in gemel ring-type, and the pair side lever (37) is located at cutter Between Your Majesty's lower convex platform (34) of bar;
The perforation jaw-type bone tissue treatment mechanism (2) includes secondary conduits (41), and lifting is connected with the secondary conduits (41) Commutation and rotational power plant (44), inner core lifting and driving power set (47), the back segment outside distribution of the secondary conduits (41) There is lower convex platform in pair (48), secondary plane (49), the front end of the secondary conduits (41) is distributed with described secondary upper lower convex platform (48) both sides Main aperture (50) is provided with, the side of secondary conduits (41) front end is also equipped with secondary orifices (51), and the front end for making secondary conduits (41) is in duck Ligule constructs (52), and secondary lifting gear (42) and reversing arrangement (43) are also associated with the secondary conduits (41);
The pair lifting gear (42) includes auxiliary screw (53), and the auxiliary screw (53) is connected with the by nut (54) One side lever (55), the auxiliary screw (53) connect the first synchronous pulley (81) by main synchronous belt (83), and described first is synchronous It is connected with main motor (32) on belt wheel (81), the first side lever (55) top is in gemel ring-type, the first side lever (55) position Between lower convex platform (48) in the pair of secondary conduits (41);
The reversing arrangement (43) includes pinion stand (25), and secondary hollow gear (56), institute are connected with the pinion stand (25) State and lifting commutation and rotational power plant (44) are provided with secondary hollow gear (56), the lifting commutation and rotational power plant (44) assist in synchronization belt wheel (58) is connected with by synchronous belt (59), motor is connected with the assist in synchronization belt wheel (58) (29), pinion hole (60) is provided with the main hollow gear (24), the both sides of the pinion hole (60) are distributed with the 3rd Plane (61), the 3rd plane (61) match with the secondary plane (49) outside secondary conduits (41);
The perforation jaw-type bone tissue treatment mechanism (2) is provided with secondary inner core (45), and the pair inner core (45) is applicable in by rod-shaped Formed in the cutter of processing bone tissue, inner core lifting and driving power set (47) are connected with the pair inner core (45), it is described interior Core lifting and driving power set (47) include the second paranema bar (63), and the second paranema bar (63) is connected by nut (64) There is the second side lever (65), the second paranema bar (63) connects the second synchronous pulley (67) by secondary synchronous belt (66), and described the It is connected with auxiliary-motor (68) on two synchronous pulleys (67), the second side lever (65) top is in gemel ring-type, and described second Side lever (65) is between upper lower convex platform (62);
The nerve retracts and attracting mechanism (5) includes hollow traction piece (69), and described hollow traction piece (69) top is set There is aspirator connector (70), spring (76) and spring connecting pole (71) is distributed with outside the hollow traction piece (69), in described Sky retracts and is connected with transfer motion power device (72) on piece (69).
CN201510584724.XA 2015-09-15 2015-09-15 Penetrate through jaw type backbone Miniature surgical manipulator Active CN105055030B (en)

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DE10003051C2 (en) * 2000-01-25 2002-03-28 Copf Jun Instruments for lumbar spine surgery
CN102028548B (en) * 2011-01-14 2012-03-07 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

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