CN106377319B - A kind of minimally invasive spine surgical robot end direction sleeve - Google Patents
A kind of minimally invasive spine surgical robot end direction sleeve Download PDFInfo
- Publication number
- CN106377319B CN106377319B CN201611034655.6A CN201611034655A CN106377319B CN 106377319 B CN106377319 B CN 106377319B CN 201611034655 A CN201611034655 A CN 201611034655A CN 106377319 B CN106377319 B CN 106377319B
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- Prior art keywords
- sleeve
- left semicircle
- minimally invasive
- semicircle shape
- positioning plate
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
Sleeve is directed toward in a kind of minimally invasive spine surgical robot end, it is related to a kind of operating robot end and is directed toward sleeve, to solve the problem of that existing spinal operation robot end direction sleeve is integrated to limit robot and clinically apply.Seperated sleeve assembly of the invention is by left semicircle shape sleeve, right semicircular sleeve, pin shaft and locking pin composition, left semicircle shape sleeve and right semicircular sleeve fasten setting and constitute circular sleeve, left semicircle shape sleeve and the side junction of right semicircular sleeve are hinged by pin shaft, left semicircle shape sleeve and the other side junction of right semicircular sleeve are linked together by locking pin, stud on primary lock knob is then passed through unthreaded hole after being threaded through internal thread hole, and optical axis is arranged in internal thread hole and unthreaded hole, one end of bracket and L shape positioning plate are affixed, the other end of bracket and left semicircle shape sleeve are affixed, on the riser of L shape positioning plate.The present invention is used for minimally invasive spine surgical.
Description
Technical field
The present invention relates to a kind of operating robot ends to be directed toward sleeve, and in particular to a kind of minimally invasive spine surgical robot end
It is directed toward sleeve in end.
Background technique
It is nail pedicle fix operation, titanium rete operation, vertebra than more typical three kinds of art formulas in minimally invasive spine surgical
Convex molding operation after body, it is all clinically according to doctor at present that these three art formulas, which require to squeeze into Kirschner wire in pedicle of vertebral arch,
Experience determines position and the posture into needle, has biggish difficulty.It is big that existing spinal operation robot end is directed toward sleeve
All be it is integrated, have biggish working space requirement to robot during surgery, largely limit robot in clinic
On application range.
Summary of the invention
The present invention be solve existing spinal operation robot end be directed toward sleeve be it is integrated, during surgery to robot
There is biggish working space requirement, limit the problem of robot clinically applies, a kind of minimally invasive spine surgical machine is provided
It is directed toward sleeve in people end.
Sleeve is directed toward in a kind of minimally invasive spine surgical robot end of the invention, and composition is fixed including primary lock knob, L shape
Position plate, bracket and seperated sleeve assembly, primary lock knob are multi-diameter shaft, and multi-diameter shaft is followed successively by knob, optical axis and spiral shell from left to right
Column, seperated sleeve assembly are made of left semicircle shape sleeve, right semicircular sleeve, pin shaft and locking pin, left semicircle shape sleeve and the right side
Half circular sleeve fastens setting and constitutes circular sleeve, and left semicircle shape sleeve and the side junction of right semicircular sleeve pass through pin shaft
Hinged, left semicircle shape sleeve and the other side junction of right semicircular sleeve are linked together by locking pin, and left half
The outer wall of circular sleeve is equipped with the first mounting groove, and the riser back side of L shape positioning plate is equipped with flange, by outside extremely on riser and flange
It is inside successively arranged internal thread hole and unthreaded hole, the aperture of internal thread hole is less than the aperture of unthreaded hole, and the diameter of optical axis is less than internal thread hole
Aperture, the stud on primary lock knob is then passed through unthreaded hole after being threaded through internal thread hole, and optical axis is arranged in internal thread hole and unthreaded hole
In, one end of bracket and L shape positioning plate are affixed, and the other end and left semicircle shape sleeve of bracket are affixed, on the riser of L shape positioning plate
If there are two location holes.
Further, the transverse slat lower end surface of the L shape positioning plate is equipped with inclined-plane.
Further, the outer wall of the left semicircle shape sleeve is equipped with the first mounting groove, and inclined-plane is equipped with the second mounting groove.
Further, the bracket is vertically arranged with the inclined-plane on positioning plate.
Further, the oblique angle on the inclined-plane is 30 °~60 °.
Technical solution of the present invention has the advantages that
One, it is fission that sleeve design is directed toward in end by the present invention, and realizes quickly connecting for sleeve by pin shaft and locking pin
Connect, and can open at any time, adapt to different types of operating robot so that robot clinically apply it is unrestricted.
Two, the present invention can be quickly connected the position and appearance for accurately to provide that Kirschner wire needs to squeeze into robot
State, structure is simple, easy to use, has very high safety and reliability.
Three, it is removed from operating robot when sleeve is directed toward in minimally invasive spine surgical robot end of the invention by needs
When, due to devising internal thread hole, when stud is retracted into internal thread hole position, stud can be threadedly coupled with internal thread hole, be made
Winner's locking knob will not be detached from from L shape positioning plate, this maintains the ring of operating room for preventing primary lock knob from falling
Border is very helpful.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is the perspective view of main locking knob 1；
Fig. 3 is the perspective view of locking pin 4-4；
Fig. 4 is the perspective view of left semicircle shape sleeve 4-1；
Fig. 5 is the perspective view of right semicircular sleeve 4-2；
Fig. 6 is whole main view of the invention.
Specific embodiment
Specific embodiment 1: illustrating that present embodiment, present embodiment include primary lock knob 1, L in conjunction with FIG. 1 to FIG. 6
Shape positioning plate 2, bracket 3 and seperated sleeve assembly 4, primary lock knob 1 are multi-diameter shaft, and multi-diameter shaft is followed successively by knob 1- from left to right
1, optical axis 1-2 and stud 1-3, seperated sleeve assembly 4 is by left semicircle shape sleeve 4-1, right semicircular sleeve 4-2, pin shaft 4-3 and lock
Tight pin 4-4 composition, left semicircle shape sleeve 4-1 and right semicircular sleeve 4-2 fasten setting and constitute circular sleeve, left semicircle shape sleeve
The side junction of 4-1 and right semicircular sleeve 4-2 is hinged by pin shaft 4-3, left semicircle shape sleeve 4-1 and right semi-circle
The other side junction of shape sleeve 4-2 is linked together by locking pin 4-4, and the outer wall of left semicircle shape sleeve 4-1 is equipped with the
The back side riser 2-1 of one mounting groove 4-1-1, L shape positioning plate 2 be equipped with flange 2-2, riser 2-1 and flange 2-2 on from outside to inside according to
Secondary to be equipped with internal thread hole 2-3 and unthreaded hole 2-4, the aperture of internal thread hole 2-3 is less than the aperture of unthreaded hole 2-4, and the diameter of optical axis 1-2 is small
Unthreaded hole 2-4, and light are then passed through after the stud 1-3 on the aperture of internal thread hole 2-3, primary lock knob 1 is threaded through internal thread hole 2-3
Axis 1-2 be arranged in internal thread hole 2-3 and unthreaded hole 2-4, one end of bracket 3 and L shape positioning plate 2 are affixed, the other end of bracket 3 and
Left semicircle shape sleeve 4-1 is affixed, is set on the riser 2-1 of L shape positioning plate 2 there are two location hole 2-6.Location hole 2-6 is used for and hand
It plays the role of positioning when the A connection of art robot.Seperated sleeve assembly 4 is for clamping reamer.
Specific embodiment 2: the transverse slat lower end of the L shape positioning plate 2 of embodiment is described with reference to Fig.6, present embodiment
Face is equipped with inclined-plane 2-5.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: the left semicircle shape sleeve 4-1's of embodiment is described with reference to Fig.6, present embodiment is outer
Wall is equipped with the first mounting groove 4-1-1, and inclined-plane 2-5 is equipped with the second mounting groove 2-5-1.Design is easily installed bracket 3 in this way, i.e.,
One end of bracket 3 is arranged in the second mounting groove 2-5-1, and bracket 3 and positioning plate 2 weld, and the other end setting of bracket 3 is the
In one mounting groove 4-1-1, and bracket 3 and left semicircle shape sleeve 4-1 are welded.Other compositions and connection relationship and specific embodiment
Two is identical.
Specific embodiment 4: the bracket 3 of embodiment is described with reference to Fig.6, present embodiment with it is oblique on positioning plate 2
Face 2-2 is vertically arranged.Bracket 3 is vertically arranged with the inclined-plane 2-2 on positioning plate 2.Design is easily installed bracket 3 in this way.Other groups
At and connection relationship be the same as the specific implementation mode 3.
Specific embodiment 5: the bevel angle α of the inclined-plane 2-2 of embodiment is described with reference to Fig.6, present embodiment is 30 °
~60 °.Other compositions and connection relationship are identical as specific embodiment four.
Specific embodiment 6: the bevel angle α of the inclined-plane 2-2 of embodiment is described with reference to Fig.6, present embodiment is 45 °.
Other compositions and connection relationship are identical as specific embodiment five.
The working principle of the invention:
Stud 1-3 on primary lock knob 1 is threadedly coupled with threaded hole corresponding on operating robot A, utilizes L shape
The L shape end face of positioning plate 2 and location hole 2-6 are accurately positioned.Seperated sleeve assembly 4 is used to clamp reamer, and due to being
Fission design, under the action of locking pin 4-4, can open and close at any time, reduce the index request to robot, be applicable in not
Isostructural operating robot.Operating robot is improved in the application of orthopaedics Minimally Invasive Surgery.
Claims (6)
1. sleeve is directed toward in a kind of minimally invasive spine surgical robot end, it is characterised in that: the sleeve includes primary lock knob
(1), L shape positioning plate (2), bracket (3) and seperated sleeve assembly (4), primary lock knob (1) are multi-diameter shaft, multi-diameter shaft by it is left extremely
The right side is followed successively by knob (1-1), optical axis (1-2) and stud (1-3), and seperated sleeve assembly (4) is by left semicircle shape sleeve (4-1), the right side
Half circular sleeve (4-2), pin shaft (4-3) and locking pin (4-4) composition, left semicircle shape sleeve (4-1) and right semicircular sleeve (4-
2) it fastens setting and constitutes circular sleeve, left semicircle shape sleeve (4-1) and the side junction of right semicircular sleeve (4-2) pass through pin
Axis (4-3) is hinged, and the other side junction of left semicircle shape sleeve (4-1) and right semicircular sleeve (4-2) pass through locking
Pin (4-4) links together, and the outer wall of left semicircle shape sleeve (4-1) is equipped with the first mounting groove (4-1-1), L shape positioning plate (2)
The riser back side (2-1) be equipped with flange (2-2), be successively arranged internal thread hole from outside to inside on riser (2-1) and flange (2-2)
(2-3) and unthreaded hole (2-4), the aperture of internal thread hole (2-3) are less than the aperture of unthreaded hole (2-4), and the diameter of optical axis (1-2) is less than interior
The aperture of threaded hole (2-3), the stud (1-3) on primary lock knob (1) are then passed through unthreaded hole (2- after being threaded through internal thread hole (2-3)
4), and optical axis (1-2) is arranged in internal thread hole (2-3) and unthreaded hole (2-4), and one end of bracket (3) and L shape positioning plate (2) are solid
It connects, the other end and left semicircle shape sleeve (4-1) of bracket (3) are affixed, set that there are two fixed on the riser (2-1) of L shape positioning plate (2)
Position hole (2-6).
2. sleeve is directed toward in a kind of minimally invasive spine surgical robot end according to claim 1, it is characterised in that: the L
The transverse slat lower end surface of shape positioning plate (2) is equipped with inclined-plane (2-5).
3. sleeve is directed toward in a kind of minimally invasive spine surgical robot end according to claim 2, it is characterised in that: the left side
The outer wall of half circular sleeve (4-1) is equipped with the first mounting groove (4-1-1), and inclined-plane (2-5) is equipped with the second mounting groove (2-5-
1)。
4. sleeve is directed toward in a kind of minimally invasive spine surgical robot end according to claim 3, it is characterised in that: the branch
Frame (3) is vertically arranged with the inclined-plane (2-5) on positioning plate (2).
5. sleeve is directed toward in a kind of minimally invasive spine surgical robot end according to claim 4, it is characterised in that: described oblique
The oblique angle (α) in face (2-5) is 30 °~60 °.
6. sleeve is directed toward in a kind of minimally invasive spine surgical robot end according to claim 5, it is characterised in that: described oblique
The oblique angle (α) in face (2-5) is 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034655.6A CN106377319B (en) | 2016-11-22 | 2016-11-22 | A kind of minimally invasive spine surgical robot end direction sleeve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034655.6A CN106377319B (en) | 2016-11-22 | 2016-11-22 | A kind of minimally invasive spine surgical robot end direction sleeve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106377319A CN106377319A (en) | 2017-02-08 |
| CN106377319B true CN106377319B (en) | 2019-01-18 |
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ID=57959207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611034655.6A Active CN106377319B (en) | 2016-11-22 | 2016-11-22 | A kind of minimally invasive spine surgical robot end direction sleeve |
Country Status (1)
| Country | Link |
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| CN (1) | CN106377319B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550569B (en) * | 2017-10-16 | 2023-08-04 | 鹰利视医疗科技有限公司 | Vertebra minimally invasive robot |
| CN110037807A (en) * | 2019-04-12 | 2019-07-23 | 苏州铸正机器人有限公司 | A kind of operation pathway positioning device |
| CN110141374A (en) * | 2019-05-13 | 2019-08-20 | 苏州铸正机器人有限公司 | A kind of fastener locking type operation pathway positioning device |
| CN113440256B (en) * | 2021-06-28 | 2023-03-24 | 哈尔滨工业大学 | Ultrasonic osteotome clamping device of spinal surgery robot |
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| CN1654174A (en) * | 2005-02-01 | 2005-08-17 | 天津大学 | Secondary manipulator of surgery operation robot |
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| CN101357075A (en) * | 2007-07-31 | 2009-02-04 | 机械科学研究总院先进制造技术研究中心 | Micro-wound operation robot based on endoscopic |
| WO2010064234A2 (en) * | 2008-12-01 | 2010-06-10 | Mazor Surgical Technologies Ltd. | Robot guided oblique spinal stabilization |
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| CN102429726A (en) * | 2011-08-03 | 2012-05-02 | 哈尔滨工业大学 | Image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method |
| CN204909638U (en) * | 2015-06-03 | 2015-12-30 | 毛继凯 | Intelligence backbone surgical instruments robot |
| CN105662551A (en) * | 2016-03-09 | 2016-06-15 | 张帆 | Puncture auxiliary positioning device for minimally invasive surgery |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1654174A (en) * | 2005-02-01 | 2005-08-17 | 天津大学 | Secondary manipulator of surgery operation robot |
| CN101357075A (en) * | 2007-07-31 | 2009-02-04 | 机械科学研究总院先进制造技术研究中心 | Micro-wound operation robot based on endoscopic |
| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
| WO2010064234A2 (en) * | 2008-12-01 | 2010-06-10 | Mazor Surgical Technologies Ltd. | Robot guided oblique spinal stabilization |
| CN102429726A (en) * | 2011-08-03 | 2012-05-02 | 哈尔滨工业大学 | Image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method |
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| Publication number | Publication date |
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| CN106377319A (en) | 2017-02-08 |
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Effective date of registration: 20220714 Address after: 150060 No. 8, Dalian north road, haping road concentration area, economic development zone, Pingfang District, Harbin, Heilongjiang Province Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY |
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