CN106551723B - A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism - Google Patents
A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism Download PDFInfo
- Publication number
- CN106551723B CN106551723B CN201611034654.1A CN201611034654A CN106551723B CN 106551723 B CN106551723 B CN 106551723B CN 201611034654 A CN201611034654 A CN 201611034654A CN 106551723 B CN106551723 B CN 106551723B
- Authority
- CN
- China
- Prior art keywords
- outer housing
- clamping device
- spur gear
- minimally invasive
- hollow shaft
- 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.)
- Active
Links
Classifications
-
- 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
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
Abstract
A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism, it is related to medical instruments field.The present invention is that the implantation for solving the problem of that existing spinal operation robot only realizes guide function Kirschner wire also needs doctor to manually complete.A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism includes outer housing, power mechanism, transmission mechanism, clamping device and V block quick-release connector, power mechanism, transmission mechanism and clamping device are respectively provided within the outer shell, the end of clamping device extends to the outside of outer housing, Kirschner wire fixation is in the end of clamping device, clamping device is connect by transmission mechanism with power mechanism, clamping device is rotatablely connected by the centre of gyration and outer housing of axis, V block quick-release connector is fixed in the outside of outer housing, and V block quick-release connector is connect with robot.The present invention is used for spinal operation robot.
Description
Technical field
The present invention relates to medical instruments fields, and in particular to a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism.
Background technique
Show according to clinical data, backbone class disease becomes clinical most important disease, wherein nail pedicle fix perform the operation,
Convex molding operation is three kinds of backbone typical art formulas after titanium rete operation and centrum.In these three typical art formulas, require to plant
Enter pedicle screw, and the implantation of pedicle screw is typically all to be guided by Kirschner wire, so Kirschner wire is implanted into just especially
It is important.
Traditional Kirschner wire implantation, according to doctors experience, is completely implanted into VP needle with feel, so by instruments such as VP needles
Being made film constantly by X-ray machine afterwards, adjustment VP needle is until position and posture are all suitable, and finally taking-up VP needle inner core, is inserted into Kirschner wire.
Traditional method precision is low, the time is long in art, and amount of radiation is big.In view of the above shortcomings, existing research is all to combine system of robot
System, realizes accurate guide function by robot, and then doctor's hand takes the electric drill of clamping Kirschner wire, and Kirschner wire is directly squeezed into
In bone, this mode overcomes the difficulty of tradition implantation Kirschner wire to a certain extent, but still needs doctor by feel
Control electric drill revolving speed, feed speed etc., it is excessively high that these parameters slightly control the bad feeding temperature that will result in, the groups such as burn muscle
It knits, this is clinically difficult to receive.
For the deficiency of demand and existing research clinically, the present invention designs Zhi Zhen mechanism, can pass through robot
System controls the revolving speed and feed speed of inserting needle, and adjusts relevant parameter in real time in conjunction with safety monitoring system, subtracts to greatest extent
The burden of light doctor, improves the safety and reliability of operation.
Summary of the invention
The present invention only realizes guide function to solve existing spinal operation robot, and the implantation of Kirschner wire also needs
The problem of doctor manually completes, and then propose a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism.
The technical solution adopted by the present invention to solve the above technical problem is:
A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism includes outer housing, power mechanism, transmission mechanism, clamping machine
Structure and V block quick-release connector, power mechanism, transmission mechanism and clamping device are respectively provided within the outer shell, the end of clamping device
End extends to the outside of outer housing, and Kirschner wire fixation passes through transmission mechanism and engine in the end of clamping device, clamping device
Structure connection, clamping device are rotatablely connected by the centre of gyration and outer housing of axis, and V block quick-release connector is fixed in the outer of outer housing
Side, V block quick-release connector are connect with robot.
The beneficial effects of the present invention over the prior art is:
The present invention designs Zhi Zhen mechanism, the revolving speed and feed speed of inserting needle can be controlled by robot system, and combine
Safety monitoring system adjusts relevant parameter in real time, mitigates the burden of doctor to greatest extent, improves the safety of operation and reliable
Property.
In the use of the present invention, medical be mounted on minimally invasive spine surgical robot by V block quick-release connector by mechanism, be used in combination
Cable is connect with robot, achievees the purpose that control, and Kirschner wire fixation realizes automatic under the action of mechanism and robot
Bore the function of Kirschner wire.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the A-A direction view in Fig. 2；
Fig. 4 is the connection relationship diagram of motor 2-2 in Fig. 2, transmission mechanism 3- clamping device 4 and V block quick-release connector 5；
Fig. 5 is the B-B direction cross-sectional view in Fig. 4.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of vertebral column minimally invasive described in present embodiment in conjunction with Fig. 1 to Fig. 5
Operating robot end Zhi Zhen mechanism includes outer housing 1, power mechanism 2, transmission mechanism 3, clamping device 4 and V block quick-release connector
5, power mechanism 2, transmission mechanism 3 and clamping device 4 are arranged at the inside of outer housing 1, and the end of clamping device 4 extends to outer
The outside of shell 1, Kirschner wire fixation are connected in the end of clamping device 4, clamping device 4 by transmission mechanism 3 and power mechanism 2
It connects, clamping device 4 is rotatablely connected by the centre of gyration and outer housing 1 of axis, and V block quick-release connector 5 is fixed in the outer of outer housing 1
Side, V block quick-release connector 5 are connect with robot.
It is designed in this way and entire mechanism is connected in robot by V block quick-release connector 5, power mechanism 2 passes through driver
Structure 3 imparts power to clamping device 4, and clamping device 4 drives Kirschner wire revolution, realizes the automatic drill of Kirschner wire.This implementation
The Zhi Zhen mechanism of mode, can control the revolving speed and feed speed of inserting needle by robot system, and combine safety monitoring system
Adjustment relevant parameter in real time mitigates the burden of doctor to greatest extent, improves the safety and reliability of operation.The fast changing-over of V block
First 5 realize the Fast Installation and disassembly with robot.
Specific embodiment 2: illustrate present embodiment in conjunction with Fig. 1 to Fig. 2, the shape of outer housing 1 described in present embodiment
For L shape, power mechanism 2 is arranged in the vertical long end of outer housing 1, and the lower end of power mechanism 2 is arranged in transmission mechanism 3, clamping
Mechanism 4 is arranged in the horizontal short end of outer housing 1, and outer housing 1 includes right casing 1-1 and left outside shell 1-2, right casing 1-1 and a left side
The shape of shell 1-2 is identical, and right casing 1-1 and left outside shell 1-2 are oppositely arranged, and it is vertical that V block quick-release connector 5 is fixed in outer housing 1
The lower end at long end.Other compositions and connection type are same as the specific embodiment one.
The outer housing 1 being designed in this way can have power mechanism 2, transmission mechanism 3, clamping device 4 and V block quick-release connector 5
Effect positioning and installation, the interference complementary with clamping device 4 of V block quick-release connector 5.
Specific embodiment 3: embodiment is described with reference to Fig. 2, right casing 1-1 described in present embodiment and left outside shell
It is affixed by bolt between 1-2.Other compositions and connection type are the same as one or two specific embodiments.
It is designed in this way and realizes being detachably connected for right casing 1-1 and left outside shell 1-2, convenient for the installation and dimension of other mechanisms
Shield.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 3 to Fig. 5, power mechanism 2 described in present embodiment includes
Electrical connector 2-1 and motor 2-2, electrical connector 2-1 are inserted on the upper surface of outer housing 1, electrical connector 2-1 by cable with
The lower end of electrical connector 2-1 is arranged in robot connection, motor 2-2, and the output shaft 2-3 of motor 2-2 is arranged straight down.It is other
Composition and connection type are the same as the specific implementation mode 3.
It is designed in this way and is inserted the cable into electrical connector 2-1 when in use, the lower end of electrical connector 2-1 connects motor 2-
2, to realize the connection of Zhi Zhen mechanism Yu robot electric-control system, achieve the purpose that control motor 2-2, and then control Kirschner wire
Revolving speed.
In present embodiment motor 2-2 be can high-temperature sterilization motor.To meet the cleaning of medical instrument and use standard.
Specific embodiment 5: illustrating present embodiment in conjunction with Fig. 3 to Fig. 5, transmission mechanism 3 described in present embodiment includes
Upper cover 3-1, pedestal 3-2, gear linkage 3-3, the first spur gear 3-4 and the second spur gear 3-5, on the upper surface of pedestal 3-2
It is arranged in groove 3-2-1 equipped with groove 3-2-1, the first spur gear 3-4 and the second spur gear 3-5, upper cover 3-1 is arranged in pedestal
The upper end of 3-2, output shaft 2-3 are inserted on upper cover 3-1, and the first spur gear 3-4 is fixed in output shaft by gear linkage 3-3
On 2-3, the second spur gear 3-5 is fixed on clamping device 4, and the first spur gear 3-4 is meshed with the second spur gear 3-5.It is other
Composition and connection type are identical as specific embodiment four.
It is designed in this way and output shaft 2-3 revolution is driven by motor 2-2, the first spur gear is driven by gear linkage 3-3
3-4 rotation, the second spur gear 3-5 rotation drives clamping device 4 to turn round, to realize the revolution of Kirschner wire.
Specific embodiment 6: illustrate present embodiment in conjunction with Fig. 3 to Fig. 5, upper cover 3-1 and pedestal described in present embodiment
3-2 is affixed by bolt.Other compositions and connection type are identical as specific embodiment five.
It is designed in this way the disassembly and installation for being easy to implement transmission mechanism 3.
Specific embodiment 7: gear linkage 3-3 described in embodiment is described with reference to Fig.5, present embodiment includes
Connecting bushing 3-3-1, Top fastening screw 3-3-2 and positioning screw 3-3-3, connecting bushing 3-3-1 are sleeved on output shaft 2-3, even
The upper surface that spindle covers 3-3-1 is equipped with flange 3-3-4, and radial direction is equipped with and holds out against spiral shell on the excircle side wall of flange 3-3-4
3-3-2 is followed closely, connecting bushing 3-3-1 is affixed by Top fastening screw 3-3-2 and output shaft 2-3, and the first spur gear 3-4 is sleeved on connection
On axle sleeve 3-3-1, the lower end surface of the first spur gear 3-4 is equipped with positioning screw 3-3-3, and the first spur gear 3-4 passes through positioning spiral shell
It is affixed to follow closely 3-3-3 and connecting bushing 3-3-1.Other compositions and connection type are identical as specific embodiment five or six.
It is designed in this way and realizes that connecting bushing 3-3-1 and output shaft 2-3's is relatively fixed by Top fastening screw 3-3-2, pass through
Positioning screw 3-3-3 realizes that the first spur gear 3-4 and connecting bushing 3-3-1's is relatively fixed, to realize the first spur gear
3-4 is relatively fixed with output shaft 2-3's, effectively prevent the first spur gear that the play on axial and circumferential direction occurs.
Specific embodiment 8: clamping device 4 described in embodiment is described with reference to Fig.5, present embodiment includes hollow
Axis 4-1, locking nut 4-2, elastic clip cylinder 4-3 and nut 4-4, hollow shaft 4-1 are inserted into vertically on upper cover 3-1 and pedestal 3-2,
Second spur gear 3-5 is sleeved on hollow shaft 4-1, and elastic clip cylinder 4-3 is fitted on the inside of the end hollow shaft 4-1, and Kirschner wire is inserted
In elastic clip cylinder 4-3, the end of the end hollow shaft 4-1 is installed with nut 4-4, and Kirschner wire passes through nut 4-4 and elastic clip
Cylinder 4-3 is affixed, and the top of hollow shaft 4-1 is installed with locking nut 4-2, and the outside of upper cover 3-1 is arranged in locking nut 4-2.Its
It forms identical as specific embodiment seven with connection type.
It is designed in this way the second spur gear 3-5 and drives hollow shaft 4-1 revolution, Kirschner wire is elastic clip cylinder 4-3's and nut 4-4
It is locked under effect, realizes the revolution of Kirschner wire.Locking nut 4-2 can be realized the positioning of hollow shaft 4-1.
Specific embodiment 9: transmission mechanism 3 described in embodiment is described with reference to Fig.5, present embodiment further includes one
To positioning shaft sleeve 3-6, positioning shaft sleeve 3-6 is sleeved on hollow shaft 4-1, and positioning shaft sleeve 3-6 is separately positioned on the second spur gear 3-5
Two sides.Other compositions and connection type are identical as specific embodiment eight.
It is designed in this way the play that positioning shaft sleeve 3-6 can effectively prevent the second spur gear 3-5 that axial direction occurs.Realize the
The effective position of two spur gear 3-5.
Specific embodiment 10: transmission mechanism 3 described in embodiment is described with reference to Fig.5, present embodiment further includes one
To rib bearing 3-7, rib bearing 3-7 is sleeved on hollow shaft 4-1, hollow shaft 4-1 by rib bearing 3-7 respectively with upper cover
3-1 and pedestal 3-2 rotation connection.Other compositions and connection type are identical as specific embodiment eight or nine.
Being designed in this way rib bearing 3-7 can be realized the support and positioning of hollow shaft 4-1.
Working principle
In the use of the present invention, medical be mounted in mechanism on minimally invasive spine surgical robot by V block quick-release connector 5, simultaneously
It is connect with cable with robot, achievees the purpose that control, Kirschner wire fixation realizes certainly under the action of mechanism and robot
The dynamic function of boring Kirschner wire.
Entire mechanism is connected in robot by V block quick-release connector 5, is inserted the cable into electrical connector 2-1, electricity
The lower end of gas connector 2-1 connects motor 2-2, realizes the connection of motor 2-2 and robot electric-control system, reaches control motor 2-2
Purpose, motor 2-2 drives output shaft 2-3 revolution, drives the first spur gear 3-4 rotation by gear linkage 3-3, second is straight
Gear 3-5 drives hollow shaft 4-1 revolution, and Kirschner wire is locked under the action of elastic clip cylinder 4-3 and nut 4-4, thus
The revolution for realizing Kirschner wire, realizes the function of automatic drill Kirschner wire.
Claims (6)
1. a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism, it is characterised in that: a kind of minimally invasive spine surgical machine
People end Zhi Zhen mechanism includes outer housing (1), power mechanism (2), transmission mechanism (3), clamping device (4) and V block quick-release connector
(5), power mechanism (2), transmission mechanism (3) and clamping device (4) are arranged at the inside of outer housing (1), clamping device (4)
End extends to the outside of outer housing (1), and Kirschner wire fixation passes through driver in the end of clamping device (4), clamping device (4)
Structure (3) is connect with power mechanism (2), and clamping device (4) is rotatablely connected by the centre of gyration and outer housing (1) of axis, V block quick change
Connector (5) is fixed in the outside of outer housing (1), and V block quick-release connector (5) is connect with robot；
The shape of the outer housing (1) is L shape, and power mechanism (2) is arranged in the vertical long end of outer housing (1), transmission mechanism
(3) setting is arranged in the horizontal short end of outer housing (1) in the lower end of power mechanism (2), clamping device (4), outer housing (1) packet
Right casing (1-1) and left outside shell (1-2) are included, right casing (1-1) is identical with the shape of left outside shell (1-2), right casing (1-1) and a left side
Shell (1-2) is oppositely arranged, and V block quick-release connector (5) is fixed in the lower end at the vertical long end of outer housing (1)；
The power mechanism (2) includes electrical connector (2-1) and motor (2-2), and electrical connector (2-1) is inserted into outer housing (1)
Upper surface on, electrical connector (2-1) is connect by cable with robot, and motor (2-2) setting is at electrical connector (2-1)
End, the output shaft (2-3) of motor (2-2) are arranged straight down；
The transmission mechanism (3) include upper cover (3-1), pedestal (3-2), gear linkage (3-3), the first spur gear (3-4) and
The upper surface of second spur gear (3-5), pedestal (3-2) is equipped with groove (3-2-1), the first spur gear (3-4) and the second straight-tooth
(3-5) setting is taken turns in groove (3-2-1), upper cover (3-1) is arranged in the upper end of pedestal (3-2), and output shaft (2-3) is inserted into
It covers on (3-1), the first spur gear (3-4) is fixed on output shaft (2-3) by gear linkage (3-3), the second spur gear (3-
5) it is fixed on clamping device (4), the first spur gear (3-4) is meshed with the second spur gear (3-5)；
The gear linkage (3-3) includes connecting bushing (3-3-1), Top fastening screw (3-3-2) and positioning screw (3-3-3),
Connecting bushing (3-3-1) is sleeved on output shaft (2-3), and the upper surface of connecting bushing (3-3-1) is equipped with flange (3-3-4),
Radial direction is equipped with Top fastening screw (3-3-2) on the excircle side wall of flange (3-3-4), and connecting bushing (3-3-1) is by holding out against
Screw (3-3-2) and output shaft (2-3) are affixed, and the first spur gear (3-4) is sleeved on connecting bushing (3-3-1), the first straight-tooth
Take turns (3-4) lower end surface be equipped with positioning screw (3-3-3), the first spur gear (3-4) by positioning screw (3-3-3) with connect
Axle sleeve (3-3-1) is affixed.
2. a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism according to claim 1, it is characterised in that: described right outer
It is affixed by bolt between shell (1-1) and left outside shell (1-2).
3. a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism according to claim 1, it is characterised in that: the upper cover
(3-1) is affixed by bolt with pedestal (3-2).
4. a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism according to claim 1, it is characterised in that: the clamping
Mechanism (4) includes hollow shaft (4-1), locking nut (4-2), elastic clip cylinder (4-3) and nut (4-4), and hollow shaft (4-1) is vertical
It is inserted into upper cover (3-1) and pedestal (3-2), the second spur gear (3-5) is sleeved on hollow shaft (4-1), hollow shaft (4-1) end
It is fitted on the inside of end elastic clip cylinder (4-3), Kirschner wire is inserted into elastic clip cylinder (4-3), the end of the end hollow shaft (4-1)
It is installed with nut (4-4), Kirschner wire is affixed by nut (4-4) and elastic clip cylinder (4-3), the top spinning of hollow shaft (4-1)
Have locking nut (4-2), locking nut (4-2) is arranged in the outside of upper cover (3-1).
5. a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism according to claim 4, it is characterised in that: the transmission
Mechanism (3) further includes a pair of of positioning shaft sleeve (3-6), and positioning shaft sleeve (3-6) is sleeved on hollow shaft (4-1), positioning shaft sleeve (3-6)
It is separately positioned on the two sides of the second spur gear (3-5).
6. a kind of minimally invasive spine surgical robot end Zhi Zhen mechanism according to claim 4 or 5, it is characterised in that: described
Transmission mechanism (3) further includes a pair of of rib bearing (3-7), and rib bearing (3-7) is sleeved on hollow shaft (4-1), hollow shaft (4-
1) it is rotatablely connected respectively with upper cover (3-1) and pedestal (3-2) by rib bearing (3-7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034654.1A CN106551723B (en) | 2016-11-22 | 2016-11-22 | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034654.1A CN106551723B (en) | 2016-11-22 | 2016-11-22 | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106551723A CN106551723A (en) | 2017-04-05 |
| CN106551723B true CN106551723B (en) | 2018-12-11 |
Family
ID=58444240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611034654.1A Active CN106551723B (en) | 2016-11-22 | 2016-11-22 | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106551723B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2808077Y (en) * | 2005-01-12 | 2006-08-23 | 吴树辉 | Bone surgery x ray automatic positioning instrument |
| CN200954125Y (en) * | 2006-09-18 | 2007-10-03 | 西安三才电子有限公司 | Mini-size medical brush-free motor operation drill |
| CN101416894A (en) * | 2008-11-27 | 2009-04-29 | 清华大学 | Operation robot needle-insertion positioning device under magnetic sensor environment |
| CN101416893A (en) * | 2008-11-27 | 2009-04-29 | 清华大学 | Operation needle gripping quick-changing device for micro-wound operation robot |
| US8167872B2 (en) * | 2006-01-25 | 2012-05-01 | Intuitive Surgical Operations, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
| CN104000659A (en) * | 2014-06-13 | 2014-08-27 | 苏州康多机器人有限公司 | Instrument clamping arm quick-change mechanism for minimally invasive surgery robot |
| CN104287836A (en) * | 2014-10-24 | 2015-01-21 | 南开大学 | Surgical robot semi-rigid intelligent instrument arm capable of achieving drilling and grinding state monitoring |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070055289A1 (en) * | 2003-08-06 | 2007-03-08 | Scouten Charles W | Digital stereotaxic manipulator with controlled angular displacement and fine-drive mechanism |
-
2016
- 2016-11-22 CN CN201611034654.1A patent/CN106551723B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2808077Y (en) * | 2005-01-12 | 2006-08-23 | 吴树辉 | Bone surgery x ray automatic positioning instrument |
| US8167872B2 (en) * | 2006-01-25 | 2012-05-01 | Intuitive Surgical Operations, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
| CN200954125Y (en) * | 2006-09-18 | 2007-10-03 | 西安三才电子有限公司 | Mini-size medical brush-free motor operation drill |
| CN101416894A (en) * | 2008-11-27 | 2009-04-29 | 清华大学 | Operation robot needle-insertion positioning device under magnetic sensor environment |
| CN101416893A (en) * | 2008-11-27 | 2009-04-29 | 清华大学 | Operation needle gripping quick-changing device for micro-wound operation robot |
| CN104000659A (en) * | 2014-06-13 | 2014-08-27 | 苏州康多机器人有限公司 | Instrument clamping arm quick-change mechanism for minimally invasive surgery robot |
| CN104287836A (en) * | 2014-10-24 | 2015-01-21 | 南开大学 | Surgical robot semi-rigid intelligent instrument arm capable of achieving drilling and grinding state monitoring |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106551723A (en) | 2017-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109077786B (en) | Full-symmetry three-branch-chain parallel external fixing support | |
| CN108309423B (en) | Fixed traction device in a kind of bone | |
| CN108670411A (en) | A kind of space apocenter motion using Double-stroke arc-shaped slide rail | |
| CN105816226A (en) | Intramedullary skeleton tractor | |
| CN110151475A (en) | A kind of neurosurgery auxiliary support tool | |
| CN109171904A (en) | One kind being exclusively used in medicine cardiovascular-interventional therapeutic equipment device | |
| CN106551723B (en) | A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism | |
| CN105726108B (en) | A kind of bone-holder for orthopaedics Minimally Invasive Surgery | |
| CN102670296B (en) | Intramedullary nail aiming device | |
| CN208626131U (en) | Shoulder girdle bionical power-assisted flexible exoskeleton mechanism | |
| CN106725783B (en) | A kind of elbow joint external fixator | |
| CN205391227U (en) | Marrow endoskeleton tractor | |
| US8388622B2 (en) | Surgical file instrument construction with mechanism to convert rotary motion to reciprocal motion | |
| CN114732522A (en) | Flexible wire driven fracture reduction operation robot | |
| CN207168558U (en) | Master and slave type pedicle screw | |
| CN205866830U (en) | Operation device is intervene to compatible mammary gland of nuclear magnetic resonance | |
| CN208339587U (en) | A kind of light-permeable intra medullary nail far-end lock pin sighting device | |
| CN2829652Y (en) | Combined intramedullary pin with lock | |
| CN209004113U (en) | The tool of a set of Fibula autograft implanted treatment avascular necrosis of femoral head | |
| RU2535509C1 (en) | Device for treating patients suffering from injuries and consequences of injures of proximal femur | |
| CN114010294A (en) | Bridging combination internal fixation system for bone lengthening | |
| CN113180586A (en) | Novel arthroscope for orthopedics department | |
| CN208259747U (en) | A kind of guider that nerve punctures | |
| CN107233135B (en) | Minimally invasive tool for uprooting of being completely cured | |
| CN108272499A (en) | A kind of light-permeable intra medullary nail far-end lock pin sighting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220720 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 |