CN107080587A - The mechanical arm and robot sutured for disc herniation Nuclectomy and fibrous ring - Google Patents
The mechanical arm and robot sutured for disc herniation Nuclectomy and fibrous ring Download PDFInfo
- Publication number
- CN107080587A CN107080587A CN201710405110.XA CN201710405110A CN107080587A CN 107080587 A CN107080587 A CN 107080587A CN 201710405110 A CN201710405110 A CN 201710405110A CN 107080587 A CN107080587 A CN 107080587A
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- China
- Prior art keywords
- installation portion
- operating platform
- apparatus installation
- mechanical arm
- nuclectomy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 208000003618 Intervertebral Disc Displacement Diseases 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 36
- 230000009471 action Effects 0.000 claims description 3
- 238000012829 orthopaedic surgery Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 6
- 210000004204 blood vessel Anatomy 0.000 abstract description 3
- 210000005036 nerve Anatomy 0.000 abstract description 3
- 238000001356 surgical procedure Methods 0.000 description 9
- 208000027418 Wounds and injury Diseases 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 206010052428 Wound Diseases 0.000 description 4
- 230000000399 orthopedic effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00261—Discectomy
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of mechanical arm sutured for disc herniation Nuclectomy and fibrous ring, including spiral arm, the operating platform installed in spiral arm bottom and the apparatus installation portion that operating platform bottom is arranged on by connection component；Connection component is made up of some upper connecting rods and some lower links, and upper connecting rod is movably arranged on operating platform, and is circled along the annulus of operating platform；Apparatus installation portion is arranged on the bottom of lower link by rotary joint, and operating theater instruments is installed in the bottom of apparatus installation portion.The diameter of operating platform is defined to 15 ~ 20mm in the present invention, belong to the scope of Minimally Invasive Surgery, the dimension limitation of apparatus installation portion and 360 ° of the axle center rotation that lower connecting rod can be surrounded, the position progress precise motion that human hand can not be reached can be reached by determining the operating theater instruments of apparatus installation portion and lower end, it can stablize in small space and accurately operate, realize and accurately avoid nerve and blood vessel, complete complex operations.
Description
Technical field
It is specifically a kind of to be used for semi-automatic or be automatically finished Following Orthopaedic Proceduress the present invention relates to a kind of Medical Devices
Robot system.
Background technology
With robot technology and the cross development of medical science, the Medical Robot of various uses is just in medical domain
Increasingly it is widely applied.Current medical robot is in neuro-surgery, cardiac repair, gall-bladder excising operation, people
Achieve and be widely applied and great progress in terms of work joint replacement, urological surgery.Robot is grasped by hand with doctor
Make strong compared to having great advantage, because the positioning of robot is more accurate, supporting ＆ stablizing in some aspects, can keep away
Exempt from the fatigue that shell doctor's prolonged operationses are brought, and the arm vibration that surgeon occurs in operative process, from
And improve precision, stability and the security of operation.
The operation such as usually need accurately to cut, be ground, fix in bone surgery, such operation is to precision, steady
The qualitative, free degree and operating force have higher requirement, and the general orthopaedics minimally invasive surgery generally implemented now, which possesses, to be subtracted
The advantages of minor operation wound, reduction are lost blood, shorten post-operative recovery time.But needed repeatedly in wound, surgical procedure to reduce
Roentgen radiation x is carried out, long-time, heavy dose of radiation cause the injury to operative doctor and patient.Particularly in spinal operation
In.Human spine anatomical structure is complicated, and surrounding spreads all in the vital tissues, including pedicle screw such as nerve, blood vessel, muscle admittedly
The precision and stability that exemplary backbone operation technique including fixed operation is operated to operative doctor propose very high requirement.
In traditional spinal surgery, doctor is typically only possible by the observation of oneself and assistant, to determine whether operating theater instruments places
In correct position, and in surgical procedure, doctor and its assistant need spiritual high concentration to ensure the behaviour of operating theater instruments
Make position and be in correct scope.And spinal operation relative time is longer, prolonged operation easily makes doctor feel fatigue, significantly
Add the risk of operation.
For it is above-mentioned the problem of, at present both at home and abroad all will research center of gravity be placed in the research of orthopedic robot, expect with machine
Tool arm is performed the operation instead of human hand, so as to reach more preferable surgical effect.Achieved from research from the point of view of current result certain
Effect.The robot of partial surgical can be carried out by having had business research to go out in the world, or even come into the volume production stage, for facing
Bed is used.But it is to be recognized that these orthopedic robots still have certain weak point at present.
More prominent shortcoming is：The operation that human hand can be replaced to carry out is very limited, and is substantially straight by doctor
The operation that operation can also be completed is connect, is only used for improving procedure efficiency.And if some operations that can not manually complete or
Person is difficult to complete operation, and such robot can not similarly substitute human hand and be performed the operation.In function also and in the case of imperfection,
Its cost is but very high, is difficult to be popularized in an all-round way which results in such robot.
Present orthopedic robot is mainly used in artificial hip joint replacing, the navigation and implantation of pedicle screw.And in vertebra
In terms of Microdiscectomy and fibrous ring suture, do not have the research and development of related robot at present and use.And extractd in fibrous ring
In operation, because fibrous ring is extractd and sutures operation, operating position is deeper, and operating space is narrow and small, and operational risk is larger, at present
All operated after surgery without suture, cause indolence, therapeutic effect is bad.Limited by operating environment, above-mentioned machine
Device people can not equally complete the suture operation after fibrous ring is extractd.
The content of the invention
Goal of the invention：Present invention aims in view of the shortcomings of the prior art there is provided one kind can in Minimally Invasive Surgery, it is narrow
Human hand is replaced to complete the mechanical arm of operation and the robot for orthopaedic surgery with the mechanical arm in small operating space.
Technical scheme：The mechanical arm of the present invention sutured for disc herniation Nuclectomy and fibrous ring, including rotation
Arm, the operating platform installed in the spiral arm bottom and the apparatus for being arranged on operating platform bottom by connection component are installed
Portion；The operating platform is 15 ~ 20mm of diameter circular ring structure, and the center rotating of operating platform is arranged on the spiral arm；Institute
Connection component is stated by some upper connecting rods being generally aligned in the same plane with the operating platform, and maximum quantity and the upper connecting rod number
Amount is consistent and is vertically mounted on some lower links of corresponding upper connecting rod one end end composition, and the other end of the upper connecting rod is lived
It is dynamic to be arranged on the operating platform, and circled along the annulus of the operating platform；The apparatus installs cross section
For circle, maximum gauge is 3 ~ 5mm, and the apparatus installation portion is arranged on the bottom of the lower link by rotary joint, along institute
The axle center for stating lower connecting rod rotates, and operating theater instruments is installed in the bottom of the apparatus installation portion.
Further preferably technical scheme is the present invention, and the apparatus installation portion is 3 ~ 5mm of diameter semiglobe, sphere
Downwards, the bottom of the lower link is provided with a ball, the apparatus installation portion and is provided with the sky matched with the ball
Chamber, the ball is placed in the apparatus installation portion, forms the rotary joint of the apparatus installation portion.
Preferably, the bottom of the apparatus installation portion is provided with slotted eye, and the top of the operating theater instruments is arranged in the slotted eye,
1 ~ 2mm of diameter of the slotted eye, depth is 2 ~ 4mm.
Preferably, the operating theater instruments include needle holder, nucleus pulposus clamp and blade wherein one or more；Each operation
Apparatus is fixed on the bottom of an apparatus installation portion.
Preferably, 8 ~ 10mm of the needle holder length, 2 ~ 5mm of width；The nucleus pulposus clamp length 8 ~ 20mm, 4 ~ 6mm of width；
8 ~ the 10mm of blade lengths, 2 ~ 6mm of width.
Preferably, the upper connecting rod and the lower link are expansion link, and the collapsing length of the upper connecting rod is 3 ~ 10mm；
The collapsing length of the lower link is 50 ~ 200 mm.
Preferably, the end of the upper connecting rod is provided with the top of a sleeve, the lower link and is inserted in the sleeve, institute
The internal diameter for stating sleeve is consistent with the diameter of the upper connecting rod, is 3 ~ 5mm.
Preferably, the operating platform is arranged on the spiral arm by rotary joint.
Preferably, the spiral arm is six axle spiral arms.
Orthopedic robot of the present invention, including above-mentioned mechanical arm and control system, the whole of the mechanical arm are moved
Make to control to complete by the control system.
Beneficial effect：（1）The diameter of operating platform is defined to 15 ~ 20mm in the present invention, belongs to the scope of Minimally Invasive Surgery, is
Realize that the small space in the range of Minimally Invasive Surgery applies art, set with operating platform supporting device, in use, passing through first
Spiral arm coarse adjustment, operating platform is covered in above surgical wound, and the upper connecting rod installed on the operational platform rotates along annulus, enters
Row is fine-tuned, it is ensured that the apparatus installation portion and surgery mechanical of lower section are accurately located at operative site, the size of apparatus installation portion
Limit and 360 ° of the axle center rotation of lower connecting rod can be surrounded, determining the operating theater instruments of apparatus installation portion and lower end can arrive
The position that intelligent's hand can not be reached carries out precise motion, can stablize in small space and accurately operate, realization is accurately kept away
Nerve and blood vessel are opened, complex operations are completed, by apparatus more changing device, fiber loop slit, Nuclectomy, fiber circumferential weld is completed
The sequence of operations such as conjunction；
（2）It can according to demand be changed in the present invention, increase and decrease apparatus installation portion and corresponding operating theater instruments, complete such as fiber ring cutting
Open, Nuclectomy, the sequence of operations such as fibrous ring suture, being performed the operation instead of human hand, or even complete many human hands to reach
Or the operation technique that can not be completed, tool has a broad prospect of the use；
（3）Upper connecting rod and lower link are expansion link, can by stretching the length change of pull bar, further accurate adjustment operating theater instruments
Position, realizes omnirange, the regulation of high-precision surgery location, site error<2mm, improves success rate of operation and surgical effect；
（4）Operating platform is arranged on the spiral arm by rotary joint, and operating platform can make 360 ° of rotations relative to spiral arm,
After spiral arm coarse adjustment in place, operating platform can be adjusted to itself posture, it is ensured that the device below operating platform smoothly enters
Inside wound.
Brief description of the drawings
Fig. 1 is the structural scheme of mechanism of mechanical arm described in the embodiment of the present invention；
Fig. 2 is partial enlarged drawing at Fig. 1 A；
Fig. 3 is the top view of operating platform described in the embodiment of the present invention；
Fig. 4 is the structural representation of apparatus installation portion described in the embodiment of the present invention；
Fig. 5 is the sectional view of apparatus installation portion described in the embodiment of the present invention；
In figure, the axle spiral arms of 1- six, 2- operating platforms, 3- connection components, 4- apparatuses installation portion, 5- needle holders, 31- upper connecting rods,
31a- sleeves, 32- lower links, 32a- balls, 41- slotted eyes.
Embodiment
Technical solution of the present invention is described in detail below by accompanying drawing, but protection scope of the present invention is not limited to
The embodiment.
Embodiment：A kind of mechanical arm sutured for disc herniation Nuclectomy and fibrous ring, is used for the mechanical arm
Exemplified by the fibrous ring suture operation for completing Minimally Invasive Surgery.Specifically include six axle spiral arms 1, operating platform 2, connection component 3, apparatus peace
Dress portion 4 and the needle holder 5 for realizing operation.
Operating platform 2 be 15 ~ 20mm of diameter circular ring structure, operating platform 2 centrally through rotary joint be arranged on six
The bottom of axle spiral arm 1.
Connection component 3 is in office by some upper connecting rods 31 being generally aligned in the same plane with operating platform, and two right angle settings
Some lower links 32 of one end end of two upper connecting rod of anticipating 31 are constituted.Upper connecting rod 31 and lower link 32 are expansion link, upper connecting rod 31
Collapsing length be 3 ~ 10mm；The collapsing length of lower link 32 is 50 ~ 200 mm.The end that upper connecting rod 31 is connected with lower link 32
A sleeve 31a is provided with, the top of lower link 32 is stretched into sleeve 31a, sleeve 31a internal diameter and the diameter one of upper connecting rod 32
Cause, be 3 ~ 5mm.The other end of upper connecting rod 31 is movably arranged on operating platform 2, and makees circumference along the annulus of operating platform 2
Motion.
Apparatus installation portion 4 is consistent with lower link 32 with the quantity of needle holder 5, and apparatus installation portion 4 is 3 ~ 5mm of diameter half chou
Structure, downwards, the bottom of lower link 32 is provided with a ball 32a, apparatus installation portion 4 is provided with the sky matched with ball to sphere
Chamber, ball 32a is placed in apparatus installation portion 4, forms the rotary joint of apparatus installation portion 4, and apparatus installation portion 4 is along lower connecting rod 32
Axle center rotate.
The bottom of apparatus installation portion 4 is provided with slotted eye 41, and the top of needle holder 5 is arranged in the slotted eye 41, slotted eye 41 it is straight
1 ~ 2mm of footpath, depth is 2 ~ 4mm.Needle holder 58 ~ 10mm of length, 2 ~ 5mm of width.Needle holder clamps sewing needle and suture, in wound
Mouth internal motion, imitates human hand suture action, and fibrous ring suture is carried out in narrow regions and is operated.
A kind of robot for orthopaedic surgery, including above-mentioned mechanical arm or mechanical arm and control that other operating theater instruments are installed
System processed, whole actions of whole parts of mechanical arm control to complete by the control system.
As described above, although the present invention has been represented and described with reference to specific preferred embodiment, it must not be explained
For to the limitation of itself of the invention., can be right under the premise of the spirit and scope of the present invention that appended claims are defined are not departed from
Various changes can be made in the form and details for it.
Claims (10)
1. a kind of mechanical arm sutured for disc herniation Nuclectomy and fibrous ring, it is characterised in that including spiral arm, install
The spiral arm bottom operating platform and by connection component be arranged on operating platform bottom apparatus installation portion；
The operating platform is 15 ~ 20mm of diameter circular ring structure, and the center rotating of operating platform is arranged on the spiral arm；Institute
Connection component is stated by some upper connecting rods being generally aligned in the same plane with the operating platform, and maximum quantity and the upper connecting rod number
Amount is consistent and is vertically mounted on some lower links of corresponding upper connecting rod one end end composition, and the other end of the upper connecting rod is lived
It is dynamic to be arranged on the operating platform, and circled along the annulus of the operating platform；The apparatus installs cross section
For circle, maximum gauge is 3 ~ 5mm, and the apparatus installation portion is arranged on the bottom of the lower link by rotary joint, along institute
The axle center for stating lower connecting rod rotates, and operating theater instruments is installed in the bottom of the apparatus installation portion.
2. the mechanical arm according to claim 1 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In, the apparatus installation portion is 3 ~ 5mm of diameter semiglobe, and downwards, the bottom of the lower link is provided with a ball to sphere,
The cavity matched with the ball is provided with the apparatus installation portion, the ball is placed in the apparatus installation portion, shape
Into the rotary joint of the apparatus installation portion.
3. the mechanical arm according to claim 2 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
Be provided with slotted eye in the bottom of, the apparatus installation portion, the top of the operating theater instruments is arranged in the slotted eye, the slotted eye it is straight
1 ~ 2mm of footpath, depth is 2 ~ 4mm.
4. the mechanical arm according to claim 3 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In, the operating theater instruments include needle holder, nucleus pulposus clamp and blade wherein one or more；Each operating theater instruments is fixed on one
The bottom of the individual apparatus installation portion.
5. the mechanical arm according to claim 4 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In the needle holder length 8 ~ 10mm, 2 ~ 5mm of width；The nucleus pulposus clamp length 8 ~ 20mm, 4 ~ 6mm of width；The blade lengths
8 ~ 10mm, 2 ~ 6mm of width.
6. the mechanical arm according to claim 1 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In the upper connecting rod and the lower link are expansion link, and the collapsing length of the upper connecting rod is 3 ~ 10mm；The lower link
Collapsing length is 50 ~ 200 mm.
7. the mechanical arm according to claim 6 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In the end of the upper connecting rod, which is provided with the top of a sleeve, the lower link, is inserted in the sleeve, the internal diameter of the sleeve
It is consistent with the diameter of the upper connecting rod, it is 3 ~ 5mm.
8. the mechanical arm according to claim 1 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In the operating platform is arranged on the spiral arm by rotary joint.
9. the mechanical arm according to claim 1 sutured for disc herniation Nuclectomy and fibrous ring, its feature exists
In the spiral arm is six axle spiral arms.
10. a kind of robot for orthopaedic surgery, including mechanical arm and control system described in claim 1 ~ 9 any one, described
Whole actions of mechanical arm control to complete by the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405110.XA CN107080587B (en) | 2017-05-31 | 2017-05-31 | Mechanical arm and robot for herniated disc nuclectomy and annular suture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405110.XA CN107080587B (en) | 2017-05-31 | 2017-05-31 | Mechanical arm and robot for herniated disc nuclectomy and annular suture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107080587A true CN107080587A (en) | 2017-08-22 |
| CN107080587B CN107080587B (en) | 2023-10-31 |
Family
ID=59607789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710405110.XA Active CN107080587B (en) | 2017-05-31 | 2017-05-31 | Mechanical arm and robot for herniated disc nuclectomy and annular suture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107080587B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175506A (en) * | 2017-12-25 | 2018-06-19 | 宁波杨古诚文化传播有限公司 | A kind of medical mechanism arm for assisting operation |
| CN111728654A (en) * | 2020-07-23 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| CN112674876A (en) * | 2020-12-23 | 2021-04-20 | 中国人民解放军总医院第六医学中心 | Operating arm for surgery, control method of operating arm and surgical robot |
| CN114533270A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | Be used for terminal end instrument of surgical robot to stretch out and draw back and rotation equipment |
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| US5766126A (en) * | 1995-09-08 | 1998-06-16 | Armstrong Healthcare Limited | Goniometric robotic arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175506A (en) * | 2017-12-25 | 2018-06-19 | 宁波杨古诚文化传播有限公司 | A kind of medical mechanism arm for assisting operation |
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| CN112674876A (en) * | 2020-12-23 | 2021-04-20 | 中国人民解放军总医院第六医学中心 | Operating arm for surgery, control method of operating arm and surgical robot |
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| CN114533270A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | Be used for terminal end instrument of surgical robot to stretch out and draw back and rotation equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107080587B (en) | 2023-10-31 |
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