CN108309396A - Ankle fusion operation fixing glue hammers into drive system - Google Patents
Ankle fusion operation fixing glue hammers into drive system Download PDFInfo
- Publication number
- CN108309396A CN108309396A CN201810168606.4A CN201810168606A CN108309396A CN 108309396 A CN108309396 A CN 108309396A CN 201810168606 A CN201810168606 A CN 201810168606A CN 108309396 A CN108309396 A CN 108309396A
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- Prior art keywords
- fixed
- bone drill
- arm
- seat
- holder
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- 239000003292 glue Substances 0.000 title claims abstract description 19
- 230000004927 fusion Effects 0.000 title claims abstract description 16
- 210000003423 ankle Anatomy 0.000 title claims abstract description 15
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 50
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 3
- -1 fulcrum bearing Chemical compound 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- 238000005553 drilling Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 208000002193 Pain Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 206010003246 arthritis Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010039073 rheumatoid arthritis Diseases 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000027502 Ankle fracture Diseases 0.000 description 1
- 208000006820 Arthralgia Diseases 0.000 description 1
- 206010053555 Arthritis bacterial Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 229910000677 High-carbon steel Inorganic materials 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000000474 Poliomyelitis Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 208000025255 bacterial arthritis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000011443 conventional therapy Methods 0.000 description 1
- 230000005786 degenerative changes Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 201000001119 neuropathy Diseases 0.000 description 1
- 230000007823 neuropathy Effects 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 208000033808 peripheral neuropathy Diseases 0.000 description 1
- 102220060547 rs786203080 Human genes 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 208000018320 severe joint pain Diseases 0.000 description 1
- 230000036301 sexual development Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000004233 talus 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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1682—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the foot or ankle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/171—Guides or aligning means for drills, mills, pins or wires for external fixation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1775—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the foot or ankle
-
- 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
- A61B2017/564—Methods for bone or joint treatment
Abstract
The invention discloses a kind of ankle fusion operation fixing glues to hammer into drive system, belongs to the field of medical instrument technology, including：Holder, with multiple degrees of freedom, in cartesian coordinate system, the at least one-movement-freedom-degree with Y direction, the rotary freedom of XOZ planes and YOZ planes, bone drill, it is fixed on the holder, be slidably matched seat, it is arranged between bone drill and holder, including fixed seat and sliding seat, fixed seat is fixed on cradle top, sliding seat is fixed on bone drill bottom, the T-type sliding slot parallel with bone drill axis direction is provided in fixed seat, the T-type draw runner being slidably matched with T-type sliding slot is provided on sliding seat, guide holder, including the left guide holder for being symmetricly set on bone drill axial direction both sides and right guide holder.The present invention is by being fixed on bone drill with the adjusting on multivariant holder, making bone drill that can carry out more spatial positions, to adapt to different fixed-directions, improves and calculates the matching level in path, and then improve and hammer into quality.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to and it is a kind of for treating bone or the device in joint, especially relate to
And a kind of driving fixing glue enters the system of ankle-joint.
Background technology
Ankle fusion is a kind of operation for merging ankle-joint bony structure, can be so as to mitigating pain, terminating
Lesion provides stability of joint.Main indication：Caused by the degenerative changes such as fracture of ankle joint or rheumatoid arthritis
Secondary pain, ankle-joint malalignment related with arthritis progress sexual development cannot improve function through conventional therapy and alleviate
Pain, it is required to consider to be treated by joint fusion.Including：1. tight caused by ankle joint wound arthritis
Weight joint function disturbance, or obstinate arthralgia；2. the severe joint pain that Tuberculous or pyogenic arthritis later stage are left；
3. causing Muscle paralysis due to neuropathy or damage, cause joint seriously unstable, including sequela of poliomyelitis, it is serious
Periphery or central nervous system injury etc.；4. congenital or acquired deformity；5. serious rheumatoid or osteoarthritis；6. artificial ankle joint is set
Change art failure；7. ankle-joint tumour, infection；8. diaz disease.In ankle fusion operation, it usually needs with 2~3
Tibiofibula lower end, medial and lateral malleolus and body of talus are merged in piece fixing glue and fixed, to strengthen and SACHfoot adaptor.The prior art is fixed
Manual operation is usually taken when fixed in nail, and fixing glue is hammered into joint by electric drill.However it manually holds electric drill and there is shakiness
Situation makes travel path and calculates path there are deviation and then influence the line of force, simultaneously, it is also possible to expand the wound to bone or joint
Evil.
The prior art, which also has, takes manipulator to be fixed, but since manipulator is to realize multiple degrees of freedom, each group
It is mostly attached by turning joint between conjunction section, rigidity is relatively poor, and fixing glue is hammered into bone or joint, needs larger
Active force and torque, when operation, inevitably there is unstable situation in manipulator, and calculates path and still have deviation, Jin Erying
Ring the reliability of operation.
Therefore, it is necessary to research and develop a kind of drive system that fixing glue hammers into, fixing glue can reliably be gripped,
Stable driving force is provided, and provides help for the reliability of operation with calculating route matching completely.
Invention content
In view of this, the purpose of the present invention is to provide a kind of ankle fusion operation fixing glues to hammer into drive system.
The purpose of the present invention is realized by following scheme：
Ankle fusion operation fixing glue hammers into drive system, including：
Holder has multiple degrees of freedom, in cartesian coordinate system, with the one-movement-freedom-degree of Y direction, XOZ planes and
The rotary freedom of YOZ planes,
Holder includes Z-direction arm, X to arm and Y-direction telescoping cylinder, and X is fixed on the top of Z-direction arm, the Y-direction to arm by flexural pivot
Telescoping cylinder is fixed on distal ends of the X to arm by electric rotating machine, and the fixed seat is fixed on the proximal end of Y-direction telescoping cylinder by flexural pivot,
The Z-direction arm and X are provided with YOZ planes to XOZ Plane Rotation cylinders are arranged between arm between the Y-direction telescoping cylinder and fixed seat
Rotating cylinder,
Bone drill is fixed on the holder,
Be slidably matched seat, is arranged between bone drill and holder, including fixed seat and sliding seat, fixed seat are fixed on top of support
Portion, sliding seat are fixed on bone drill bottom, and the T-type sliding slot parallel with bone drill axis direction is provided in fixed seat, is set on sliding seat
It is equipped with the T-type draw runner being slidably matched with T-type sliding slot,
Guide holder, including it is symmetricly set on the left guide holder of bone drill axial direction both sides and right guide holder, the left pedestal and the right side
Pedestal is including fulcrum bearing, the adjusting for being oriented to semicircle set and both adjustable distance being arranged between fulcrum bearing and guiding semicircle cover
Mechanism.
Further, further include the driving cylinder that traveling driving can be carried out to bone drill, the cylinder seat of the driving cylinder is fixed on fixation
On seat, piston end is fixed on bone drill.
Further, the regulating mechanism is electric pushrod or oil cylinder or cylinder.
Further, the XOZ Plane Rotations cylinder and X are to being provided with sliding block I, the one side and XOZ of the sliding block I between arm
Plane Rotation cylinder is rotatably connected, and another side is slidably connected with X to arm.
Further, be provided with sliding block II between the YOZ Plane Rotations cylinder and fixed seat, the one side of the sliding block with
YOZ Plane Rotation cylinders are rotatably connected, and another side is slidably connected with fixed seat.
Further, the Z-direction arm and X to arm be telescopic arm.
Further, the guiding semicircle set is made of hardenable material.
The beneficial effects of the present invention are：
The present invention is by being fixed on bone drill with the tune on multivariant holder, making bone drill that can carry out more spatial positions
Section improves to adapt to different fixed-directions and calculates the matching level in path, and then improve and hammer into quality；Matched by sliding
Closing seat can make bone drill motion path reliable and stable, improve kinematic accuracy；The front end of bone drill bar is fixed by guide holder, and is oriented to
It is correctly oriented, the accuracy of motion path can be improved, meanwhile, it can also enhance the overall stiffness of bone drill, reduce the amount of deflection of bone drill,
The matching level for further increasing and calculating path.
Other advantages, target and the feature of the present invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.The target and other advantages of the present invention can by following specification realizing and
It obtains.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is the schematic three dimensional views of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the vertical view of Fig. 2；
Fig. 4 is the right view of Fig. 2；
Fig. 5 is the upward view of Fig. 2.
Reference numeral：
1- holders；2- bone drills；3- is slidably matched seat；4- guide holders；5-Z is to arm；6-X is to arm；7-Y is to telescoping cylinder；8- is solid
Reservation；9- sliding seats；10- electric rotating machines；11-T type sliding slots；12-T type draw runners；13- fulcrum bearings；14- is oriented to semicircle set；15- tune
Save mechanism；16- driving cylinders；17- sliding blocks I；18- sliding blocks II；19-XOZ Plane Rotation cylinders；20-YOZ Plane Rotation cylinders.
Specific implementation mode
Below in conjunction with attached drawing, the preferred embodiment of the present invention is described in detail.
As shown in Figures 1 to 5, it is that ankle fusion of the present invention operation fixing glue hammers into drive system, including holder 1, bone
Bore 2, be slidably matched seat 3 and guide holder 4, in cartesian coordinate system, holder includes Z-direction arm 5, X to arm 6 and Y-direction telescoping cylinder 7,
The seat that is slidably matched is arranged between bone drill and holder comprising fixed seat 8 and sliding seat 9, X are fixed on Z-direction to arm by flexural pivot
The top of arm, Y-direction telescoping cylinder are fixed on distal ends of the X to arm by electric rotating machine 10, make Y-direction telescoping cylinder that can make to arm relative to X
Rotary motion, fixed seat are fixed on the proximal end of Y-direction telescoping cylinder, Z-direction arm and X by flexural pivot to setting XOZ Plane Rotations between arm
Cylinder 19 is provided with YOZ Plane Rotations cylinder 20 between Y-direction telescoping cylinder and fixed seat, thus, holder has the movement of Y direction certainly
By degree, the rotary freedom of XOZ planes and YOZ planes, bone drill is fixed on the holder, thus bone drill is made also to have Y direction
One-movement-freedom-degree, XOZ planes and YOZ planes rotary freedom, the adjusting of more spatial positions is carried out, to adapt to different consolidate
Determine direction；Fixed seat is fixed on cradle top, and sliding seat is fixed on bone drill bottom, is provided in fixed seat and bone drill axis direction
Parallel T-type sliding slot 11 is provided with the T-type draw runner 12 being slidably matched with T-type sliding slot on sliding seat, passes through T-type draw runner and is slided with T-type
Slot is slidably matched, and keeps bone drill motion path reliable and stable；Guide holder includes the left guiding for being symmetricly set on bone drill axial direction both sides
Seat and right guide holder, left pedestal and right pedestal include fulcrum bearing 13, guiding semicircle set 14 and setting in fulcrum bearing and are oriented to partly
Regulating mechanism 15 between circle set, regulating mechanism can be electric pushrod, can also be the prior arts such as oil cylinder, and the present embodiment is
Electric pushrod adjusts two and is oriented to the distance between semicircle set, make its diameter with drilling rod by the impetus of electric pushrod
Match, drilling rod is formed and is oriented to, when working due to drilling rod, there is rotary freedom, therefore, to prevent to being oriented to semicircle set
The guiding semicircle set of abrasion, the present embodiment is made of hardenable material, such as various high-carbon steel, mould steel, specific such as T10A,
Its wearability can be improved in Cr12MoV, to improve its service life.
Above-mentioned guide holder takes the benefit of two composite structures for being oriented to semicircle set to also reside in：It can be oriented to semicircle by two
It covers completely separable, makes drilling rod end without interferingly close to human body, no longer carrying out needing the behaviour that blocks since end protrudes from human body
Make, conducive to simplifying procedures, improves procedure efficiency.
The present embodiment is by being fixed on bone drill on multivariant holder, making bone drill that can carry out more spatial positions
It adjusts, to adapt to different fixed-directions, improves and calculate the matching level in path, and then improve and hammer into quality；Pass through sliding
Matching seat can make bone drill motion path reliable and stable, improve kinematic accuracy；The front end of bone drill bar is fixed by guide holder, and is led
To being correctly oriented, the accuracy of motion path can be improved, meanwhile, it can also enhance the overall stiffness of bone drill, reduce scratching for bone drill
Degree further increases horizontal with the matching in calculating path.
Further include driving cylinder 16 as the improvement of the present embodiment, the cylinder seat of driving cylinder is fixed in fixed seat, and piston end is solid
Be scheduled on bone drill, driving cylinder drives bone drill to be moved by certain speed, make the traveling of bone drill at the uniform velocity, stablize, avoid excessive velocities pair
Drilling rod causes to damage, and also avoids influencing procedure efficiency slowly.
As the improvement of the present embodiment, XOZ Plane Rotations cylinder and X are to being provided with sliding block I 17 between arm, and the one of sliding block I
Side is rotatably connected with XOZ Plane Rotation cylinders by flexural pivot, and another side forms sliding by guide sliding structure to arm with X and connects
It connects, the structures such as guide sliding structure such as sliding block and slideway.
Equally, sliding block II 18, one side and the YOZ planes of sliding block II are provided between YOZ Plane Rotations cylinder and fixed seat
Rotating cylinder is rotatably connected also by flexural pivot, and another side is slidably connected with the formation of fixed seat guide sliding structure.
To further increase the degree of freedom of bone drill, Z-direction arm and X are set as telescopic arm to arm, bone drill are made to have by the present embodiment
Have Z-direction and X to one-movement-freedom-degree, can spatially carry out the extension of respective range, regulating power is further enhanced.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (7)
1. ankle fusion operation fixing glue hammers into drive system, it is characterised in that：Including：
Holder has multiple degrees of freedom, in cartesian coordinate system, at least with the one-movement-freedom-degree of Y direction, XOZ planes and
The rotary freedom of YOZ planes,
Holder includes Z-direction arm, X to arm and Y-direction telescoping cylinder, and X is fixed on the top of Z-direction arm to arm by flexural pivot, and the Y-direction is flexible
Cylinder is fixed on distal ends of the X to arm by electric rotating machine, and the fixed seat is fixed on the proximal end of Y-direction telescoping cylinder, the Z by flexural pivot
To arm and X to XOZ Plane Rotation cylinders are arranged between arm, YOZ Plane Rotations are provided between the Y-direction telescoping cylinder and fixed seat
Cylinder.
Bone drill is fixed on the holder,
Be slidably matched seat, is arranged between bone drill and holder, including fixed seat and sliding seat, fixed seat are fixed on cradle top,
Sliding seat is fixed on bone drill bottom, and the T-type sliding slot parallel with bone drill axis direction is provided in fixed seat, is provided on sliding seat
The T-type draw runner being slidably matched with T-type sliding slot,
Guide holder, including it is symmetricly set on the left guide holder of bone drill axial direction both sides and right guide holder, the left pedestal and right pedestal
Including fulcrum bearing, the adjusting machine for being oriented to semicircle set and both adjustable distance being arranged between fulcrum bearing and guiding semicircle cover
Structure.
2. ankle fusion operation fixing glue hammers into drive system according to claim 1, it is characterised in that：Further including can be right
Bone drill carries out the driving cylinder of traveling driving, and the cylinder seat of the driving cylinder is fixed in fixed seat, and piston end is fixed on bone drill.
3. ankle fusion operation fixing glue hammers into drive system according to claim 1, it is characterised in that：The adjusting machine
Structure is electric pushrod or oil cylinder or cylinder.
4. ankle fusion operation fixing glue hammers into drive system according to claim 1, it is characterised in that：The XOZ is flat
Face rotating cylinder and X are rotatably connected to the one side for being provided with sliding block I, the sliding block I between arm with XOZ Plane Rotation cylinders, separately
One side is slidably connected with X to arm.
5. ankle fusion operation fixing glue hammers into drive system according to claim 1, it is characterised in that：The YOZ is flat
Sliding block II is provided between face rotating cylinder and fixed seat, one side and the YOZ Plane Rotation cylinders of the sliding block are rotatably connected, separately
One side is slidably connected with fixed seat.
6. ankle fusion operation fixing glue hammers into drive system according to claim 1, it is characterised in that：The Z-direction arm
With X to arm be telescopic arm.
7. ankle fusion operation fixing glue hammers into drive system according to claim 1, it is characterised in that：It is described to be oriented to half
Circle set is made of hardenable material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810168606.4A CN108309396A (en) | 2018-02-28 | 2018-02-28 | Ankle fusion operation fixing glue hammers into drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810168606.4A CN108309396A (en) | 2018-02-28 | 2018-02-28 | Ankle fusion operation fixing glue hammers into drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108309396A true CN108309396A (en) | 2018-07-24 |
Family
ID=62900011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810168606.4A Pending CN108309396A (en) | 2018-02-28 | 2018-02-28 | Ankle fusion operation fixing glue hammers into drive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108309396A (en) |
Cited By (4)
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| CN111991071A (en) * | 2020-08-26 | 2020-11-27 | 中国科学院大学宁波华美医院 | Hollow nail guider of thighbone neck |
| CN112022354A (en) * | 2020-09-25 | 2020-12-04 | 重庆知遨科技有限公司 | Polar coordinates paediatrics operation robot surgical instruments locating component |
| CN112022353A (en) * | 2020-09-25 | 2020-12-04 | 重庆知遨科技有限公司 | Surgical robot surgical instrument positioning assembly |
| CN112704553A (en) * | 2020-12-24 | 2021-04-27 | 洛阳市中心医院（郑州大学附属洛阳中心医院） | Nail locking device with positioning function for orthopedics department |
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| CN112022354A (en) * | 2020-09-25 | 2020-12-04 | 重庆知遨科技有限公司 | Polar coordinates paediatrics operation robot surgical instruments locating component |
| CN112022353A (en) * | 2020-09-25 | 2020-12-04 | 重庆知遨科技有限公司 | Surgical robot surgical instrument positioning assembly |
| CN112022354B (en) * | 2020-09-25 | 2022-02-01 | 青岛市妇女儿童医院 | Polar coordinates paediatrics operation robot surgical instruments locating component |
| CN112022353B (en) * | 2020-09-25 | 2022-03-01 | 周少华 | Surgical robot surgical instrument positioning assembly |
| CN112704553A (en) * | 2020-12-24 | 2021-04-27 | 洛阳市中心医院（郑州大学附属洛阳中心医院） | Nail locking device with positioning function for orthopedics department |
| CN112704553B (en) * | 2020-12-24 | 2022-03-01 | 洛阳市中心医院（郑州大学附属洛阳中心医院） | Nail locking device with positioning function for orthopedics department |
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