CN108836485A - A kind of medical robot for pyramid plastic operation - Google Patents
A kind of medical robot for pyramid plastic operation Download PDFInfo
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- CN108836485A CN108836485A CN201810766879.9A CN201810766879A CN108836485A CN 108836485 A CN108836485 A CN 108836485A CN 201810766879 A CN201810766879 A CN 201810766879A CN 108836485 A CN108836485 A CN 108836485A
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- motor
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- medical robot
- plastic operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3472—Trocars; Puncturing needles for bones, e.g. intraosseus injections
-
- 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
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
- A61B17/8805—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it
- A61B17/8819—Equipment for handling bone cement or other fluid fillers for introducing fluid filler into bone or extracting it characterised by the introducer proximal part, e.g. cannula handle, or by parts which are inserted inside each other, e.g. stylet and cannula
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to technical field of medical equipment, are related to a kind of medical robot for pyramid plastic operation, the piercing mechanism including being installed on sixdegree-of-freedom simulation end, and the piercing mechanism includes translation mechanism, rotating mechanism and executing agency；The translation mechanism is mounted on the end of sixdegree-of-freedom simulation, carries out horizontal adjustment for the front-rear position to rotating mechanism and executing agency；The rotating mechanism is mounted on translation mechanism, for driving executing agency to be rotated；Described executing agency one end is detachably arranged on rotating mechanism, and centering pilot orifice plate of the other end on translation mechanism, the executing agency is used to carry out puncture procedure.The configuration of the present invention is simple, easy to operate, stability is good, and accuracy is high, can save operating time, reduces sufferer pain, and can reduce the labor intensity of medical staff, while medical staff's not raying being avoided to endanger, has very big market value, be worthy of popularization.
Description
Technical field
The invention belongs to technical field of medical equipment, and in particular to a kind of medical robot for pyramid plastic operation.
Background technique
China has stepped into aging society, and the aged is numerous, and display has sufferers of osteoporosis face about 6 at present according to investigations,
9440000, it is very universal, there is researcher to carry out bone to women of 8142 ages of 6, Beijing etc. area between 20-89 years old close
Degree measurement, wherein the disease incidence of the osteoporosis of 50-59 years old backbone or femur is 15.5%.With Chinese aging and advanced age
The size of population of change increasingly increases, and the patient populations of osteoporosis and its compression fracture of vertabral body caused can also increase year by year therewith
It is long.
When osteoporosis, since patient's bone amount content is low, patient centrum can compress in the case where slightly or without violence acting on
Property fracture, i.e. referred to as osteoporotic vertebral fracture.Compression fracture of vertabral body can lead to centrum kyphosis deformity or chronic
Backache afterwards will lead to the dysfunction of digestion and respiratory system, most with strong feeling of pain, or even can be due to pressuring nerve
Lead to paralysis, lose self-care ability, seriously affect the quality of life of patient, is the most commonly seen and serious of osteoporosis initiation
One of complication.Vertebroplasty has become most common Minimally Interventional Therapy method in recent years.
Vertebroplasty is a kind of under the monitoring guidance of x-ray closed-circuit television, and pedicle, which punctures, reaches lesion centrum, to
Bone cement is perfused in centrum, the medical technology of sutura and gap is filled by bone cement streamer, the work of firm centrum can be played
With, alleviate or eliminate pain, ct fluoroscopy is needed during operation to observe patient to determine puncture position and angle, and during CT
Medical staff be permanently connected to radiation, although wearing vest if things go on like this can still influence body, and period is more
Secondary replacement syringe needle, work step is many and diverse, and working strength is high.
Summary of the invention
The purpose of the present invention is to solve shortcomings and deficiencies existing in the prior art, and medical care can be assisted by providing one kind
Personnel carry out the medical robot of vertebral plasty puncturing operation, medical staff's not raying can be protected to endanger, and subtract significantly
The light working strength of medical staff.
To achieve the above object, the technical scheme adopted by the invention is that：A kind of therapeutic machine for pyramid plastic operation
Device people, the piercing mechanism including being installed on sixdegree-of-freedom simulation end, the piercing mechanism include translation mechanism, rotating mechanism
And executing agency；
The translation mechanism is mounted on the end of sixdegree-of-freedom simulation, for the front and back to rotating mechanism and executing agency
Position carries out horizontal adjustment；
The rotating mechanism is mounted on translation mechanism, for driving executing agency to be rotated；
Described executing agency one end is detachably arranged on rotating mechanism, and centering of the other end on translation mechanism is led
To orifice plate, the executing agency is used to carry out puncture procedure.
Preferably, the translation mechanism includes uniaxial driver and first motor, and the screw rod of the single shaft driver passes through
First shaft coupling is connect with first motor.
Preferably, the uniaxial driver is fixed on the end of sixdegree-of-freedom simulation by " L " type connector, and described the
One motor is mounted on sixdegree-of-freedom simulation by the first fixing seat.
Preferably, the rotating mechanism includes the second motor and fixture, and the connecting shaft of the fixture passes through second shaft coupling
It is connect with the second motor, second motor is mounted on the connecting plate of uniaxial driver screw rod by the second fixing seat, described
Connecting plate can move forward and backward under the driving of first motor.
Preferably, the executing agency includes syringe needle and needle tubing, and the syringe needle and needle tubing are clamped in fixture, and needle
The connecting shaft of head, needle tubing and fixture is arranged concentrically.
Preferably, the centering pilot orifice plate is equipped with protrusion stepped hole, and the stepped hole is arranged concentrically with needle tubing.
Preferably, the centering pilot orifice plate is vertically set on the one end of uniaxial driver far from first motor.
Preferably, the first motor and the second motor are arranged in parallel, and described uniaxial driver is parallel with executing agency sets
It sets.
After adopting the above technical scheme, a kind of medical robot for pyramid plastic operation provided by the invention have with
Lower beneficial effect：
Technical solution of the present invention can replace medical staff and carry out puncture hand compared with existing bone cement injection device
Art reduces subjective error in operation probability, only needs doctor to replace injection needle during puncturing operation, and is not required in replacement process
Ct fluoroscopy is carried out, the irradiation accumulation of medical staff in the course of surgery is reduced, improves the surgical procedure environment of medical staff,
It ensures the health of medical staff, and significantly reduces the working strength of medical staff；Using sixdegree-of-freedom simulation structure energy
The adjustment height and angle of enough freedom and flexibility, occupied area is small, flexible to operation；Using motor driven, there is preferably essence
Degree and accuracy improve surgical quality and success rate, data observation and the record being also convenient in surgical procedure；The same position is flat
Replacement syringe needle is moved to save operating time, reduce the pain of sufferer personnel, improve procedure efficiency without adjusting again, and
Bone cement perfusion effect is more preferable.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the medical robot for pyramid plastic operation of the present invention；
Fig. 2 is piercing mechanism magnified partial view of the present invention；
Fig. 3 is a kind of perspective view of the medical robot for pyramid plastic operation of the present invention.
Wherein：Uniaxial driver 1, " L " type connector 2, sixdegree-of-freedom simulation 3, the first fixing seat 4, first motor 5,
Second fixing seat 6, the second motor 7, second shaft coupling 8, fixture 9, centering pilot orifice plate 10, needle tubing 11, syringe needle 12.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should broadly understood, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figure 1-3, a kind of medical robot for pyramid plastic operation of the present invention, including it is installed on six degree of freedom
The piercing mechanism of 3 end of mechanical arm, piercing mechanism can be acted freely by sixdegree-of-freedom simulation 3 to determine suitable puncture
Angles and positions, piercing mechanism include translation mechanism, rotating mechanism and executing agency；
Translation mechanism includes uniaxial driver 1 and first motor 5, and uniaxial driver 1 is fixed on by " L " type connector 2
The end of sixdegree-of-freedom simulation 3 is all made of spiral shell between " L " type connector 2 and uniaxial driver 1 and sixdegree-of-freedom simulation 3
It tethers and connects, stability is high, and the right angle of " L " type connector 2 is additionally provided with reinforcing rib to enhance bonding strength, first motor 5
It is mounted on sixdegree-of-freedom simulation 3 by the first fixing seat 4, the screw rod of uniaxial driver 1 passes through first shaft coupling and first
Motor 5 connects；
Rotating mechanism includes the second motor 7 and fixture 9, and the second motor 7 is mounted on uniaxial driver by the second fixing seat 6
On the connecting plate of 1 screw rod, connecting plate can move forward and backward under the driving of first motor 5, to transport before and after driving the second motor 7
Dynamic, the connecting shaft of fixture 9 is connect by second shaft coupling 8 with the second motor 7, therefore rotating mechanism can be in first motor 5
While moving forward and backward under effect, fixture 9 can rotate under the driving of the second motor 7；
Executing agency includes syringe needle 12 and needle tubing 11, and syringe needle 12 and needle tubing 11 are clamped in fixture 9 that (fixture 9 can clamp
The needle tubing and syringe needle of a variety of different models), and the connecting shaft of syringe needle 12, needle tubing 11 and fixture 9 is arranged concentrically, it is ensured that
Syringe needle 12 and needle tubing 11 can while rotation under the driving of the second motor 7 with the concentric rotation of the second motor 7, fixture 9
To drive executing agency to rotate, therefore executing agency can be in the second electricity while can translate under the driving of first motor 5
It is rotated under the action of machine 7；
Syringe needle 12 and 11 one end of needle tubing are clamped in fixture 9, and the other end, which runs through, is vertically set on uniaxial 1 end of driver
Protrusion stepped hole on the centering pilot orifice plate 10 of (one end i.e. far from first motor 5), and syringe needle 12 and needle tubing 11 and protrusion
Stepped hole is arranged concentrically, and can be extended intensification protrusion stepped hole, can be played positioning and guiding role well.
First motor 5 and the second motor 7 are arranged in parallel, and uniaxial driver 1 is arranged in parallel with executing agency.
A kind of medical robot for pyramid plastic operation of the present invention in use, first step medical staff first by needle tubing
11 and syringe needle 12 through centering pilot orifice plate 10 and being installed in fixture 9, pass through the flexibly free adjustment of sixdegree-of-freedom simulation 3
Height and angle determine fixed, starting first motor 5 after suitable puncture position, single under the driving of first motor 5
Connecting plate on 1 screw rod of axis driver drives the linear movement of the second motor 7, so that needle tubing 11 and syringe needle 12 be driven to carry out straight line essence
Standard punctures, and needle tubing 11 and syringe needle 12 are inserted into clamping of the release fixture 9 to needle tubing 11 after patient body, and reversion first motor 5 makes
Connecting plate on uniaxial 1 lead screw of driver drives the second motor 7 to return to initial position, and needle tubing 11 is separated with syringe needle 12, needle tubing 11
It stays in patient body, syringe needle 12 stops first motor 5 after returning to initial position with the second motor 7 and fixture 9；Then start
The operation of two steps, medical staff replace syringe needle 12, and the syringe needle changed has reamer, carry out second of 5 He of puncture procedure first motor
Second motor 7 starts together, and the rotation of reamer syringe needle is driven to penetrate bone, and release of needle special fixture 9 separates reamer syringe needle,
Uniaxial driver 1 drives rotating mechanism to keep in the center, and medical staff is inserted into balloon catheter for expanding vertebra by needle tubing 11, expands ball
Nang Shi bone inner tissue vacating space is to inject bone cement, and last third time operates, and medical staff replaces bone cement injection needle head, uses
Fixture 9 clamps, and starts first motor 5, and bone cement is pushed by bone cement injection needle head.
A kind of medical robot for pyramid plastic operation provided by the invention compared with existing bone cement injection device,
It can replace medical staff and carry out puncturing operation, reduce subjective error in operation probability, only need doctor to replace note during puncturing operation
Syringe needle is penetrated, and does not need to carry out ct fluoroscopy in replacement process, reduces the irradiation accumulation of medical staff in the course of surgery,
The surgical procedure environment for improving medical staff, ensures the health of medical staff, and the work for significantly reducing medical staff is strong
Degree；It is capable of the adjustment height and angle of freedom and flexibility using sixdegree-of-freedom simulation structure, occupied area is small, easy to operate spirit
It is living；Using motor driven, there is better precision and accuracy, improve surgical quality and success rate, be also convenient in surgical procedure
Data observation and record；The same position translation replacement syringe needle saves operating time, reduces disease without adjusting again
The pain for suffering from personnel improves procedure efficiency, and bone cement perfusion effect is more preferable.
In conclusion the configuration of the present invention is simple, easy to operate, stability is good, and accuracy is high, can save operating time,
Sufferer pain is reduced, and the labor intensity of medical staff can be reduced, while medical staff's not raying being avoided to endanger, is had very big
Market value, be worthy of popularization.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of medical robot for pyramid plastic operation, the puncture including being installed on sixdegree-of-freedom simulation (3) end
Mechanism, it is characterised in that：The piercing mechanism includes translation mechanism, rotating mechanism and executing agency；
The translation mechanism is mounted on the end of sixdegree-of-freedom simulation (3), for the front and back to rotating mechanism and executing agency
Position carries out horizontal adjustment；
The rotating mechanism is mounted on translation mechanism, for driving executing agency to be rotated；
Described executing agency one end is detachably arranged on rotating mechanism, centering pilot hole of the other end on translation mechanism
Plate (10), the executing agency are used to carry out puncture procedure.
2. a kind of medical robot for pyramid plastic operation according to claim 1, it is characterised in that：The translation
Mechanism includes uniaxial driver (1) and first motor (5), and the screw rod of the single shaft driver (1) passes through first shaft coupling and the
One motor (5) connection.
3. a kind of medical robot for pyramid plastic operation according to claim 2, it is characterised in that：The single shaft
Driver (1) is fixed on the end of sixdegree-of-freedom simulation (3) by " L " type connector (2), and the first motor (5) passes through
First fixing seat (4) is mounted on sixdegree-of-freedom simulation (3).
4. a kind of medical robot for pyramid plastic operation according to claim 2, it is characterised in that：The rotation
Mechanism includes the second motor (7) and fixture (9), and the connecting shaft of the fixture (9) passes through second shaft coupling (8) and the second motor
(7) it connects, second motor (7) is mounted on the connecting plate of uniaxial driver (1) screw rod by the second fixing seat (6), institute
Stating connecting plate can move forward and backward under the driving of first motor (5).
5. a kind of medical robot for pyramid plastic operation according to claim 4, it is characterised in that：The execution
Mechanism includes syringe needle (12) and needle tubing (11), and the syringe needle (12) and needle tubing (11) are clamped in fixture (9), and syringe needle
(12), the connecting shaft of needle tubing (11) and fixture (9) is arranged concentrically.
6. a kind of medical robot for pyramid plastic operation according to claim 5, it is characterised in that：The centering
Guide hole plate (10) is equipped with protrusion stepped hole, and the stepped hole is arranged concentrically with needle tubing (11).
7. a kind of medical robot for pyramid plastic operation according to claim 5, it is characterised in that：The centering
Guide hole plate (10) is vertically set on the one end of uniaxial driver (1) far from first motor (5).
8. a kind of medical robot for pyramid plastic operation according to claim 2, it is characterised in that：Described first
Motor (5) and the second motor (7) are arranged in parallel, and the single shaft driver (1) is arranged in parallel with executing agency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810766879.9A CN108836485A (en) | 2018-07-13 | 2018-07-13 | A kind of medical robot for pyramid plastic operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810766879.9A CN108836485A (en) | 2018-07-13 | 2018-07-13 | A kind of medical robot for pyramid plastic operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108836485A true CN108836485A (en) | 2018-11-20 |
Family
ID=64197214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810766879.9A Pending CN108836485A (en) | 2018-07-13 | 2018-07-13 | A kind of medical robot for pyramid plastic operation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974163A (en) * | 2019-12-05 | 2020-04-10 | 中国人民解放军总医院 | Multi-sensing information fusion control system and control method for oral medical imaging robot |
| CN111839707A (en) * | 2020-06-30 | 2020-10-30 | 陈丹华 | Bone cement propeller of vertebroplasty system |
| CN113081263A (en) * | 2019-12-23 | 2021-07-09 | 武汉联影智融医疗科技有限公司 | Intervene puncture system and have its diagnosis and treatment equipment |
| CN114469286A (en) * | 2022-04-02 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
| CN114795411A (en) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | Flexible needle puncture mechanism with slotting support |
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| US20150100066A1 (en) * | 2013-10-04 | 2015-04-09 | KB Medical SA | Apparatus, systems, and methods for precise guidance of surgical tools |
| CN105411653A (en) * | 2015-12-18 | 2016-03-23 | 深圳先进技术研究院 | Vertical moving puncture robot |
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| US20180110573A1 (en) * | 2016-10-21 | 2018-04-26 | Kb Medical, Sa | Robotic surgical systems |
| CN207384308U (en) * | 2017-02-28 | 2018-05-22 | 王兆红 | For the puncture cannula device of spinal vertebral operation |
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| CN102670288A (en) * | 2012-06-05 | 2012-09-19 | 叶立民 | Full vertebral body multiple-point bone cement injection needle |
| US20150100066A1 (en) * | 2013-10-04 | 2015-04-09 | KB Medical SA | Apparatus, systems, and methods for precise guidance of surgical tools |
| CN105411653A (en) * | 2015-12-18 | 2016-03-23 | 深圳先进技术研究院 | Vertical moving puncture robot |
| US20180110573A1 (en) * | 2016-10-21 | 2018-04-26 | Kb Medical, Sa | Robotic surgical systems |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974163A (en) * | 2019-12-05 | 2020-04-10 | 中国人民解放军总医院 | Multi-sensing information fusion control system and control method for oral medical imaging robot |
| CN113081263A (en) * | 2019-12-23 | 2021-07-09 | 武汉联影智融医疗科技有限公司 | Intervene puncture system and have its diagnosis and treatment equipment |
| CN111839707A (en) * | 2020-06-30 | 2020-10-30 | 陈丹华 | Bone cement propeller of vertebroplasty system |
| CN111839707B (en) * | 2020-06-30 | 2021-07-20 | 陈丹华 | Bone cement propeller of vertebroplasty system |
| CN114469286A (en) * | 2022-04-02 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
| CN114469286B (en) * | 2022-04-02 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
| CN114795411A (en) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | Flexible needle puncture mechanism with slotting support |
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