CN109745096A - A kind of clamping device and spinal lamina are ground operation device - Google Patents
A kind of clamping device and spinal lamina are ground operation device Download PDFInfo
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- CN109745096A CN109745096A CN201910144832.3A CN201910144832A CN109745096A CN 109745096 A CN109745096 A CN 109745096A CN 201910144832 A CN201910144832 A CN 201910144832A CN 109745096 A CN109745096 A CN 109745096A
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Abstract
The present invention is suitable for the field of medical instrument technology, provides a kind of clamping device and spinal lamina grinding operation device, the clamping device includes first component, is in interior hollow structure；Second component is movably set in the first component, and for clamping osteotome；And elastic component, it is sheathed between the first component and second component, and one end is connected to the end of the first component, the other end is connected to the end of the second component.The present invention is by designing a kind of clamping device, the clamping device includes first component, second component and elastic component, when osteotome end is contacted with bone tissue, and when floating up and down with patient respiratory movement, it will drive second component to move up and down in first component, and then squeeze or discharge elastic component, at this time, due to the presence of elastic component, so that the connection between osteotome and first component is flexible connection, the mutation of osteotome end contact force is avoided, to realize that the constant control of osteotome end contact force is laid a good foundation.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of clamping device and spinal lamina grinding operation dress
It sets.
Background technique
The grinding operation of conventional spinal vertebral plate, it is very high to the Capability Requirement of doctor since operative site is special.Operation
Quality is largely dependent on the clinical experience and feeling of doctor.And whether science is correct for surgical procedure, also lacks science
The judgment basis of specification.This will greatly increase the risk of operation and the damage of patient.In addition to this, in operation carry out process
In, patient and doctor need to contact the stronger medical imaging equipment of various specific radioactivities for a long time, will receive larger dose
Radiation, can cause definitely to influence, also will increase the risk of infection on the health of patient and doctor.At the same time, for a long time
The surgical procedure of high concentration energy can make doctor feel fatigue, to influence doctor to the judgement of surgical procedure and operation essence
Degree, causes serious consequence.
With the development of medical technology, requirement of the surgery to operation precision and safety is gradually increased, and is reinforcing surgery
While doctor's surgical skills, Novel medical surgical instrument gradually obtains the favor of surgical doctor, tradition with its original advantage
The manual and electrical equipment that bone surgery uses, when carrying out spinal operation, the damage important soft tissue such as blood vessel and nerve
Risk is larger, and the success or not of operation is determined by the technology of doctor itself completely, this is because caused by the characteristic of instrument itself.
As the fast development of piezosurgery osteotomy uses, this problem is resolved, and piezosurgery osteotomy is as a kind of novel, efficient operation
Instrument, because it is hot, easy with tissue selectivity, good anthemorrhagic performance, and low yield small to peripheral vessels neural tissue injury
The advantages such as operation, are widely applied in fields such as the department of stomatology, ear-nose-throat department, neurosurgery, cosmetic plastic surgeries.In recent years
Come, piezosurgery osteotomy gradually substitutes the deep instrument of tradition, obtains a certain range of application in field of spinal surgery.However it is ultrasonic
Osteotome is more sensitive for contact force, it influences whether cutting effect, and the clamping in existing surgical operation robot system
Device is rigid connection mostly, poor for the holding effect of contact force, and the breathing influence of human body in the course of surgery can not
It avoids, when being cut under rigid mechanical gripping apparatus grips, the contact force between surgical instrument and bone tissue is easy to happen
Mutation.Especially in spinal lamina grinding operation, due to the influence of people itself respiratory movement and control signal delay, it can lead
Cause surgical instrument and vertebral plate rigid contact in grinding process, contact force caused to be mutated, and this to will lead to cutting effect unstable, sternly
It will lead to vertebral plate when weight to penetrate, injuring nerve causes serious consequence.
Summary of the invention
The purpose of the present invention is to provide a kind of clamping devices, it is intended to solve current piezosurgery osteotomy in the folder of clamping device
The technical issues of contact force mutation is easy to happen between bone tissue is easy when being cut under holding.
The invention is realized in this way a kind of clamping device, comprising:
First component is in interior hollow structure；
Second component is movably set in the first component, and for clamping osteotome；And
Elastic component is sheathed between the first component and second component, and one end is connected to the end of the first component
Portion, the other end are connected to the end of the second component.
In one embodiment of the invention, the first component includes first horizontal portion, and with the first level
First vertical portion of portion's connection, offers the first through hole in the first horizontal portion, offered in first vertical portion with
The cross sectional dimensions of the first through hole coaxial arrangement and the second interconnected through hole, first through hole is less than institute
The cross sectional dimensions of the second through hole is stated, so that one end of the elastic component is connected on the end face of the first horizontal portion, institute
The circumferential direction that the one end of the first vertical portion far from the first horizontal portion is stated along second through hole is provided with limiting section.
In one embodiment of the invention, the limiting section is that the circumferencial direction along first vertical portion is uniformly distributed
Multiple stop screws, each stop screw extends vertically through first vertical portion.
In one embodiment of the invention, the second component includes the second horizontal part and the second vertical portion, and described the
Two horizontal parts are fixedly connected on outside the described one end of second vertical portion far from the first horizontal portion, and the elastic component is far from described
One end of first horizontal portion is connected on the end face of second horizontal part, is offered third in second vertical portion and is run through
Hole offers the 4th through hole being connected to the third through hole, the cross of the third through hole in second horizontal part
Sectional dimension is greater than the cross sectional dimensions of the 4th through hole.
In one embodiment of the invention, the second component further includes that be fixedly connected on second horizontal part separate
First fixed block of the side of second vertical portion, and the second fixed block being detachably connected with first fixed block,
First fixed block and the second fixed block are enclosed the 5th through hole.
In one embodiment of the invention, its axial direction is provided with multiple convexes on the outer wall of second vertical portion
It rises, the circumferential direction of first through hole is provided with the multiple and matched positioning groove of the positioning protrusion.
In one embodiment of the invention, the cross section of the 4th through hole includes first be adapted to the osteotome
Circular arc, and the second circular arc being oppositely arranged with first circular arc, the radius of circle where second circular arc are greater than described the
The radius of circle where one circular arc.
In one embodiment of the invention, the clamping device further include:
Support ring is fixedly connected with the first component；
Force snesor is connected to side of the support ring far from the first component；And
Connecting plate is connected to side of the force snesor far from the support ring.
In one embodiment of the invention, the support ring includes third horizontal part and third vertical portion, the third
Horizontal part is sheathed on outside first vertical portion and is fixedly connected with the first horizontal portion, described in the third vertical portion abutting
The outer wall of first vertical portion is arranged.
Another object of the present invention is to provide a kind of spinal laminas to be ground operation device comprising:
Mechanical arm；
Clamping device, is connected to the end of the mechanical arm, and the clamping device is folder described in any embodiment as above
Hold mechanism；And
Controller is electrically connected with the mechanical arm and clamping device respectively.
Implement a kind of clamping device of the invention, have the advantages that its by designing a kind of clamping device, the folder
Holding mechanism includes the first component in interior hollow structure, and pivot bush unit is in the second structure in first component and for clamping osteotome
Part, and it is sheathed on that between first component and second component and one end is connected to the end of first component, the other end is connected to
The elastic component of the end of two components will drive when osteotome end is contacted with bone tissue, and is floated up and down with patient respiratory movement
Second component moves up and down in first component, and then squeezes or discharge elastic component, at this point, due to the presence of elastic component, so that
Connection between osteotome and first component is flexible connection, avoids the mutation of osteotome end contact force, to realize osteotome end
The constant control of contact force is laid a good foundation.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the schematic perspective view of gripper mechanism grips osteotome provided in an embodiment of the present invention；
Fig. 2 is the side view of gripper mechanism grips osteotome provided in an embodiment of the present invention；
Fig. 3 is the cross-sectional view of gripper mechanism grips osteotome provided in an embodiment of the present invention；
Fig. 4 is the schematic perspective view one of first component provided in an embodiment of the present invention；
Fig. 5 is the schematic perspective view two of first component provided in an embodiment of the present invention；
Fig. 6 is the part isometric structural schematic diagram one of second component provided in an embodiment of the present invention；
Fig. 7 is the part isometric structural schematic diagram two of second component provided in an embodiment of the present invention；
Fig. 8 is the part isometric structural schematic diagram three of second component provided in an embodiment of the present invention；
Fig. 9 is the schematic perspective view of support ring provided in an embodiment of the present invention；
Figure 10 is the schematic perspective view of spinal lamina grinding operation device provided in an embodiment of the present invention.
Label detail involved in above-mentioned attached drawing is as follows:
10- clamping device；11- first component；111- first horizontal portion；The first through hole of 1111-；1112- positioning groove；
The first vertical portion 112-；The second through hole of 1121-；113- stop screw；12- second component；The second vertical portion 121-；1211-
Third through hole；1212- positioning protrusion；The second horizontal part of 122-；The 4th through hole of 1221-；The first circular arc of 1222-；1223-
Two circular arcs；The first fixed block of 123-；The second fixed block of 124-；13- elastic component；14- support ring；141- third horizontal part；142-
Third vertical portion；15- force snesor；16- connecting plate；20- osteotome；30- mechanical arm.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It connects and is located on another component.When a component referred to as " is connected to " another component, it be can be directly or indirectly
It is connected on another component.Term " on ", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top",
The orientation or position of the instructions such as "bottom", "inner", "outside" are orientation based on the figure or position, are merely for convenience of describing,
It should not be understood as the limitation to the technical program.Term " first ", " second " are used merely to facilitate description purpose, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating technical characteristic.The meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Currently, the surgical instrument clamping device of surgical operation robot end is mostly to be rigidly connected, the power of joint is used
It learns sensor and carries out power adjusting, however this kind of method is unstable for the control of power, in the course of surgery, breathing fortune by a small margin
The mutation of the dynamic contact forces that will generate surgical instrument and bone tissue, and contact force cuts surgical operating instrument piezosurgery osteotomy
Cut that influential effect is very big, existing clamping device is unfavorable for the popularization and use of piezosurgery osteotomy.In order to solve surgical instrument in art
It is easy to be mutated this disadvantage with the contact forces of bone tissue, the present invention devises a kind of clamping device, rigid connection is changed to soft
Property connection, enable surgical instrument patient respiration effect under the influence of still keep with the good contact force of bone tissue, thus
Guarantee cutting effect, convenient for the popularization and use of piezosurgery osteotomy.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
Also referring to Fig. 1 to Fig. 3, the embodiment of the invention provides a kind of clamping device 10, which includes
First component 11, second component 12 and elastic component 13.Wherein, first component 11 is in interior hollow structure, 12 movable sleeve of second component
In first component 11, second component 12 is also in interior hollow structure, and for clamping osteotome 20, and elastic component 13 is sheathed on the
Between one component 11 and second component 12, and one end of elastic component 13 is connected to the end of first component 11, elastic component 13 it is another
One end is connected to the end of second component 12.Specifically, first component 11 and second component 12 are enclosed for accommodating elasticity
The accommodating space of part 13；The outer wall of one end of second component 12 is connected on the inner wall of first component 11, and can be along the first structure
The inner wall of part 11 moves up and down, and then changes the height of accommodating space, to change the deflection of elastic component 13.
For new embodiment of the present invention by designing a kind of clamping device 10, which includes in interior hollow structure
First component 11, pivot bush unit is in the second component 12 in first component 11 and for clamping osteotome 20, and is sheathed on first
Between component 11 and second component 12 and one end is connected to the end of first component 11, the other end is connected to the end of second component 12
The elastic component 13 in portion will drive the second structure when 20 end of osteotome is contacted with bone tissue, and is floated up and down with patient respiratory movement
Part 12 moves up and down in first component 11, and then squeezes or discharge elastic component 13, at this point, being made due to the presence of elastic component 13
The connection obtained between osteotome 20 and first component 11 is flexible connection, avoids the mutation of 20 end contact force of osteotome, to realize
The constant control of 20 end contact force of osteotome is laid a good foundation.
In a particular application, elastic component 13 can be rubber parts or spring, preferably spring, which is set to second
Outside component 12, and it is located in above-mentioned accommodating space.Osteotome 20 is preferably piezosurgery osteotomy, and the use of piezosurgery osteotomy reduces in operation
Doctor source damage probability.In addition, first component 11 and second component 12 are coaxially disposed.
In one embodiment of the invention, Fig. 4 and Fig. 5 is please combined together, and first component 11 includes first horizontal portion 111
With the first vertical portion 112.Wherein, the first vertical portion 112 is fixedly connected with first horizontal portion 111, is preferably integrally formed, so as to
In simplified structure and save the cost.The first through hole 1111 is offered in first horizontal portion 111,1111 edge of the first through hole
The thickness direction of first horizontal portion 111 is through setting.The second through hole 1121 is offered in the first vertical portion 112, this second
Through hole 1121 axially penetrates through setting along the first vertical portion 112, and second through hole 1121 and the first through hole 1111 are coaxial
It is arranged and is interconnected, in order to assembles second component 12.In the present embodiment, the cross sectional dimensions of the first through hole 1111 is small
In the cross sectional dimensions of the second through hole 1121, so that one end of elastic component 13 is connected to first horizontal portion 111 and first vertically
On the end face of one end that portion 112 connects.Preferably, first horizontal portion 111 is in the form of annular discs, and the first vertical portion 112 is in the form of a column, and first
Through hole 1111 and the second through hole 1121 are circular hole, the ruler of the diameter of the first through hole 1111 less than the second through hole 1121
Diameter.In addition, being provided in first one end of vertical portion 112 far from first horizontal portion 111 along the circumferential direction of the second through hole 1121
Limiting section, which is used to limit second component 12 along its axial displacement, and then limits elastic component 13 far from first level
The displacement of the one end in portion 111.
In one embodiment of the invention, limiting section is evenly arranged more for the circumferencial direction along the first vertical portion 112
A stop screw 113, wherein each stop screw 113 extends vertically through the first vertical portion 112.At this point, in the first vertical portion 112
One end far from first horizontal portion 111 circumferentially offers multiple threaded holes, and each stop screw 113 is matched with corresponding threaded hole
Connection is closed, and partially passes through threaded hole, to limit second component 12 along its displacement axially downwardly.In the present embodiment, it is arranged
Stop screw 113 is easy to disassemble, and then convenient for second component 12 to be assemblied in first component 11.During practical set,
Second component 12 is inserted into the second through hole 1121 by the first vertical portion 112 far from one end of first horizontal portion 111, goes forward side by side one
Step the first through hole 1111 of insertion, and then second component 12 is packed into first component 11, then it is loaded on stop screw 113.
In one embodiment of the invention, Fig. 6 to Fig. 8 is please combined together, and second component 12 includes the second horizontal part 122
With the second vertical portion 121.Wherein, the second vertical portion 121 is fixedly connected with the second horizontal part 122, is preferably integrally formed, so as to
In simplified structure and save the cost.Also, the second horizontal part 122 is fixedly connected on the second vertical portion 121 far from first horizontal portion
Outside 111 one end, at this point, elastic component 13 is connected to the end of one end of the second horizontal part 122 far from one end of first horizontal portion 111
On face, the lateral wall of the second horizontal part 122 is connected on the inner sidewall of the first vertical portion 112 and can be in the first vertical portion 112
It is moved up and down on inner sidewall.Third through hole 1211 is offered in the second vertical portion 121, the third through hole 1211 is along second
Vertical portion 121 axially penetrates through setting.The 4th through hole 1221, the 4th through hole are offered in the second horizontal part 122
1221 along the second horizontal part 122 thickness direction through setting, and be connected to third through hole 1211.In the present embodiment,
The cross sectional dimensions of three through holes 1211 is greater than the cross sectional dimensions of the 4th through hole 1221, in order to adapt to the outer of osteotome 20
Shape.
In one embodiment of the invention, Fig. 1 and Fig. 3 is please combined together, and second component 12 further includes the first fixed block
123 and second fixed block 124.Wherein, the first fixed block 123 is fixedly connected on the second horizontal part 122 far from the second vertical portion 121
Side, be preferably integrally formed with the second horizontal part 122, in order to simplify structure and save the cost.Second fixed block 124 with
First fixed block 123 is detachably connected, in order to install and fasten osteotome 20；Also, the second fixed block 124 and the first fixed block
123 are enclosed the 5th through hole, at this point, third through hole 1211, the 4th through hole 1221 and the 5th through hole are sequentially communicated,
The end of osteotome 20 contacts after sequentially passing through third through hole 1211, the 4th through hole 1221 and the 5th through hole with bone tissue.
In a particular application, the equal semicircular in shape in cross section of the first fixed block 123 and the second fixed block 124, respectively in the first fixed block
123 and second offer threaded hole on fixed block 124, and one end of screw passes through that be fixed on second after the first fixed block 123 fixed
On block 124, and then osteotome 20 is clamped between the first fixed block 123 and the second fixed block 124.
In one embodiment of the invention, Fig. 4 and Fig. 6 is combined, together please for the ease of assembly first component 11 and the
Two components 12, and prevent second component 12 from rotating in the circumferential direction relative to first component 11, the outer wall in the second vertical portion 121
On be provided with multiple positioning protrusion 1212, the positioning protrusion 1212 along the second vertical portion 121 axial direction setting；Correspondingly,
The circumferential direction of pass through aperture 1111 is provided with multiple positioning grooves 1112, which is connected to the first through hole 1111,
And it is matched with positioning protrusion 1212.In the present embodiment, positioning protrusion 1212 is with the cooperation of positioning groove 1112 so that assembling
It can be oriented to and be positioned for second component 12 in the process.Preferably, positioning protrusion 1212 and positioning groove 1112 is transversal
Face is arc-shaped.In a particular application, positioning protrusion 1212 and the number of positioning groove 1112 can be selected according to the actual situation
It selects, need to only meet the two and correspond.
In one embodiment of the invention, incorporated by reference to Fig. 8, the cross section of the 4th through hole 1221 includes right with osteotome 20
The first circular arc 1222 for answering position to be adapted to, and the second circular arc 1223 being oppositely arranged with the first circular arc 1222.In the present embodiment
In, the radius of circle is greater than the radius of circle where the first circular arc 1222 where the second circular arc 1223, in order to finely tune 20 end of osteotome
Tilt angle.Preferably, the corresponding central angle of the second circular arc 1223 is more than or equal to 180 degree, the corresponding circle of the first circular arc 1222
Heart angle is less than or equal to 180 degree.
In one embodiment of the invention, please combine Fig. 1 to 3 together, in order to enable 20 end of osteotome and bone tissue it
Between contact force keep constant, to optimize excision effect, clamping device 10 further includes support ring 14, force snesor 15 and connecting plate
16.Wherein, support ring 14 is fixedly connected with first component 11, and force snesor 15 is connected to support ring 14 far from first component 11
Side, connecting plate 16 are connected to side of the force snesor 15 far from support ring 14, and the connecting plate 16 with mechanical arm 30 for connecting.
In the present embodiment, force snesor 15, support ring 14 and first component 11 are fixed together, and are obtained by force snesor 15
The variation of osteotome 20 end and bone tissue contact force.For example, contacted with bone tissue when 20 end of osteotome, and with patient respiratory above and below
When floating, elastic component 13 converts force signal for displacement information and passes to force snesor 15, after can then being controlled by controller
Motor rotation is held, drives integral retaining mechanism 10 to move up and down, to guarantee that the contact force between osteotome 20 and bone tissue is constant.
10 structure of clamping device of the present embodiment is simple, easy to operate, and the stabilization of contact force can be effectively ensured, and it is super to be suitable for a variety of applications
The operation of sound osteotome.
Specifically, incorporated by reference to Fig. 9, support ring 14 includes third horizontal part 141 and third vertical portion 142.Wherein, third water
Flat portion 141 is annular in shape, is sheathed on outside the first vertical portion 112, and be fixedly connected with first horizontal portion 111, specifically can be by tight
Firmware is fixedly connected in first horizontal portion 111, and fastener can be screw etc..It is close to the first vertical portion in third vertical portion 142
112 outer wall setting to prevent first component 11 from moving radially with respect to support ring 14, while being also convenient for assembly force snesor
15.Preferably, a side surface of the third vertical portion 142 far from first component 11 is plane, and third vertical portion 142 is close to the first structure
One side surface of part 11 is the curved surface being adapted to the outer surface of the first vertical portion 112.
Incorporated by reference to Figure 10, based on the same inventive concept, the embodiment of the invention also provides a kind of grindings of spinal lamina to perform the operation
Device comprising mechanical arm 30, clamping device 10 and controller.Wherein, clamping device 10 is connected to the end of mechanical arm 30, should
Clamping device 10 is the clamping device 10 as described in any one above-mentioned embodiment；Controller respectively with mechanical arm 30 and clamping machine
Structure 10 is electrically connected.
Specifically, mechanical arm 30 is the UR mechanical arm of standard, and it will not be described in detail here for specific structure；Mechanical arm 30
End is fixed together by the connecting plate 16 and force snesor 15 of clamping device 10 with clamping device 10；Controller difference
It is electrically connected with force snesor 15 and mechanical arm 30, is used for the signal that reception sensing is sent and feeds back to mechanical arm 30, into
And control the movement of mechanical arm 30.When contacting for example, working as 20 end of osteotome with bone tissue, and being moved up and down with patient respiratory movement,
Elastic component 13 is compressed or is discharged, and elastic component 13 converts force signal for displacement information and passes to force snesor 15, force snesor
The signal received is fed back to controller by 15, and the controller control each joint motor of mechanical arm 30 drives to be moved down on clamping device 10
It is dynamic, to control the contact force between osteotome 20 and bone tissue by the deformation length for changing elastic component 13, and then can protect
Hold the constant of osteotome 20 and bone tissue contact force.
In conclusion the embodiment of the present invention connects to solve rigid connection and be easy to produce contact force by using elastic component 13
The technical issues of mutation, and controlled by force snesor 15 to realize that contact force is constant, it can be for medical surgical instrument ultrasound
The surgical apparatus of osteotome 20 so that the contact force amplitude of variation between osteotome 20 and bone tissue is small, and may be implemented to control in real time
The technology of contact force processed.Clamping device 10 uses cascaded structure, converts flexibility for rigid contact by the connection of elastic component 13 and connects
Touching eliminates contact force because of the change of micro-displacement and leads to the problem of mutation.
The foregoing is merely alternative embodiments of the invention, are not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of clamping device characterized by comprising
First component is in interior hollow structure；
Second component is movably set in the first component, and for clamping osteotome；And
Elastic component is sheathed between the first component and second component, and one end is connected to the end of the first component, separately
One end is connected to the end of the second component.
2. clamping device as described in claim 1, which is characterized in that the first component includes first horizontal portion, Yi Jiyu
First vertical portion of first horizontal portion connection offers the first through hole in the first horizontal portion, and described first is vertical
Offered in portion and first through hole coaxial arrangement and the second interconnected through hole, first through hole it is transversal
Face size is less than the cross sectional dimensions of second through hole, so that one end of the elastic component is connected to the first horizontal portion
End face on, the described one end of first vertical portion far from the first horizontal portion along second through hole circumferential direction setting it is limited
Position portion.
3. clamping device as claimed in claim 2, which is characterized in that the limiting section is the circumference along first vertical portion
The equally distributed multiple stop screws in direction, each stop screw extend vertically through first vertical portion.
4. clamping device as claimed in claim 2, which is characterized in that the second component includes that the second horizontal part and second are perpendicular
Straight portion, second horizontal part are fixedly connected on outside the described one end of second vertical portion far from the first horizontal portion, the bullet
Property part is connected on the end face of second horizontal part far from one end of the first horizontal portion, is opened up in second vertical portion
There is third through hole, the 4th through hole being connected to the third through hole, the third are offered in second horizontal part
The cross sectional dimensions of through hole is greater than the cross sectional dimensions of the 4th through hole.
5. clamping device as claimed in claim 4, which is characterized in that the second component further includes being fixedly connected on described
First fixed block of side of two horizontal parts far from second vertical portion, and be detachably connected with first fixed block
Second fixed block, first fixed block and the second fixed block are enclosed the 5th through hole.
6. clamping device as claimed in claim 4, which is characterized in that be axially arranged on the outer wall of second vertical portion along it
There are multiple positioning protrusion, the circumferential direction of first through hole is provided with the multiple and matched positioning groove of the positioning protrusion.
7. clamping device as claimed in claim 4, which is characterized in that the cross section of the 4th through hole includes and the bone
First circular arc of knife adaptation, and the second circular arc being oppositely arranged with first circular arc, the half of circle where second circular arc
Diameter is greater than the radius of circle where first circular arc.
8. such as the described in any item clamping devices of claim 2 to 7, which is characterized in that the clamping device further include:
Support ring is fixedly connected with the first component；
Force snesor is connected to side of the support ring far from the first component；And
Connecting plate is connected to side of the force snesor far from the support ring.
9. clamping device as claimed in claim 8, which is characterized in that the support ring includes that third horizontal part and third are vertical
Portion, the third horizontal part are sheathed on outside first vertical portion and are fixedly connected with the first horizontal portion, and the third is perpendicular
It is close to the outer wall setting of first vertical portion in straight portion.
10. a kind of spinal lamina is ground operation device characterized by comprising
Mechanical arm；
Clamping device, is connected to the end of the mechanical arm, and the clamping device is as described in any one of claim 1 to 9
Clamping device；And
Controller is electrically connected with the mechanical arm and clamping device respectively.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910144832.3A CN109745096A (en) | 2019-02-27 | 2019-02-27 | A kind of clamping device and spinal lamina are ground operation device |
| CN201911056594.7A CN110638500B (en) | 2019-02-27 | 2019-10-31 | Clamping mechanism and spinal vertebral plate grinding operation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910144832.3A CN109745096A (en) | 2019-02-27 | 2019-02-27 | A kind of clamping device and spinal lamina are ground operation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109745096A true CN109745096A (en) | 2019-05-14 |
Family
ID=66407702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910144832.3A Withdrawn CN109745096A (en) | 2019-02-27 | 2019-02-27 | A kind of clamping device and spinal lamina are ground operation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109745096A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110638500A (en) * | 2019-02-27 | 2020-01-03 | 中国科学院深圳先进技术研究院 | Clamping mechanism and spinal vertebral plate grinding operation device |
| US10588645B1 (en) | 2019-02-14 | 2020-03-17 | Beijing Smtp Technology Co., Ltd. | Robot-assisted ultrasonic osteotome powered system |
| CN113440256A (en) * | 2021-06-28 | 2021-09-28 | 哈尔滨工业大学 | Ultrasonic osteotome clamping device of spinal surgery robot |
| CN113951988A (en) * | 2021-09-10 | 2022-01-21 | 中国医学科学院北京协和医院 | Grinding method, device and grinding system of ultrasonic osteotome |
-
2019
- 2019-02-27 CN CN201910144832.3A patent/CN109745096A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10588645B1 (en) | 2019-02-14 | 2020-03-17 | Beijing Smtp Technology Co., Ltd. | Robot-assisted ultrasonic osteotome powered system |
| CN110638500A (en) * | 2019-02-27 | 2020-01-03 | 中国科学院深圳先进技术研究院 | Clamping mechanism and spinal vertebral plate grinding operation device |
| CN110638500B (en) * | 2019-02-27 | 2021-04-20 | 中国科学院深圳先进技术研究院 | Clamping mechanism and spinal vertebral plate grinding operation device |
| CN113440256A (en) * | 2021-06-28 | 2021-09-28 | 哈尔滨工业大学 | Ultrasonic osteotome clamping device of spinal surgery robot |
| CN113951988A (en) * | 2021-09-10 | 2022-01-21 | 中国医学科学院北京协和医院 | Grinding method, device and grinding system of ultrasonic osteotome |
| CN113951988B (en) * | 2021-09-10 | 2023-09-01 | 中国医学科学院北京协和医院 | Grinding method, device and system for ultrasonic bone knife |
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Application publication date: 20190514 |