CN112535607B

CN112535607B - Quick skull fixing device for surgical robot

Info

Publication number: CN112535607B
Application number: CN201910896543.9A
Authority: CN
Inventors: 张诗雷; 萧翔麟; 栾楠
Original assignee: Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
Current assignee: Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
Priority date: 2019-09-23
Filing date: 2019-09-23
Publication date: 2023-06-20
Anticipated expiration: 2039-09-23
Also published as: CN112535607A

Abstract

The invention relates to a device for quickly fixing the head of a patient, which is suitable for a surgical robot. The doctor can conveniently adjust the position and the angle of the head of the patient and can reliably lock the head. The device consists of three components: 2-6 sets of telescopic clamping components, 1 set of bracket components and 2 sets of supporting and locking components. The head of the patient is placed on the movable bracket (21) and is adjusted to a position and an angle convenient for operation by a doctor. At this time, the stay (34) slides in the hole of the bearing block (33). After the adjustment is completed, the knurled screw (32) is tightened to lock the bracket member. Then the middle sleeve (7) is moved to drive the splint (1) to slide towards the head of the patient. When the splint (1) contacts the head of the patient, the knurled screw (19) is screwed down, and the hand wheel (14) is rotated, so that the inner sleeve (3) continuously and slightly slides towards the head of the patient, and the splint (1) tightly presses the head of the patient. The telescopic clamping means and the support locking means cooperate and the patient's head is secured to the support (21).

Description

Quick skull fixing device for surgical robot

Technical Field

The invention relates to a rapid fixing device suitable for a head of a patient of a surgical robot, which is a key mechanism of the surgical robot for treating bone diseases of a skull part, and belongs to the field of medical appliances.

Background

Surgical robots are widely used in improving treatment accuracy, reducing patient trauma, and reducing doctor work intensity over conventional manual operations, but surgical robots for head bone diseases have not been seen. The head position and angle must be adjusted in advance before the robot performs the operation on the patient's head, and then reliably clamped in place. From the domestic and foreign data, the head fixing device suitable for the robotic surgery is not seen.

Currently, in general surgery, there are two main methods for fixing the skull:

first, a shallow hole (not penetrating the bone) is drilled in the skull and fixed with a special screw. This method causes damage to the skull.

Secondly, the skull is tightly propped up by a plurality of screw columns. Because the whole travel is driven by the screw, the operation process is long, when the end of the stud is contacted with the bone, the screw is difficult to detect immediately, the rotation force is likely to be applied continuously, and the screw mechanism can amplify the force by tens of times, so that the bone is possibly injured. .

Disclosure of Invention

The invention is suitable for surgical robot operation fixing head, which is composed of three parts: the telescopic clamping component, the bracket component and the supporting locking component.

The telescopic clamping component comprises a clamping plate (1), a screw (2), an inner sleeve (3), a groove (4), an upper round pin (5), an outer sleeve (6), a middle sleeve (7), a screw (8), a sliding sleeve (9), a sliding sleeve cover (10), a screw (11), a protruding shoulder (12) of the screw, a pin (13), a fixed hand wheel (14), a screw (15), a round pin (16), a groove (17), an internal thread (18) and a knurled screw (19). The splint (1) is the part that contacts the patient's head. The clamping plate (1) is fixed at the end part of the inner sleeve (3) by a screw (2), and the other end of the inner sleeve (3) is provided with an internal thread (18). The inner sleeve (3) is arranged in the middle sleeve (7) and can slide relatively. The upper round pin (5) passes through a hole on the wall of the middle sleeve (7) and extends into the groove (4) of the inner sleeve (3) without contacting the bottom of the groove (4). The inner sleeve (3) and the middle sleeve (7) cannot rotate relative to each other due to the limitation of the round pin (5) and the groove (4). One end of the middle sleeve (7) is fixed with a sliding sleeve (9) by a screw (8), and a sliding sleeve cover (10) is arranged by a screw (15). The protruding shoulder (12) of the screw (11) is positioned between the sliding sleeve (9) and the sliding sleeve cover (10) and can rotate freely between the sliding sleeve and the sliding sleeve cover, but can not move axially. The end of the screw rod (11) is fixed with a hand wheel (14) through a pin (13). The thread at the other end of the screw rod (11) is screwed into the internal thread (18) of the inner sleeve. The middle sleeve (7) is arranged in the outer sleeve (6) and can slide relatively. The lower round pin (16) passes through the hole of the pipe wall of the outer sleeve (6) and extends into the groove (17) on the middle sleeve (7) without contacting the groove bottom. Due to the limitation of the round pin (16) and the groove (17), the middle sleeve (7) and the outer sleeve (6) can only slide along the axial direction and cannot rotate mutually. The axial positions of the middle sleeve (7) and the outer sleeve (6) are tightly propped and locked by knurled screws (19). The above parts constitute telescopic clamping members, which can be 2 to 6 in the whole device, working cooperatively.

The bracket component comprises a screw (20), a bracket (21), a screw (22), a supporting seat (23), a spherical bearing (24), a bearing seat (25), a screw (26) and a bottom plate (27). The outer sleeve (6) is fixed on the bracket (21) by the screw (20). The bottom of the bracket (21) is provided with a supporting seat (23) by a screw (22). A spherical bearing (24) is connected in the support seat. The other end of the spherical bearing (24) is fixed on a bearing seat (25). The bearing seat (25) is fixed on the bottom plate (27) by bolts (26). The entire bracket member can swing freely around a spherical bearing (24).

The support locking component comprises a screw (28), a spherical bearing (29), a bearing seat (30), a pin (31), a knurled screw (32), a bearing seat (33), a stay bar (34), a spherical bearing (35) and a screw (36). The screw (28) fixes the spherical bearing (29) on the bottom plate (27). The ball part of the spherical bearing is arranged in a bearing seat (30) and can freely rotate. A stay (34) is connected to the bearing block (30) by a pin (31). The supporting rod (34) is sleeved with a bearing seat (33). The bearing block (33) contains the ball portion of the spherical bearing (35) and also allows the stay (34) to pass therethrough. The top of the bearing seat (33) is provided with a knurled screw (32). The knurled screw (32) is able to contact the brace (34), and the brace (34) is locked when the knurled screw (32) is tightened. The spherical bearing (35) is fixed on the bracket (21) through a screw (36). The support locking members have the same 2 sets, one on each side of the bracket member, see fig. 2. When the knurled screw (32) is screwed to tightly prop up the supporting rod (34), the support part can be limited to swing. When the 2 sets of support locking members are all operated identically, the entire bracket member is locked.

Drawings

Fig. 1: a front view of the device.

Fig. 2: left side view of the device.

Detailed Description

The invention aims to conveniently adjust and fix the head of a patient when a robot is used for surgical operation. Before the operation starts, the head of the patient rests on the support (21). The only fulcrum of the bracket (21) is at the spherical bearing (24) and can move around the spherical bearing (24). The spherical bearing (24) is mounted on the bottom plate (27) through a bearing seat (25) and a screw (26). The patient's head can thus be repositioned above the base plate (27) and adjusted by the doctor to a position and angle that facilitates the procedure.

During the posture adjustment of the bracket (21), the stay bar (34) which is not locked slides in the hole of the bearing seat (33). When the adjustment is completed, two sets of knurled screws (32) supporting the locking members are tightened, thereby locking the spatial position of the bracket members. Then the middle sleeve (7) is moved by hand to drive the inner sleeve (3) and the splint (1) to slide towards the head of the patient. When the splint (1) contacts the head of the patient, the knurled screw (19) is tightened so that the middle sleeve (7) cannot move in the outer sleeve (6), and the position of the middle sleeve (7) relative to the bracket (21) is fixed. And then the hand wheel (14) is rotated, the screw (11) is driven to rotate by the pin (13), and the inner sleeve (3) moves slightly towards the head of the patient in the middle sleeve (7) by the internal thread (18), so that the splint (1) connected to the inner sleeve (7) tightly props against the head of the patient. 2-6 sets of telescopic clamping members cooperate to secure the patient's head to the support (21).

Since the support member (21) is already locked to the base plate (27) by the support locking member, the patient's head is fixed to the base plate (27) in a proper posture.

Claims

1. A device for quick fixation of the head of a patient suitable for a surgical robot, characterized by comprising a telescopic clamping part, a bracket part and a supporting and locking part;

the telescopic clamping component comprises a clamping plate (1), an inner sleeve (3), a middle sleeve (7), an outer sleeve (6) and a screw (11); the clamping plate (1) is fixed at the end part of the inner sleeve (3), the inner sleeve (3) is arranged in the middle sleeve (7), the inner sleeve (7) and the upper round pin (5) can slide relatively, and the upper round pin (5) penetrates through a hole on the wall of the middle sleeve (7) and stretches into a first groove (4) arranged on the inner sleeve (3), so that the inner sleeve (3) and the middle sleeve (7) are limited to rotate mutually; the middle sleeve (7) is arranged in the outer sleeve (6), the middle sleeve and the outer sleeve can slide relatively, and the lower round pin (16) penetrates through a hole arranged on the wall of the outer sleeve (6) and stretches into a second groove (17) arranged on the middle sleeve (7), so that the middle sleeve (7) and the outer sleeve (6) are limited to rotate mutually; the axial positions of the middle sleeve (7) and the outer sleeve (6) are tightly propped and locked by a first knurled screw (19); the screw (11) is arranged in the middle sleeve (7) and can rotate relative to the middle sleeve (7) and cannot move axially; one end of the screw rod (11) is connected with the hand wheel (14), the thread at the other end of the screw rod (11) is screwed into the internal thread (18) of the inner sleeve (3), when the hand wheel (14) is rotated, the first pin (13) drives the screw rod (11) to rotate simultaneously, the thread at one end of the screw rod (11) rotates relative to the internal thread (18), the inner sleeve (3) is pushed to slide in the middle sleeve (7) towards the head of a patient, and the clamping plate (1) connected to the inner sleeve (7) is propped against the head of the patient;

the bracket component comprises a first screw (20), a bracket (21), a second screw (22), a supporting seat (23), a first spherical bearing (24), a first bearing seat (25), a third screw (26) and a bottom plate (27); the outer sleeve (6) is fixed on the support (21) through the first screw (20), the support seat (23) is arranged at the bottom of the support (21) through the second screw (22), the first spherical bearing (24) is connected in the support seat (23), the other end of the first spherical bearing (24) is fixed on the first bearing seat (25), the first bearing seat (25) is fixed on the bottom plate (27) through the third screw (26), and therefore the support component can freely move around the first spherical bearing (24);

the supporting and locking component comprises a fourth screw (28), a second spherical bearing (29), a second bearing seat (30), a second pin (31), a second knurled screw (32), a third bearing seat (33), a supporting rod (34), a third spherical bearing (35) and a fifth screw (36); the fourth screw (28) fixes the second spherical bearing (29) on the bottom plate (27), the ball part of the second spherical bearing (29) is arranged in the second bearing seat (30) and can freely move, the second bearing seat (30) is connected with the supporting rod (34) through the second pin (31), the supporting rod (34) is sleeved with the third bearing seat (33), the third bearing seat (33) comprises the ball part of the third spherical bearing (35) and also allows the supporting rod (34) to pass through, the second knurled screw (32) is arranged at the top of the third bearing seat (33), the second knurled screw (32) can contact the supporting rod (34), when the second knurled screw (32) is screwed down, the supporting rod (34) is locked, and the third spherical bearing (35) is fixed on the bracket (21) through the fifth screw (36); and is also provided with

2-6 sets of telescopic clamping components are arranged to work cooperatively, and 2 sets of supporting locking components are arranged on two sides of the support component respectively, and when the second knurled screw (32) abuts against the supporting rod (34), the supporting rod plays a role in limiting the swing of the support component.