CN114272058A - Spine minimally invasive surgery robot - Google Patents
Spine minimally invasive surgery robot Download PDFInfo
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- CN114272058A CN114272058A CN202111450244.6A CN202111450244A CN114272058A CN 114272058 A CN114272058 A CN 114272058A CN 202111450244 A CN202111450244 A CN 202111450244A CN 114272058 A CN114272058 A CN 114272058A
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Abstract
The invention discloses a spine minimally invasive surgery robot which comprises an operating bed, wherein the lower end of the operating bed is symmetrically provided with a supporting base, the lower end of the supporting base is provided with a base plate made of rubber, and a bearing plate is attached to the operating bed; further comprising: the connecting sleeve and the operating bed form a rotating mechanism through a bearing arranged at the lower end of the operating bed; and the adjusting rod is connected with the thread structure arranged on the connecting sleeve through the thread structure arranged outside the adjusting rod. This spinal column minimal access surgery robot can realize preheating the operation table through heating device, can effectually alleviate patient's fear sense, through the rotation of first screw rod and second screw rod to the realization is removed the position of movable plate, alright drive the perforation needle through the movable plate and reciprocate this moment, realizes puncturing the patient, and sets up alone through installing the board additional with the second, can effectually avoid the condition that the instrument was changed to the manual work of in-process needs of operation.
Description
Technical Field
The invention relates to the technical field of minimally invasive spine surgery, in particular to a minimally invasive spine surgery robot.
Background
The minimally invasive spine surgery is a minimally invasive spine surgery which realizes surgery and treatment on pathological changes through a tiny incision or a puncture channel, and the development of the minimally invasive spine surgery technology has the advantages of small wound, less pain, quick recovery, good curative effect, less complications, low cost and the like on patients.
The publication number is: CN 107802348A's a spine minimal access surgery robot, including operation table, linear guide, circular arc supporting pedestal, circular arc guide, slewing mechanism, six degrees of freedom parallel mechanism and needle feeding mechanism, linear guide sets up on the operation table, circular arc supporting pedestal with linear guide sliding connection, circular arc guide set up in circular arc supporting pedestal, slewing mechanism, six degrees of freedom parallel mechanism and needle feeding mechanism connect gradually and mobilizable setting are in on the circular arc guide, operate the operation robot with remote control mode through control module, the doctor can avoid the harm that X ray radiation caused to the health, and control module is preferred to be force feedback equipment, utilizes operation robot to develop the operation, can reach effect such as safe, accurate, high-efficient, highly repeatable, utilizes operation robot to develop minimal access surgery, and the little wound of operation, Less bleeding during operation, short hospitalization time, faster postoperative recovery and the like.
However, there are some problems in the process of using the above-mentioned device, for example, in the process of using the above-mentioned spinal minimally invasive surgery robot, an integrated structure is adopted, i.e., the surgery device and the punching device are integrated, so that in the process of using the device, the device needs to be temporarily replaced, which is very inconvenient, and in the process of using the device, the temperature of the operating table is too low, and the surgery environment is tense, so that the surgery effect is easily affected due to the high tension of the patient.
Disclosure of Invention
The invention aims to provide a spinal minimally invasive surgery robot, which aims to solve the problems that the device needs to be replaced temporarily in the using process, the temperature of an operating bed is too low, and the operating environment is tense in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a spine minimally invasive surgery robot comprises an operating bed, wherein supporting bases are symmetrically arranged at the lower end of the operating bed, a base plate made of rubber is arranged at the lower end of each supporting base, a bearing plate is attached to the operating bed, and a first electric telescopic rod is arranged at the upper end of the bearing plate;
further comprising:
the connecting sleeve and the operating bed form a rotating mechanism through a bearing arranged at the lower end of the operating bed, and a threaded structure is arranged inside the connecting sleeve;
the adjusting rod is connected with the thread structure arranged on the connecting sleeve through the thread structure arranged outside the adjusting rod;
the fixing plate is connected with the lower end of the adjusting rod, and a display screen is mounted at the upper end of the fixing plate;
the number of the receiving sliding blocks is 2, the receiving sliding blocks are arranged in a T shape, the outer surfaces of the receiving sliding blocks are smooth, the receiving sliding blocks are in sliding connection with the receiving plate through grooves formed in the receiving plate, positioning rods are attached to the receiving sliding blocks and penetrate through the receiving plate, and positioning springs are arranged between the receiving plate and the positioning rods;
the connecting plate is mutually connected with the upper end of the first electric telescopic rod and is arranged in an n shape;
the rotating plate is in sliding connection with the connecting plate through a through groove formed in the connecting plate;
the first additional plate is arranged at the upper end of the rotating plate;
the first motor is arranged in a groove formed in the rotating plate;
the second motor is arranged at the upper end of the connecting plate, and a control screen is arranged on the connecting plate;
the second electric telescopic rods are arranged at the lower end of the adjusting rod, 2 second electric telescopic rods are arranged, and the second electric telescopic rods are arranged on a plate-shaped structure arranged outside the second additional plate;
and the third electric telescopic rod is installed on the second additional plate, a first control plate is installed at the lower end of the third electric telescopic rod, and a connecting rotating shaft is installed on the first control plate.
Preferably, install heating device in the recess that the operation table upper end was seted up, just the heat-conducting plate has been placed on the operation table, and the heat-conducting plate sets up to the aluminium material, simultaneously intensive through-hole has been seted up on the heat-conducting plate, through above-mentioned structure, be convenient for derive the produced heat of heating device through the heat-conducting plate.
Preferably, the supporting roller is arranged on the rotating plate at an equal angle, the supporting roller is connected with the connecting plate in a sliding mode through a groove formed in the connecting plate, the outer surface of the supporting roller is smooth, the rotating plate is supported through the supporting roller, and friction between the supporting roller and the connecting plate can be effectively reduced.
Preferably, the first additional plate forms a rotating mechanism with the first screw rod and the second screw rod respectively through 2 bearings arranged at the upper end of the first additional plate, the first screw rod and the second screw rod form the rotating mechanism with the rotating plate, the first screw rod and the second screw rod are respectively provided with a thread structure, and the first screw rod and the second screw rod are supported conveniently without influencing the rotation of the first screw rod and the second screw rod through the structure.
Preferably, the first screw and the second screw are connected with the movable plate through threaded holes formed in the movable plate, the movable plate is of a square plate structure, and the position of the movable plate can be changed up and down through the rotation of the first screw and the second screw.
Preferably, the runner interconnect that sets up on first screw rod lower extreme and the belt pulley group, just another runner on the first screw rod with second screw rod interconnect, just first screw rod with the output of first motor interconnect, through above-mentioned structure, be convenient for drive first screw rod through first motor and rotate.
Preferably, the movable plate is attached with a perforation needle, a positioning nail penetrates through the perforation needle, the positioning nail is connected with the movable plate through a threaded hole formed in the movable plate, and the position of the perforation needle is fixed through the positioning nail conveniently through the structure.
Preferably, the rotating plate is connected with the rotating wheel through the gear teeth arranged at the upper end of the rotating plate, the rotating wheel is arranged on the bearing rotating shaft, the bearing rotating shaft passes through a bearing arranged on the connecting plate and forms a rotating mechanism with the connecting plate, meanwhile, the bearing rotating shaft is connected with the output end of the second motor, and through the structure, the rotating wheel is driven to rotate through the rotation of the bearing rotating shaft.
Preferably, the connecting rotating shaft is provided with a fourth electric telescopic rod, the fourth electric telescopic rod is connected with the second control board through a mounting plate, the minimally invasive needle inserting control device is arranged in the middle of the second control board, and the minimally invasive needle inserting control device is convenient to move up and down in position through the structure.
Compared with the prior art, the invention has the beneficial effects that:
(1) the spine minimally invasive surgery robot is provided with the heating device, the adjusting rod and the fixing plate, and can preheat the surgical bed through the heating device, so that the situation that the surgical bed is tenser due to too cold of the surgical bed when a patient lies can be effectively avoided, video playing can be performed through the display screen, the fear of the patient can be effectively relieved, the height of the display screen can be adjusted up and down, the spine minimally invasive surgery robot is convenient for the patients with different visual degrees to use well, and the watching effect can be effectively guaranteed;
(2) the spine minimally invasive surgery robot is provided with a bearing plate, a first electric telescopic rod and a connecting plate, the connecting plate is driven by the first electric telescopic rod to move up and down, patients with different body types can be used, and the using position of the connecting plate can be changed by changing the position of the bearing plate;
(3) this backbone minimal access surgery robot is provided with first screw rod, movable plate, second screw rod and perforation needle, and the rotation through first screw rod and second screw rod this moment to the realization removes the position of movable plate, alright drive the perforation needle through the movable plate this moment and reciprocate, alright the removal through the perforation needle this moment realizes puncturing the patient, and sets up alone through installing the board additional with the second, can effectually avoid the condition that needs the manual work to carry out the change instrument at the in-process of operation.
Drawings
FIG. 1 is a schematic view of a cross-sectional front view of a positioning rod according to the present invention;
FIG. 2 is a schematic cross-sectional view of the connection plate of the present invention;
FIG. 3 is a schematic side sectional view of the connecting plate according to the present invention;
FIG. 4 is a schematic front sectional view of a heating device according to the present invention;
FIG. 5 is a schematic bottom sectional view of a pulley assembly of the present invention;
FIG. 6 is a schematic top sectional view of a first additional mounting plate according to the present invention;
FIG. 7 is a schematic top sectional view of a rotating plate according to the present invention;
FIG. 8 is a schematic perspective view of a second additional mounting plate according to the present invention.
In the figure: 1. an operating bed; 2. a support base; 3. a connecting sleeve; 4. adjusting a rod; 5. a fixing plate; 6. a display screen; 7. a heating device; 8. a heat conducting plate; 9. carrying the sliding block; 10. positioning a rod; 11. a positioning spring; 12. a bearing plate; 13. a first electric telescopic rod; 14. a connecting plate; 15. carrying the rolling rod; 16. a rotating plate; 17. a first add-on plate; 18. a first screw; 19. moving the plate; 20. a second screw; 21. a first motor; 22. a pulley set; 23. a piercing needle; 24. positioning nails; 25. a rotating wheel; 26. a bearing rotating shaft; 27. a second motor; 28. a control screen; 29. a second electric telescopic rod; 30. a second additional plate; 31. a third electric telescopic rod; 32. a first control board; 33. connecting the rotating shaft; 34. a fourth electric telescopic rod; 35. mounting a plate; 36. a second control board; 37. a minimally invasive needle insertion control device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: a spine minimally invasive surgery robot comprises an operating bed 1, wherein supporting bases 2 are symmetrically arranged at the lower end of the operating bed 1, a base plate made of rubber is arranged at the lower end of each supporting base 2, a bearing plate 12 is attached to the operating bed 1, and a first electric telescopic rod 13 is arranged at the upper end of each bearing plate 12;
further comprising:
the connecting sleeve 3 and the operating bed 1 form a rotating mechanism through a bearing arranged at the lower end of the operating bed 1, and a threaded structure is arranged inside the connecting sleeve 3;
the adjusting rod 4 is connected with the thread structure arranged on the connecting sleeve 3 through the thread structure arranged outside the adjusting rod;
the fixing plate 5 is connected with the lower end of the adjusting rod 4, and the display screen 6 is arranged at the upper end of the fixing plate 5;
the number of the receiving sliding blocks 9 is 2, the receiving sliding blocks 9 are arranged symmetrically about the center of the operating table 1, the receiving sliding blocks 9 are arranged in a T shape, the outer surfaces of the receiving sliding blocks 9 are smooth, meanwhile, the receiving sliding blocks 9 are in sliding connection with a receiving plate 12 through grooves formed in the receiving plate 12, positioning rods 10 are attached to the receiving sliding blocks 9, the positioning rods 10 penetrate through the receiving plate 12, and positioning springs 11 are arranged between the receiving plate 12 and the positioning rods 10;
the connecting plate 14 is connected with the upper end of the first electric telescopic rod 13, and the connecting plate 14 is n-shaped;
the rotating plate 16 is in sliding connection with the connecting plate 14 through a through groove formed in the connecting plate 14;
a first additional plate 17 installed at the upper end of the rotating plate 16;
a first motor 21 disposed in a groove formed in the rotating plate 16;
a second motor 27 disposed at an upper end of the connection plate 14, and a control panel 28 is mounted on the connection plate 14;
the second electric telescopic rods 29 are arranged at the lower end of the adjusting rod 4, 2 second electric telescopic rods 29 are arranged, and the second electric telescopic rods 29 are arranged on a plate-shaped structure arranged outside the second additional plate 30;
the third electric telescopic rod 31 is installed on the second installation plate 30, the lower end of the third electric telescopic rod 31 is provided with a first control plate 32, and the first control plate 32 is provided with a connecting rotating shaft 33;
in the embodiment, a heating device 7 is arranged in a groove formed in the upper end of the operating bed 1, a heat conducting plate 8 is arranged on the operating bed 1, the heat conducting plate 8 is made of aluminum, and dense through holes are formed in the heat conducting plate 8; the rotating plate 16 is provided with a receiving rolling rod 15 at equal angles, the receiving rolling rod 15 is in sliding connection with the connecting plate 14 through a groove formed in the connecting plate 14, and the outer surface of the receiving rolling rod 15 is smooth;
when the operation bed 1 needs to be heated, the heating device 7 starts to work, namely, the heating device 7 starts to generate heat, along with the heat generation of the heating device 7, the heat conduction is carried out under the action of the heat conduction plate 8, then the spongy cushion is paved on the operation bed 1 and the heat conduction plate 8, the spongy cushion is preheated at the moment, the ice-cold feeling generated when a patient lies down is avoided, then, the connecting sleeve 3 is rotated, because the connecting sleeve 3 is mutually connected with the adjusting rod 4 through a thread structure, the adjusting rod 4 starts to move up and down at the moment, the fixing plate 5 can be driven to move up and down, the display screen 6 arranged on the fixing plate 5 is driven up and down, the video playing is carried out through the display screen 6, the fear feeling of the patient can be effectively reduced, the operation effect is prevented from being influenced due to the excessive fear of the patient, and then, the positioning rod 10 is pulled, at the moment, the positioning rod 10 starts to move towards the direction far away from the bearing plate 12, the positioning spring 11 mounted on the positioning rod 10 starts to be stretched and deformed until the positioning rod 10 is not attached to the groove formed in the bearing slide block 9 any more, then the bearing plate 12 can be pushed, at the moment, the bearing plate 12 can be moved until the bearing plate 12 is moved to a specified position, then the positioning rod 10 can be loosened, under the action of the deformation recovery of the positioning spring 11, the positioning rod 10 is driven to move towards the direction close to the bearing slide block 9 until the positioning rod is attached to the groove formed in the bearing slide block 9 again, and at the moment, the position of the bearing plate 12 can be fixed;
the first additional plate 17 forms a rotating mechanism with the first screw 18 and the second screw 20 through 2 bearings arranged at the upper end of the first additional plate, the first screw 18, the second screw 20 and the rotating plate 16 form a rotating mechanism, and the first screw 18 and the second screw 20 are both provided with thread structures; the first screw 18 and the second screw 20 are connected with the moving plate 19 through a threaded hole formed in the moving plate 19, and the moving plate 19 is of a square plate-shaped structure; the lower end of the first screw 18 is connected with a rotating wheel arranged on a belt pulley group 22, another rotating wheel on the first screw 18 is connected with a second screw 20, and the first screw 18 is connected with the output end of a first motor 21; a perforation needle 23 is attached to the moving plate 19, a positioning nail 24 penetrates through the perforation needle 23, and the positioning nail 24 is connected with the moving plate 19 through a threaded hole formed in the moving plate 19; the rotating plate 16 is connected with the rotating wheel 25 through gear teeth arranged at the upper end of the rotating plate, the rotating wheel 25 is arranged on the receiving rotating shaft 26, the receiving rotating shaft 26 and the connecting plate 14 form a rotating mechanism through a bearing arranged on the connecting plate 14, and meanwhile, the receiving rotating shaft 26 is connected with the output end of the second motor 27; a fourth electric telescopic rod 34 is arranged on the connecting rotating shaft 33, the fourth electric telescopic rod 34 is mutually connected with a second control plate 36 through a mounting plate 35, and a minimally invasive needle insertion control device 37 is arranged in the middle of the second control plate 36;
when the perforation needle 23 needs to be used, the first motor 21 in fig. 2 is started to operate, because the output end of the first motor 21 is connected with the first screw 18, at this time, the second screw 20 is also started to rotate under the action of the belt pulley set 22, and because the first screw 18 and the second screw 20 are respectively connected with the threaded holes formed on the two ends of the moving plate 19, at this time, along with the rotation of the first screw 18 and the second screw 20, the position of the moving plate 19 can be changed up and down, because the moving plate 19 is connected with the perforation needle 23 through the positioning pin 24, at this time, the perforation needle 23 starts to move down, at the same time, the second motor 27 is started to operate, at this time, the second motor 27 drives the bearing rotating shaft 26 installed at the output end thereof to rotate, along with the rotation of the bearing rotating shaft 26, the rotating wheel 25 installed on the bearing rotating shaft 26 starts to rotate, because the rotating wheel 25 is meshed with the rotating plate 16 through the gear structure arranged on the rotating plate 16, along with the rotation of the rotating wheel 25, the rotating plate 16 starts to rotate under the action of the bearing roller 15, at the moment, the perforation needle 23 arranged on the rotating plate 16 not only moves downwards but also rotates, so that the puncture effect can be effectively ensured, when the operation treatment is needed after the puncture, the second electric telescopic rod 29 starts to work, the lower end of the minimally invasive needle control device 37 and the puncture hole are positioned on a vertical plane through moving the connecting plate 14, then the third electric telescopic rod 31 starts to work, because the lower end of the third electric telescopic rod 31 is provided with the first control plate 32, the first control plate 32 starts to move downwards, along with the downward movement of the first control plate 32, the first control plate 32 drives the second control plate 36 and the minimally invasive needle control device 37 to move downwards through the fourth electric telescopic rod 34 (the minimally invasive needle control device 37 is the existing doctor through the rotating wheel 25 on the rotating plate 16 The robotic arm that relevant operation was moved is accomplished to control command arm on the control cabinet), control fourth electric telescopic handle 34 this moment through the doctor is long-range, different through 2 fourth electric telescopic handle 34 states, can realize changing the degree of inclination of second control panel 36, the better needle insertion of the minimally invasive needle insertion controlling means 37 of being convenient for this moment, through the remote control to the minimally invasive needle insertion controlling means 37 promptly to can realize carrying out the operation treatment to the backbone after the puncture.
The working principle is as follows: when the device needs to be used, a patient lies on the operating table 1, the position of the bearing plate 12 moves left and right, the connecting plate 14 is driven by the first electric telescopic rod 13 to move up and down, the device can be used for patients with different body types, the first motor 21 drives the first screw rod 18 and the second screw rod 20 to rotate, the position of the moving plate 19 can be moved up and down, the perforating needle 23 can be driven to move up and down, the rotating plate 16 is driven to rotate, the perforating needle 23 can be driven to rotate while the perforating needle 23 is moved, so that puncturing is realized, the position of the connecting plate 14 is moved, the third electric telescopic rod 31 drives the first control plate 32, the connecting rotating shaft 33, the fourth electric telescopic rod 34, the mounting plate 35, the second control plate 36 and the minimally invasive needle control device 37 to move downwards, the inclination angle of the minimally invasive needle insertion control device 37 can be changed through the fourth electric telescopic rod 34, and at the moment, the minimally invasive needle insertion control device 37 is remotely controlled by a doctor to perform an operation, so that the operation effect can be effectively guaranteed, and the working principle of the spine minimally invasive surgery robot is the principle. Those not described in detail in this specification are within the skill of the art.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. A spine minimally invasive surgery robot comprises an operating bed (1), wherein supporting bases (2) are symmetrically arranged at the lower end of the operating bed (1), a base plate made of rubber is arranged at the lower end of each supporting base (2), a bearing plate (12) is attached to the operating bed (1), and meanwhile a first electric telescopic rod (13) is mounted at the upper end of each bearing plate (12);
it is characterized by also comprising:
the connecting sleeve (3) and the operating bed (1) form a rotating mechanism through a bearing arranged at the lower end of the operating bed (1), and a threaded structure is arranged inside the connecting sleeve (3);
the adjusting rod (4) is connected with the thread structure arranged on the connecting sleeve (3) through the thread structure arranged outside the adjusting rod;
the fixing plate (5) is connected with the lower end of the adjusting rod (4), and a display screen (6) is mounted at the upper end of the fixing plate (5);
the supporting sliding blocks (9) are symmetrically arranged about the center of the operating table (1) in 2 numbers, the supporting sliding blocks (9) are arranged in a T shape, the outer surfaces of the supporting sliding blocks (9) are smooth, meanwhile, the supporting sliding blocks (9) are in sliding connection with the supporting plate (12) through grooves formed in the supporting plate (12), positioning rods (10) are attached to the supporting sliding blocks (9), the positioning rods (10) penetrate through the supporting plate (12), and positioning springs (11) are arranged between the supporting plate (12) and the positioning rods (10);
the connecting plate (14) is connected with the upper end of the first electric telescopic rod (13), and the connecting plate (14) is n-shaped;
the rotating plate (16) is in sliding connection with the connecting plate (14) through a through groove formed in the connecting plate (14);
a first additional plate (17) installed at an upper end of the rotating plate (16);
the first motor (21) is arranged in a groove formed in the rotating plate (16);
the second motor (27) is arranged at the upper end of the connecting plate (14), and a control screen (28) is installed on the connecting plate (14);
the second electric telescopic rods (29) are arranged at the lower end of the adjusting rod (4), 2 second electric telescopic rods (29) are arranged, and the second electric telescopic rods (29) are arranged on a plate-shaped structure arranged outside the second additional plate (30);
third electric telescopic handle (31), install on second additional equipment board (30), just first control panel (32) are installed to third electric telescopic handle (31) lower extreme, and install on first control panel (32) and connect pivot (33).
2. A minimally invasive spinal surgical robot according to claim 1, wherein: install heating device (7) in the recess of seting up in operation table (1) upper end, just heat-conducting plate (8) have been placed on operation table (1), and heat-conducting plate (8) set up to the aluminium material, simultaneously the intensive through-hole has been seted up on heat-conducting plate (8).
3. A minimally invasive spinal surgical robot according to claim 1, wherein: the rotating plate (16) is provided with a receiving rolling rod (15) at equal angles, the receiving rolling rod (15) is in sliding connection with the connecting plate (14) through a groove formed in the connecting plate (14), and the outer surface of the receiving rolling rod (15) is smooth.
4. A minimally invasive spinal surgical robot according to claim 1, wherein: the first additional plate (17) forms a rotating mechanism with the first screw (18) and the second screw (20) through 2 bearings arranged at the upper end of the first additional plate, the first screw (18) and the second screw (20) form a rotating mechanism with the rotating plate (16), and the first screw (18) and the second screw (20) are provided with thread structures.
5. A minimally invasive spinal surgical robot according to claim 4, wherein: the first screw (18) and the second screw (20) are connected with the moving plate (19) through threaded holes formed in the moving plate (19), and the moving plate (19) is of a square plate structure.
6. A minimally invasive spinal surgical robot according to claim 5, wherein: the lower end of the first screw rod (18) is connected with a rotating wheel arranged on a belt pulley group (22), the other rotating wheel on the first screw rod (18) is connected with the second screw rod (20), and the first screw rod (18) is connected with the output end of the first motor (21).
7. A minimally invasive spinal surgical robot according to claim 5, wherein: the movable plate (19) is attached with a perforation needle (23), a positioning nail (24) penetrates through the perforation needle (23), and the positioning nail (24) is connected with the movable plate (19) through a threaded hole formed in the movable plate (19).
8. A minimally invasive spinal surgical robot according to claim 1, wherein: the rotating plate (16) is connected with the rotating wheel (25) through gear teeth arranged at the upper end of the rotating plate, the rotating wheel (25) is installed on the bearing rotating shaft (26), the bearing rotating shaft (26) and the connecting plate (14) form a rotating mechanism through a bearing installed on the connecting plate (14), and meanwhile the bearing rotating shaft (26) is connected with the output end of the second motor (27).
9. A minimally invasive spinal surgical robot according to claim 1, wherein: a fourth electric telescopic rod (34) is installed on the connecting rotating shaft (33), the fourth electric telescopic rod (34) is connected with a second control plate (36) through a mounting plate (35), and a minimally invasive needle inserting control device (37) is arranged in the middle of the second control plate (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111450244.6A CN114272058A (en) | 2021-12-01 | 2021-12-01 | Spine minimally invasive surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111450244.6A CN114272058A (en) | 2021-12-01 | 2021-12-01 | Spine minimally invasive surgery robot |
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| CN114272058A true CN114272058A (en) | 2022-04-05 |
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| CN202111450244.6A Pending CN114272058A (en) | 2021-12-01 | 2021-12-01 | Spine minimally invasive surgery robot |
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| CN113057839A (en) * | 2021-05-11 | 2021-07-02 | 杭州市红十字会医院 | Head sinks and controls temperature control traditional chinese medical science physiotherapy bed |
| CN214857167U (en) * | 2021-05-24 | 2021-11-26 | 湖北六七二中西医结合骨科医院 | Minimally invasive surgical drill for spine of orthopedics department |
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2021
- 2021-12-01 CN CN202111450244.6A patent/CN114272058A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150057712A1 (en) * | 2013-08-20 | 2015-02-26 | Shao-Kang Hsueh | Minimally invasive spinal fixator implant surgical device |
| CN108464863A (en) * | 2016-06-03 | 2018-08-31 | 华毅智能医疗器械（宁波）有限公司 | Spinal surgery robot system |
| CN107951547A (en) * | 2017-12-15 | 2018-04-24 | 李涛 | A kind of spinal surgery puncture aid and its application method |
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