CN114631962B - Vertebral pedicle screw positioning system - Google Patents
Vertebral pedicle screw positioning system Download PDFInfo
- Publication number
- CN114631962B CN114631962B CN202210226069.0A CN202210226069A CN114631962B CN 114631962 B CN114631962 B CN 114631962B CN 202210226069 A CN202210226069 A CN 202210226069A CN 114631962 B CN114631962 B CN 114631962B
- Authority
- CN
- China
- Prior art keywords
- motor
- clamping jaw
- arm
- piece
- operating table
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
-
- 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
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
-
- 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
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
-
- 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
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/84—Fasteners therefor or fasteners being internal fixation devices
- A61B17/86—Pins or screws or threaded wires; nuts therefor
- A61B17/8605—Heads, i.e. proximal ends projecting from bone
-
- 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
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/84—Fasteners therefor or fasteners being internal fixation devices
- A61B17/86—Pins or screws or threaded wires; nuts therefor
- A61B17/8625—Shanks, i.e. parts contacting bone tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/121—Head or neck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/128—Rests specially adapted therefor; Arrangements of patient-supporting surfaces with mechanical surface adaptations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/10—Devices for specific treatment or diagnosis for orthopedics
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/50—Devices for specific treatment or diagnosis for radiography
Abstract
The invention discloses a vertebral pedicle screw positioning system, wherein an operating table is provided with three scales for marking spatial coordinates of affected parts, two limit posts are arranged at the front end of the operating table and used for helping the fixation of a patient, a moving plate is arranged at the front end of the operating table and can move and position back and forth according to the length of cervical vertebrae of the patient, a vertical arm is arranged at the left side of the operating table through a sliding table and can move and position back and forth, a transverse arm is arranged at the upper end of the vertical arm and forms a revolute pair, a rotating piece is arranged at the front end of the transverse arm and forms the revolute pair, an oblique arm is arranged at the lower side of the rotating piece and forms the revolute pair, an executing piece is arranged at the lower end of the oblique arm and forms a thread pair, and a positioning mechanism can be used for guiding the installation of vertebral pedicle screws; the control system acquires the image of the affected part through a medical X-ray machine, calculates the space coordinate data of the target pedicle of vertebral arch, controls each driving component to perform corresponding actions, and finally enables the positioning mechanism to move to the target pedicle of vertebral arch.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a vertebral pedicle screw positioning system.
Background
The spine fracture is a spine disease which is more frequently seen in orthopaedics, the morbidity of patients is mainly caused by high falling, traffic accidents, heavy object smash injuries and other reasons, and the morbidity of thoracic and lumbar vertebrae is high; the patients with chest and waist spine fracture have strong pain, have serious influence on the physiological functions of the patients, have higher probability of disability, lead the patients to lose the neural functions, influence the life and labor of the patients, and even cause life danger, so the patients should be treated immediately after the patients are ill.
The chest, waist and spine fracture is clinically treated by adopting a decompression reduction operation, so that the spinal nerves can be effectively prevented from being secondarily damaged, and the complication occurrence risk of a patient is reduced; although the traditional transfused vertebral fixation treatment can reduce the injury of a patient to a certain extent and improve the vertebral height of the patient, the overall treatment effect is limited; with the continuous progress of the modern medical technology, the internal fixation technology of the pedicle screw is provided with a new way for the treatment of the thoracolumbar spine fracture; the pedicle screw imbedding internal fixation technology not only has excellent biomechanical stability, but also can obtain better treatment and recovery effects, and the nerve of a patient is damaged slightly; however, due to the anatomical characteristics of the thoracic and lumbar vertebrae, the conventional pedicle screw placement mode which is operated only by the experience of doctors has great difficulty and danger, so that the vertebral pedicle screw positioning system provided by the invention has obvious significance, can effectively reduce blindness and uncertainty of manual operation, and improves the treatment effect.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a vertebral pedicle screw positioning system which can assist doctors in carrying out vertebral pedicle screw implantation internal fixation operation, can effectively reduce blindness and uncertainty of manual operation and improves treatment effect.
The technical scheme adopted by the invention is as follows: the utility model provides a vertebra pedicle screw positioning system which characterized in that: the operating table can be stably placed on the ground and can be used for a patient to lie on the back, and the operating table is provided with a vertical axis scale, a horizontal axis scale and a vertical axis scale which are used for marking the space coordinate position of an affected part; the first limiting column and the second limiting column are respectively arranged at two sides of the front end of the operating table and locked by the two locking wheels, and a first arc plate and a second arc plate are respectively arranged at the rear sides of the first limiting column and the second limiting column and used for propping against shoulders of a patient, so that the body of the patient can be fixed; the movable plate is arranged at the front end of the operating table and can move and position back and forth according to the length of cervical vertebra of a patient, and an elliptical hole for placing the face of the patient to ensure smooth breathing is formed in the upper side of the movable plate; the vertical arm is arranged at the left side of the operating table through the sliding table and can move and position back and forth; the transverse arm is arranged at the upper end of the vertical arm and forms a revolute pair, and the vertical shaft of the transverse arm can be driven by a first motor arranged at the upper end of the vertical arm; the rotating piece is arranged at the front end of the cross arm and forms a revolute pair, and the transverse shaft of the rotating piece can be driven by a second motor arranged at the front end of the cross arm; the inclined arm is arranged at the lower side of the rotating piece and forms a revolute pair, the vertical shaft of the inclined arm can be driven by a third motor arranged in the rotating piece, and the included angle between the extending direction of the main body of the inclined arm and the rotation shaft center of the output shaft of the third motor is 45 degrees; the execution piece is arranged at the lower end of the inclined arm and forms a revolute pair, and the rotation of the execution piece is driven by a fourth motor arranged at the lower end of the inclined arm; the positioning mechanism is arranged at the lower end of the executing piece and forms a thread pair, and can be used for guiding the installation of the pedicle screw; the control system acquires the image of the affected part through a medical X-ray machine, calculates the space coordinate data of the target pedicle of vertebral arch, transmits the processed data to the sliding table, the first motor, the second motor, the third motor and the fourth motor, and makes the sliding table, the first motor, the second motor, the third motor and the fourth motor perform corresponding actions, and finally makes the left end of the positioning mechanism move to the target pedicle of vertebral arch.
Preferably, the scale marks of the vertical axis scale, the horizontal axis scale and the vertical axis scale are made of lead wires.
Preferably, the first motor, the second motor, the third motor and the fourth motor are all connected with a cycloid speed reducer to serve as power transmission parts.
Preferably, the hand wheel is arranged at the front end of the movable plate, and the movable plate can be adjusted to a proper position by rotating the hand wheel according to the cervical vertebra length of a patient, so that the patient can place the face in the elliptical hole to ensure smooth breathing.
Preferably, the control system can determine the three-dimensional coordinate data of the space of the target pedicle of the affected part according to the projection positions of the affected part on the vertical axis scale, the horizontal axis scale and the vertical axis scale.
Preferably, the positioning mechanism comprises a threaded pipe, a first nut, a second nut, a spring, a first connecting rod, a first clamping jaw, a screw, a second clamping jaw, a second connecting rod and a sliding part, wherein the first clamping jaw and the second clamping jaw are respectively arranged on the upper side and the lower side of the threaded pipe and form a revolute pair, the sliding part and the threaded pipe form a movable pair and are respectively connected with the first clamping jaw and the second clamping jaw through the first connecting rod and the second connecting rod, and the spring can push the sliding part to move forwards so as to clamp the first clamping jaw and the second clamping jaw mutually.
Preferably, a lower semicircular groove is formed in the upper side of the left end of the first clamping jaw, an upper semicircular groove is formed in the lower side of the left end of the second clamping jaw, and the lower semicircular groove and the upper semicircular groove are combined to form a guide round hole for guiding the screw.
Preferably, the left end of the first clamping jaw is provided with a first inclined plane, the left end of the second clamping jaw is provided with a second inclined plane, the tail cap of the screw can extrude the first inclined plane and the second inclined plane to prop open the first clamping jaw and the second clamping jaw, and therefore the screw can be separated from the positioning mechanism and fixed on the pedicle of vertebral arch.
Preferably, the first nut is operable to adjust the spring force of the spring to effect adjustment of the clamping force between the first jaw and the second jaw.
Preferably, the second nut is mounted at the rear end of the threaded pipe and forms a threaded pair, and the second nut and the executing piece can form a double-nut locking structure.
The invention has the beneficial effects that: (1) after a patient is prone on an operation table, effective fixation can be realized, the control system can establish the space coordinates of the target pedicle of vertebral arch and determine the accurate data of the nail placement position according to the pattern acquired by the X-ray machine on the affected part of the vertebra of the patient, and then the space position data is converted into the motion data of each electric executing component; the work of establishing space coordinates, performing space positioning and the like in the whole process is processed by the control system, and a doctor only needs to perform nail placing operation according to the position appointed by the positioning mechanism, so that the operation is simple, the positioning is accurate, and meanwhile, the operation difficulty of nail placing is greatly reduced; (2) because the diameter of the tail cap of the screw is larger than the diameter of the thread, in order to realize accurate positioning of the conical tip of the screw, the diameter of a guide circular hole formed by combining the upper semicircular groove and the lower semicircular groove is equal to the diameter of the thread on the screw and smaller than the diameter of the central circular hole in the threaded pipe, so that the screw cannot shake in the guide circular hole, and the screw placement position is more accurate; (3) the two clamping jaws at the left end of the positioning mechanism are respectively provided with an inclined plane, so that the tail cap of the screw can outwards prop the two clamping jaws through extruding the two inclined planes, the screw can be separated from the positioning mechanism and fixed on the pedicle of vertebral arch, and no additional opening structure or operation is needed, therefore, the screw has the advantages of simple structure and convenience in operation; (4) the front end of the central round hole is radially opened by the empty slot at the left end of the threaded pipe, so that a screw can be placed into the guide round hole through the right end of the threaded pipe, and can also be placed into the guide round hole through the empty slot, and meanwhile, a doctor can observe the matching condition of a screwdriver and a screw tail cap through the empty slot, thereby being convenient for screwing operation of the screw; (5) when the three-dimensional coordinates are built, the three-dimensional coordinates of a plurality of target pedicles can be built at the same time, so that the X-ray perspective is not required to be frequently carried out on a patient, the image acquisition times can be effectively reduced, and the absorption dose of the patient and medical staff to X-rays can be reduced, thereby having obvious progressive significance; (6) the invention adopts a plurality of cycloidal speed reducers for power transmission, and the cycloidal speed reducers have the advantages of small volume, light weight, large transmission ratio range, stable operation and the like, and can be completely suitable for the positioning operation of the positioning mechanism on the vertebral pedicle.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is an enlarged schematic view of a partial section of the present invention.
Fig. 3 is a schematic diagram of the overall structure of the positioning mechanism.
Fig. 4 is a schematic diagram of the overall structure of the positioning mechanism.
Fig. 5 is a schematic view of a partial sectional structure of the front end of the moving plate.
Reference numerals: 1 operating table, 1.1 longitudinal axis scale, 1.2 transverse axis scale, 1.3 vertical axis scale, 2 first limit post, 2.1 first arc plate, 3 first locking wheel, 4 first lead screw, 4.1 first belt pulley, 5 moving plate, 5.1 elliptical hole, 6 hand wheel, 6.1 driving belt pulley, 7 second locking wheel, 8 second limit post, 8.1 second arc plate, 9 sliding table, 10 first motor cover, 11 vertical arm, 12 horizontal arm, 13 rotating piece, 14 oblique arm, 15 fourth motor cover, 16 first motor, 17 second motor, 18 third motor, 19 fourth motor, 20 executing piece, 21 screwed pipe, 21.1 empty slot, 21.2 smooth section, 22 second nut, 23 first nut, 24 spring, 25 first connecting rod, 26 first, 26.1 first inclined plane, 27 screw, 28 second clamping jaw, 28.1 second inclined plane, 29 second connecting rod, 30 sliding piece, 30.1 first clamping jaw, 30.2 second clamping jaw, 31 second guiding wheel, 32 guiding wheel and 32 guiding wheel.
Detailed Description
The invention will be further described with reference to specific examples, illustrative examples and illustrations of which are provided herein to illustrate the invention, but are not to be construed as limiting the invention.
As shown in fig. 1, the spinal pedicle screw positioning system is characterized in that the operating table 1 is stably placed on the ground, two threaded holes with the same size are longitudinally formed in the front end of the operating table 1, the positions of the two threaded holes are symmetrical with respect to the longitudinal vertical central plane of the operating table 1, square insertion holes in the two vertical directions are formed in the upper side of the front end of the operating table 1, the two square insertion holes are identical in structure and are bilaterally symmetrical with respect to the longitudinal vertical central plane of the operating table 1, two locking screw holes are formed in the front end of the operating table 1, and the two locking screw holes are respectively located in the front sides of the two square insertion holes and are communicated with the corresponding square insertion holes; the first locking wheel 3 is coaxially arranged in a locking screw hole on the right side of the front end of the operating table 1 and forms a screw thread pair, and the second locking wheel 7 is coaxially arranged in a locking screw hole on the left side of the front end of the operating table 1 and forms a screw thread pair; the upper side of the operating table 1 is longitudinally provided with a vertical axis scale 1.1 for marking the vertical axis position of an affected part, the upper side of the operating table 1 is transversely provided with a horizontal axis scale 1.2 for marking the horizontal axis position of the affected part, the right side of the operating table 1 is provided with a vertical axis scale 1.3 for marking the vertical axis position of the affected part, and scale marks of the scales are made of lead wires.
The lower end of the first limiting column 2 is provided with a square shaft, the size of the square shaft is the same as that of a square jack at the front end of the operating table 1, the rear side of the first limiting column 2 is provided with a first arc plate 2.1, the first arc plate 2.1 is of a concave surface structure, the central axis of the concave surface is in a horizontal direction, and the first limiting column 2 is arranged in the square jack at the right side of the front end of the operating table 1 and is locked by a first locking wheel 3; the second limiting column 8 has the same structure as the first limiting column 2, a square shaft is arranged at the lower end of the second limiting column 8, a second arc plate 8.1 is arranged at the rear side of the second limiting column, the second arc plate 8.1 is of a concave surface structure, the central axis of the concave surface is in the horizontal direction, and the second limiting column 8 is arranged in a square jack at the left side of the front end of the operating table 1 and is locked by a second locking wheel 7.
As shown in fig. 1 and 2, a sliding block is arranged on the sliding table 9, a driving motor and an encoder are integrated in the sliding table 9, the driving motor can realize the movement and the positioning of the sliding block, the encoder can record the position of the sliding block and transmit data to a control system, and the sliding table 9 is fixedly arranged on the left side surface of the operating table 1; the inside of the vertical arm 11 is provided with a lightening hole, and the lower end of the vertical arm 11 is fixedly connected with a sliding block on the sliding table 9, so that the sliding table 9 can drive the vertical arm 11 to move and position forwards and backwards; the encoder and the brake are integrated in the first motor 16, so that accurate angle rotation and locking positioning can be realized, the first motor 16 is fixedly arranged at the upper end of the vertical arm 11 through a cycloid reducer, the rotation axis is in the vertical direction, and the first motor cover 10 is arranged at the outer side of the first motor 16 and used for beautifying the appearance of equipment; the rear end of the cross arm 12 is arranged at the upper end of the vertical arm 11 and forms a revolute pair, and the rear end of the cross arm 12 is coaxially and fixedly connected with an output shaft of a cycloid speed reducer at the upper end of the first motor 16, so that the first motor 16 can drive the cross arm 12 to rotate and position; the encoder and the brake are integrated in the second motor 17, so that accurate angle rotation and locking positioning can be realized, the second motor 17 is fixedly arranged at the front end of the cross arm 12 through a cycloid reducer, and the rotation axis is in the horizontal direction; the rear side of the rotating piece 13 is provided with a cylindrical table, the cylindrical table is arranged at the front end of the cross arm 12 and is coaxially and fixedly connected with an output shaft of a cycloidal reducer at the front end of the second motor 17, so that the second motor 17 can drive the rotating piece 13 to rotate and position; the encoder and the brake are integrated in the third motor 18, so that accurate angle rotation and locking positioning can be realized, the third motor 18 is fixedly arranged in the rotating piece 13 through a cycloid speed reducer, and the rotation axis is in the vertical direction; the upper end of the inclined arm 14 is arranged at the lower end of the rotating piece 13 and forms a revolute pair, and the upper end of the inclined arm 14 is coaxially and fixedly connected with an output shaft of a cycloid speed reducer at the lower end of the third motor 18, so that the third motor 18 can drive the inclined arm 14 to rotate and position, and an included angle between the extending direction of a main body of the inclined arm 14 and the rotation axis of the output shaft of the third motor 18 is 45 degrees; the encoder and the brake are integrated in the fourth motor 19, so that accurate angle rotation and locking positioning can be realized, the fourth motor 19 is fixedly arranged at the lower end of the inclined arm 14 through a cycloid reducer, the rotation axis is parallel to the extending direction of the main body of the inclined arm 14, and the fourth motor cover 15 is arranged at the outer side of the fourth motor 19 and used for beautifying the appearance of equipment; the upper end of the actuating member 20 is arranged at the lower end of the inclined arm 14 and forms a revolute pair, and the upper end of the actuating member 20 is coaxially and fixedly connected with the output shaft of the cycloid reducer at the lower end of the fourth motor 19, so that the fourth motor 19 can drive the actuating member 20 to rotate and position, the lower end of the actuating member 20 is provided with a threaded hole, and the central axis of the threaded hole is perpendicular to the rotation axis of the output shaft of the fourth motor 19.
As shown in fig. 3 and 4, the positioning mechanism comprises a threaded tube 21, a second nut 22, a first nut 23, a spring 24, a first connecting rod 25, a first clamping jaw 26, a screw 27, a second clamping jaw 28, a second connecting rod 29 and a sliding part 30, wherein the threaded tube 21 is of an inverted T-shaped structure, a round hole which penetrates left and right is arranged in the center of the threaded tube 21, a hollow groove 21.1 is arranged at the left end of the round hole, the hollow groove 21.1 radially breaks the front end of the round hole in the center of the threaded tube 21, a smooth section 21.2 is arranged on the threaded tube 21 at the right side of the hollow groove 21.1, the smooth section 21.2 is of a cylindrical section structure with a smooth outer surface, and an external thread structure is arranged at the right side of the smooth section 21.2; the upper side of the left end of the first clamping jaw 26 is provided with a lower semicircular groove, the right side of the lower semicircular groove is provided with a first inclined plane 26.1, the right end of the first clamping jaw 26 is provided with two round holes, wherein the round hole on the left side is rotationally connected with the lower side of the left end of the threaded tube 21, and the round hole on the right side is rotationally connected with the left end of the first connecting rod 25; an upper semicircular groove is formed in the lower side of the left end of the second clamping jaw 28, a second inclined surface 28.1 is formed in the right side of the upper semicircular groove, two round holes are formed in the right end of the second clamping jaw 28, the round holes on the left side are rotationally connected with the upper side of the left end of the threaded tube 21, and the round holes on the right side are rotationally connected with the left end of the second connecting rod 29; the lower side of the sliding piece 30 is provided with a first lug 30.1, the upper side is provided with a second lug 30.2, the sliding piece 30 is coaxially arranged with the threaded pipe 21 and can slide left and right on the smooth section 21.2, the right end of the first connecting rod 25 is rotationally connected with the first lug 30.1, and the right end of the second connecting rod 29 is rotationally connected with the second lug 30.2; the first nut 23 and the threaded tube 21 are coaxially arranged and form a thread pair, the spring 24 is arranged between the sliding piece 30 and the first nut 23, so that under the action of the elasticity of the spring 24, the sliding piece 30 moves forwards, the first clamping jaw 26 and the second clamping jaw 28 are mutually close and clamped through the first connecting rod 25 and the second connecting rod 29, the lower semicircular groove on the first clamping jaw 26 and the upper semicircular groove on the second clamping jaw 28 are combined to form a guide round hole for guiding the screw 27, and the first nut 23 can be used for adjusting the elasticity of the spring 24, so that the clamping force between the first clamping jaw 26 and the second clamping jaw 28 is adjusted; the threaded pipe 21 is installed in a threaded hole at the lower end of the executing piece 20 to form a threaded pair, the second nut 22 is installed at the rear end of the threaded pipe 21 to form a threaded pair, and the second nut 22 and the executing piece 20 can form a double-nut locking structure.
The positioning mechanism can be used for installing the screw 27, the screw 27 can be placed into the guide round hole through the right end of the threaded tube 21, the screw 27 can also be placed into the guide round hole through the empty slot 21.1, the long rod screwdriver can be inserted from the right end of the threaded tube 21 and prop against the tail cap of the screw 27, the screw 27 can be screwed into the pedicle by rotating the screwdriver, in the process, the tail cap of the screw 27 props up the first clamping jaw 26 and the second clamping jaw 28 by pressing the first inclined plane 26.1 and the second inclined plane 28.1, and accordingly the screw 27 can be separated from the positioning mechanism and fixed on the pedicle.
As shown in fig. 5, the moving plate 5 is mounted at the front end of the operating table 1, the width of the moving plate 5 is equal to the width of a rectangular notch at the front end of the operating table 1, an elliptical hole 5.1 is formed in the upper side of the moving plate 5, and a transmission cavity 5.2 is formed in the front end of the moving plate 5; the front end of the first lead screw 4 is provided with a first belt wheel 4.1, the first lead screw 4 is arranged in the right side of the movable plate 5 and forms a revolute pair, the first belt wheel 4.1 is positioned in the transmission cavity 5.2, and the first lead screw 4 and a threaded hole on the right side of the front end of the operating table 1 are coaxially arranged and form a thread pair; the front end of the second lead screw 31 is provided with a second belt wheel 31.1, the second lead screw 31 is arranged in the left side of the movable plate 5 and forms a revolute pair, the second belt wheel 31.1 is positioned in the transmission cavity 5.2, and the second lead screw 31 and a threaded hole on the left side of the front end of the operating table 1 are coaxially arranged and form a thread pair; the front end of the hand wheel 6 is of a round wheel structure convenient for manual rotation, the rear end of the hand wheel 6 is provided with a driving belt wheel 6.1, the hand wheel 6 is arranged at the front end of the movable plate 5 and forms a revolute pair, the driving belt wheel 6.1 is positioned in a transmission cavity 5.2, a first guide wheel 34 is arranged in the transmission cavity 5.2 at the right side of the driving belt wheel 6.1 and forms a revolute pair, a second guide wheel 33 is arranged in the transmission cavity 5.2 at the left side of the driving belt wheel 6.1 and forms a revolute pair, a synchronous belt 32 is arranged in the transmission cavity 5.2, and the synchronous belt 32 sequentially bypasses the lower side of the driving belt wheel 6.1, the upper side of the first guide wheel 34, the right side of the first belt wheel 4.1, the left side of the second belt wheel 31.1 and the upper side of the second guide wheel 33, so that the hand wheel 6 can be rotated clockwise to enable the synchronous belt 32 to drive the first lead screw 4 and the second lead screw 31 to rotate clockwise simultaneously, the movable plate 5 moves backwards and is close to the operating bed 1, the hand wheel 6 can be rotated anticlockwise to enable the movable plate 5 to move forwards, and accordingly, when a patient can be prone to position of the movable plate 5 can be adjusted to the cervical vertebra length of the patient, and the patient can be placed in a round hole of the appropriate breathing position of the patient.
The working principle of the invention is as follows: when the vertebral pedicle screw is put into the internal fixation operation for the patient:
(1) The first limiting column 2 is inserted into a square jack on the right side of the front end of the operating table 1 and is locked by the first locking wheel 3, and the second limiting column 8 is inserted into a square jack on the left side of the front end of the operating table 1 and is locked by the second locking wheel 7;
(2) The patient is prone to lie on the upper side of the operating table 1, the first arc plate 2.1 and the second arc plate 8.1 are propped against the shoulders of the patient, the hand wheel 6 is rotated to adjust the moving plate 5 to a proper position, the face of the patient is placed in the elliptical hole 5.1, and the patient is fixed by using the medical bandage so that the patient cannot move;
(3) The method comprises the steps that a medical X-ray machine is used for collecting patterns on affected parts of vertebrations of a patient, image information is transmitted to a control system, the control system has a data processing function, the control system can determine three-dimensional coordinate data of a target pedicle of the affected part according to projection positions of the affected part on a longitudinal axis scale 1.1, a transverse axis scale 1.2 and a vertical axis scale 1.3, the control system transmits the processed data to a sliding table 9, a first motor 16, a second motor 17, a third motor 18 and a fourth motor 19, the processed data are correspondingly acted, and finally the left end of a positioning mechanism is moved to the target pedicle;
(4) The screw 27 is placed in a guide circular hole formed by combining the lower semicircular groove of the first clamping jaw 26 and the upper semicircular groove of the second clamping jaw 28, and the screw 27 is screwed into the pedicle by a screwdriver, so that the pedicle screw placement action is completed.
Claims (7)
1. A spinal pedicle screw positioning system, comprising:
the operating table can be stably placed on the ground and can be used for patients to lie on the back; the operating table is provided with a vertical axis scale, a horizontal axis scale and a vertical axis scale which are used for marking the space coordinate position of the affected part;
the first limiting column and the second limiting column are respectively arranged at two sides of the front end of the operating table and are locked by the two locking wheels, and a first arc plate and a second arc plate are respectively arranged at the rear sides of the first limiting column and the second limiting column and are used for propping against shoulders of a patient, so that the body of the patient can be fixed;
the movable plate is arranged at the front end of the operating table and can move and position back and forth according to the length of cervical vertebrae of a patient, and an elliptical hole for placing the face of the patient to ensure smooth breathing is formed in the upper side of the movable plate; the hand wheel is arranged at the front end of the movable plate, and the movable plate can be adjusted to a proper position by rotating the hand wheel according to the cervical vertebra length of a patient, so that the patient can place the face in the elliptical hole;
the vertical arm is arranged at the left side of the operating table through the sliding table and can move and position forwards and backwards;
the transverse arm is arranged at the upper end of the vertical arm and forms a revolute pair, and the vertical shaft of the transverse arm can be driven by a first motor arranged at the upper end of the vertical arm;
the rotating piece is arranged at the front end of the cross arm and forms a revolute pair, and the transverse shaft of the rotating piece can be driven by a second motor arranged at the front end of the cross arm;
the inclined arm is arranged at the lower side of the rotating piece and forms a revolute pair, the vertical shaft of the inclined arm can be driven by a third motor arranged in the rotating piece, and the included angle between the extending direction of the main body of the inclined arm and the rotation axis of the output shaft of the third motor is 45 degrees;
the execution piece is arranged at the lower end of the inclined arm and forms a revolute pair, and the rotation of the execution piece is driven by a fourth motor arranged at the lower end of the inclined arm;
the positioning mechanism is arranged at the lower end of the executing piece and forms a thread pair; the positioning mechanism comprises a threaded pipe, a first nut, a second nut, a spring, a first connecting rod, a first clamping jaw, a screw, a second clamping jaw, a second connecting rod and a sliding piece, wherein the first clamping jaw and the second clamping jaw are respectively arranged on the upper side and the lower side of the threaded pipe and form a revolute pair, the sliding piece and the threaded pipe form a movable pair and are respectively connected with the first clamping jaw and the second clamping jaw through the first connecting rod and the second connecting rod, and the spring can push the sliding piece to move forwards so as to realize mutual clamping of the first clamping jaw and the second clamping jaw; the upper side of the left end of the first clamping jaw is provided with a lower semicircular groove, the lower side of the left end of the second clamping jaw is provided with an upper semicircular groove, and the lower semicircular groove and the upper semicircular groove are combined to form a guide round hole for guiding a screw; the left end of the first clamping jaw is provided with a first inclined plane, and the left end of the second clamping jaw is provided with a second inclined plane; the first nut and the threaded pipe are coaxially arranged and form a threaded pair, and the first nut can be used for adjusting the elasticity of the spring, so that the clamping force between the first clamping jaw and the second clamping jaw is adjusted; the second nut is arranged at the rear end of the threaded pipe and forms a threaded pair, and the second nut and the executing piece can form a double-nut locking structure; the positioning mechanism can be used for guiding the installation of pedicle screws;
and the control system is used for carrying out image acquisition on affected parts through a medical X-ray machine, calculating space coordinate data of the target pedicle, transmitting the processed data to the sliding table, the first motor, the second motor, the third motor and the fourth motor, and enabling the sliding table, the first motor, the second motor, the third motor and the fourth motor to perform corresponding actions, so that the left end of the positioning mechanism is finally moved to the target pedicle.
2. A spinal pedicle screw positioning system as recited in claim 1, wherein: and the scale marks of the vertical axis scale, the horizontal axis scale and the vertical axis scale are made of lead wires.
3. A spinal pedicle screw positioning system as recited in claim 1, wherein: the first motor, the second motor, the third motor and the fourth motor are all connected with a cycloid speed reducer to serve as power transmission components.
4. A spinal pedicle screw positioning system as recited in claim 1, wherein: the control system can determine the space three-dimensional coordinate data of the target pedicle of the affected part according to the projection positions of the affected part on the vertical axis scale, the horizontal axis scale and the vertical axis scale.
5. A spinal pedicle screw positioning system as recited in claim 1, wherein: the tail cap of the screw can press the first inclined plane and the second inclined plane to prop the first clamping jaw and the second clamping jaw open, so that the screw can be separated from the positioning mechanism and fixed on the pedicle.
6. A spinal pedicle screw positioning system as recited in claim 1, wherein: the lower end of the executing piece is provided with a threaded hole, and the central axis of the threaded hole is perpendicular to the rotation axis of the output shaft of the fourth motor.
7. A spinal pedicle screw positioning system as recited in claim 1, wherein: the threaded pipe is of an inverted T-shaped structure, a round hole which is communicated left and right is formed in the center of the threaded pipe, an empty groove is formed in the left end of the threaded pipe, the front end of the round hole in the center of the threaded pipe is radially opened by the empty groove, a smooth section is arranged on the threaded pipe on the right side of the empty groove, the smooth section is of a cylindrical section structure with a smooth outer surface, and the right side of the smooth section is of an external thread structure; the threaded pipe is arranged in a threaded hole at the lower end of the executing piece to form a threaded pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210226069.0A CN114631962B (en) | 2022-03-08 | 2022-03-08 | Vertebral pedicle screw positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210226069.0A CN114631962B (en) | 2022-03-08 | 2022-03-08 | Vertebral pedicle screw positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114631962A CN114631962A (en) | 2022-06-17 |
| CN114631962B true CN114631962B (en) | 2023-10-10 |
Family
ID=81947684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210226069.0A Active CN114631962B (en) | 2022-03-08 | 2022-03-08 | Vertebral pedicle screw positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114631962B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688341A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Digital spinal surgery device based on micro clearance positioning |
| CN106691600A (en) * | 2016-11-21 | 2017-05-24 | 胡磊 | Spine pedicle screw implanting and locating device |
| CN108214379A (en) * | 2017-12-25 | 2018-06-29 | 杭州沈大侠教育咨询有限公司 | Anti-skidding screw wrench and the method for taking out wood screw |
| CN209789995U (en) * | 2018-10-23 | 2019-12-17 | 嘉兴市第二医院 | Pedicle screw navigation system under X-ray machine |
| CN211355837U (en) * | 2019-07-23 | 2020-08-28 | 天津正天医疗器械有限公司 | Positioning nail implanting device |
| CN212347318U (en) * | 2020-03-23 | 2021-01-15 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Fixation clamp for blood purification |
| CN113081228A (en) * | 2020-09-01 | 2021-07-09 | 徐州丹奕工程科技有限公司 | Caudal tooth extractor for orthopedic pedicle screws |
| CN113440257A (en) * | 2021-06-28 | 2021-09-28 | 哈尔滨工业大学 | Hand-held type spinal surgery high accuracy location arm |
| CN113907886A (en) * | 2021-06-23 | 2022-01-11 | 上海极睿医疗科技有限公司 | Operation execution arm, system and control system of spine operation robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2020328538A1 (en) * | 2019-08-12 | 2022-03-03 | Integrity Implants Inc. | Spinal orientation system |
-
2022
- 2022-03-08 CN CN202210226069.0A patent/CN114631962B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688341A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Digital spinal surgery device based on micro clearance positioning |
| CN106691600A (en) * | 2016-11-21 | 2017-05-24 | 胡磊 | Spine pedicle screw implanting and locating device |
| CN108214379A (en) * | 2017-12-25 | 2018-06-29 | 杭州沈大侠教育咨询有限公司 | Anti-skidding screw wrench and the method for taking out wood screw |
| CN209789995U (en) * | 2018-10-23 | 2019-12-17 | 嘉兴市第二医院 | Pedicle screw navigation system under X-ray machine |
| CN211355837U (en) * | 2019-07-23 | 2020-08-28 | 天津正天医疗器械有限公司 | Positioning nail implanting device |
| CN212347318U (en) * | 2020-03-23 | 2021-01-15 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Fixation clamp for blood purification |
| CN113081228A (en) * | 2020-09-01 | 2021-07-09 | 徐州丹奕工程科技有限公司 | Caudal tooth extractor for orthopedic pedicle screws |
| CN113907886A (en) * | 2021-06-23 | 2022-01-11 | 上海极睿医疗科技有限公司 | Operation execution arm, system and control system of spine operation robot |
| CN113440257A (en) * | 2021-06-28 | 2021-09-28 | 哈尔滨工业大学 | Hand-held type spinal surgery high accuracy location arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114631962A (en) | 2022-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102755188B (en) | Cone odontoid screw sighting device | |
| CN106691493A (en) | Lower lib fracture lens gasket | |
| CN102499741B (en) | Spinal column correcting instrument | |
| CN208784808U (en) | A kind of multidirectional pull device for spinal surgery | |
| CN204971760U (en) | Platform is diagnose to vertebra | |
| CN114631962B (en) | Vertebral pedicle screw positioning system | |
| CN107736929B (en) | Fracture traction reduction method and device | |
| CN107496015A (en) | Reduction of the fracture mechanism | |
| CN103040507A (en) | Reset fixing frame for orthopedics | |
| CN202751439U (en) | Odontoid process screw aiming device | |
| CN106943185B (en) | A kind of controllable limbs reduction unit | |
| CN202283273U (en) | Vertebral column orthopedic instrument | |
| CN109009374A (en) | A kind of fracture of humerus auxiliary reset device | |
| CN205339091U (en) | Ankle joint external fixation of fracture frame | |
| CN101606871B (en) | Scoliosis towing and pushing bed | |
| CN107349004A (en) | A kind of bone cement auxiliary injection unit | |
| CN204260804U (en) | Spinal osteotomy reset guide device | |
| CN113648065A (en) | Clamping apparatus of pelvic fracture reduction robot | |
| CN114587561B (en) | Cervical pedicle screw locator | |
| CN209404874U (en) | A kind of minimally invasive fan-shaped osteotomy device | |
| CN209091601U (en) | A kind of orthopaedics reduction pinning device | |
| CN208838127U (en) | Spinal orthosis | |
| CN208426196U (en) | A kind of fracture of femoral shaft three-dimensional closed restorer | |
| CN209004113U (en) | The tool of a set of Fibula autograft implanted treatment avascular necrosis of femoral head | |
| CN2419940Y (en) | Two Purpose external fixed for curing clavicular fracture and acromioclavicular joint dislocation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhao Zhili Inventor after: Gao Hong Inventor before: Gao Hong |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230907 Address after: No. 169, Changle West Road, Xi'an, Shaanxi 710038 Applicant after: Air Force Medical University Address before: 134599 Department of Orthopaedics, Fusong people's Hospital, No. 116, Jinjiang Road, Fusong County, Baishan City, Jilin Province Applicant before: Gao Hong |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |