CN114681069A - Stereotactic transmission system for controlling elongated members - Google Patents

Stereotactic transmission system for controlling elongated members Download PDF

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Publication number
CN114681069A
CN114681069A CN202011632717.XA CN202011632717A CN114681069A CN 114681069 A CN114681069 A CN 114681069A CN 202011632717 A CN202011632717 A CN 202011632717A CN 114681069 A CN114681069 A CN 114681069A
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CN
China
Prior art keywords
guide
distal end
housing body
drive
bone screw
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Granted
Application number
CN202011632717.XA
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Chinese (zh)
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CN114681069B (en
Inventor
爱新觉罗·启轩
刘文博
吴朝
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Sinovation Beijing Medical Technology Co ltd
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Sinovation Beijing Medical Technology Co ltd
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Priority to CN202011632717.XA priority Critical patent/CN114681069B/en
Priority to PCT/CN2021/143704 priority patent/WO2022143986A1/en
Priority to CN202180066111.0A priority patent/CN116761567A/en
Publication of CN114681069A publication Critical patent/CN114681069A/en
Application granted granted Critical
Publication of CN114681069B publication Critical patent/CN114681069B/en
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    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/90—Guides therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1402—Probes for open surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
    • A61B2018/0212—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument inserted into a body lumen, e.g. catheter
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Abstract

The embodiment of the invention discloses a three-dimensional directional transmission system for controlling an elongated member. The system comprises a guiding device, a transmission sleeve, an insertion piece and a rotary driving device, wherein the guiding device is connected with the far end of the transmission sleeve, the near end of the transmission sleeve is connected with the far end of the insertion piece, in the use state, an elongated member penetrates through the insertion piece, the transmission sleeve and the guiding device, the far end of the elongated member can extend out of the far end of the guiding device, and the rotary driving device drives the elongated member to rotate. In the embodiment of the invention, the rotation control of the slender member is realized by driving the slender member to rotate through the rotation driving device, the directional control of the slender member can be realized without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the installation is simple and convenient.

Description

Stereotactic transmission system for controlling elongated members
Technical Field
The invention relates to the technical field of medical treatment, in particular to a stereotactic transmission system for controlling an elongated member.
Background
At present, minimally invasive interventional therapy has significant advantages and application prospects for various diseases, and when the minimally invasive interventional therapy is carried out, a slender component needs to be used as an interventional tool to enter a human body for treatment, such as: the elongate member may be an optical fibre, a liquid nitrogen catheter or a radio frequency probe.
In order to control the orientation of the slender member, the prior art needs to install an additional support structure at the patient position, such as the skull, so as to control the orientation of the slender member, however, the additional support structure increases the number of bone nails implanted in the skull, increases the pain of the patient, and is complicated and inconvenient to install.
Disclosure of Invention
The invention provides a stereotactic transmission system for controlling an elongated member, which is used for driving the elongated member to rotate through a rotation driving device, realizing the directional control of the elongated member without additionally installing a supporting structure at the skull, reducing the pain of a patient and being simple and convenient to install. The specific technical scheme is as follows:
in a first aspect, the present invention provides a stereotactic drive system for controlling an elongate member, comprising: the device comprises a guide device, a transmission sleeve, an insert and a rotary driving device;
the guiding device is connected with the distal end of the transmission sleeve, and the proximal end of the transmission sleeve is connected with the distal end of the plug-in unit;
in use, an elongate member passes through the inserter, the drive sleeve and the guide, a distal end of the elongate member is extendable from a distal end of the guide, and the rotary drive drives the elongate member to rotate.
Optionally, the stereotactic transmission system for controlling the elongated member further includes a front-back translation driving device, the rotation driving device is slidably connected to the front-back translation driving device, and the front-back translation driving device drives the rotation driving device to move along the length direction of the elongated member.
Optionally, the insert is connected to the forward and backward translation drive device.
Optionally, the guide comprises a hollow elongate structure guide and a guide housing;
a proximal end of the hollow elongate structural guide is coupled to a distal end of the guide housing, and a proximal end of the guide housing is coupled to a distal end of the drive sleeve;
the elongate member passes through the guide housing and the hollow elongate structure guide, and a distal end of the elongate member may protrude from a distal end of the hollow elongate structure guide.
Optionally, the guiding device housing is a first bone screw cap, the proximal end of the hollow elongate structure guiding member is in threaded connection with the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is connected with the distal end of the transmission sleeve.
Optionally, the guide housing comprises a second bone screw cap, a guide housing body and a drive sleeve mounting base;
the proximal end of the hollow elongated structure guide is in threaded connection with the distal end of the second bone screw cap, the proximal end of the second bone screw cap is connected with the distal end of the guide device housing body, the transmission sleeve mounting base is arranged at the proximal end of the guide device housing body, and the transmission sleeve mounting base is connected with the distal end of the transmission sleeve;
the elongated member passes through the drive sleeve mounting base, the guide housing body, and the second bone screw cap.
Optionally, the guiding device housing further comprises a bone screw adapter bolt, when the second bone screw cap is screwed on the hollow elongated structure guiding member, the distal end of the bone screw adapter bolt is fixed in the second bone screw cap, the proximal end of the bone screw adapter bolt is in threaded connection with the distal end of the guiding device housing body, and the elongated member passes through the bone screw adapter bolt.
Optionally, the guiding device housing body comprises a guiding device housing body fixing part and a guiding device housing body sliding part, the proximal end of the second bone screw cap is connected with the distal end of the guiding device housing body fixing part, the proximal end of the guiding device housing body fixing part is connected with the distal end of the guiding device housing body sliding part, and the transmission sleeve mounting base is arranged at the proximal end of the guiding device housing body sliding part;
the elongated member passes through the guide housing body sliding portion and the guide housing body fixing portion.
Optionally, the guiding device shell body fixing part and/or the guiding device shell body sliding part are/is provided with a graduated scale, the guiding device shell body fixing part and the guiding device shell body sliding part can move relatively, and the graduated scale displays the distance of the relative movement.
Optionally, the guiding device further comprises a first angle sensor and a first rotational positioning device;
the first angular sensor and the first rotational positioning device are both mounted within the guide housing, and the elongate member passes through the first rotational positioning device and the first angular sensor.
Optionally, the guiding device further comprises a cooling sleeve, a cooling circulation assembly and a sealing plug;
the cooling circulation assembly and the sealing plug are sequentially mounted in the guider housing along the direction from the far end to the near end;
the cooling jacket passes through the sealing plug and the cooling circulation assembly in sequence, the elongate member being disposed within the cooling jacket.
Optionally, the insert comprises an insert housing and an insert drive sleeve mounting base;
the plug-in transmission sleeve mounting base is arranged at the far end of the plug-in shell and is connected with the near end of the transmission sleeve;
the elongated member passes through the insert housing and the insert drive sleeve mounting base.
Optionally, the insert further comprises a second angle sensor and a second rotational positioning device;
the second rotational positioning device and the second angle sensor are both mounted within the package housing, and the elongate member passes through the second rotational positioning device and the second angle sensor.
Optionally, the card housing includes an upper card housing and a lower card housing;
the lower shell of the plug-in unit comprises an extension part and a lower connecting part which are connected with each other, the upper shell of the plug-in unit and the lower connecting part are mutually covered to form a containing cavity, and the second rotary positioning device and the second angle sensor are arranged in the containing cavity.
Optionally, the rotary drive device comprises a first driver;
the first driver is coupled to the elongated member, the first driver driving the elongated member to rotate about its axis.
Optionally, the rotation driving device further comprises a rotation device base;
the first driver is mounted to the swivel base.
Optionally, the rotary drive device further comprises an elongate member adaptor;
in use, the first driver drives the elongate member adapter in rotation, the distal end of the elongate member adapter being connected to the elongate member.
Optionally, the front-back translation driving device includes a front-back translation driving device base, at least one slide rail, a lead screw, a sliding block, and a second driver;
the sliding block is arranged in parallel with the lead screw and penetrates through the sliding block, two ends of the at least one sliding rail are fixedly installed on the front and back translation driving device base, the lead screw is connected to the front and back translation driving device base in a rotating mode, the lead screw is driven to rotate by the second driver, the second driver is installed on the front and back translation driving device base, and the rotation driving device is installed on the sliding block.
As can be seen from the above, the stereotactic drive system for controlling an elongated member according to embodiments of the present invention comprises a guide device, a drive sleeve, an insert, and a rotation driving device, wherein the guide device is connected to a distal end of the drive sleeve, a proximal end of the drive sleeve is connected to a distal end of the insert, in a use state, the elongated member passes through the insert, the drive sleeve, and the guide device, a distal end of the elongated member can extend from the distal end of the guide device, and the rotation driving device drives the elongated member to rotate. In the embodiment of the invention, the rotation control of the slender member is realized by driving the slender member to rotate through the rotation driving device, the directional control of the slender member can be realized without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the installation is simple and convenient. Of course, it is not necessary for any product or method to achieve all of the above-described advantages at the same time for practicing the invention.
The innovation points of the embodiment of the invention comprise:
1. through the mode of connecting the rotary driving device to the front and back translation driving device in a sliding manner, the front and back translation driving device can drive the rotary driving device to move along the length direction of the slender component, so that the slender component moves along with the movement of the rotary driving device, and the control of the movement of the slender component along the length direction is realized through the front and back translation driving device.
2. The rotation control of the slender component is realized by driving the slender component to rotate through the rotation driving device, the directional control of the slender component can be realized without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the installation is simple and convenient.
3. By providing the first rotational positioning means and the first angle sensor, the angle of rotation of the elongate member within the housing of the guide means can be detected.
4. The scale is provided on the guide housing body fixing portion and/or the guide housing body sliding portion, so that the distance of the relative movement between the guide housing body fixing portion and the guide housing body sliding portion can be displayed.
5. By providing the second rotary positioning device and the second angle sensor, the rotation angle of the elongated member located in the housing of the card can be detected, so that the control device performs subsequent control operations such that the rotation angle of the first rotary positioning device is the same as the rotation angle of the second rotary positioning device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, further figures can be obtained from these figures.
FIG. 1 is a schematic block diagram of a stereotactic drive system for controlling an elongate member according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a guide device according to an embodiment of the present invention;
FIG. 3 is an exploded view of an angle of a first rotational positioning apparatus and a first angle sensor provided by an embodiment of the present invention;
FIG. 4 is an exploded view of another angle of the first rotational positioning apparatus and the first angle sensor provided in accordance with an embodiment of the present invention;
FIG. 5 is a cross-sectional view of FIG. 2;
FIG. 6 is a schematic view of an insert;
FIG. 7 is another schematic view of the construction of the insert;
FIG. 8 is a schematic structural view of a rotary driving device;
FIG. 9 is a cross-sectional view of FIG. 8;
fig. 10 is a schematic structural view of the forward-backward translation driving device.
In fig. 1-10, 1 guide, 11 hollow elongated structure guide, 12 second bone screw cap, 13 drive sleeve mounting base, 14 guide housing body mount, 15 guide housing body slide, 16 scale, 17 bone screw adapter bolt, 171 bolt boss, 18 first angle sensor, 19 first rotational positioning means, 2 drive sleeve, 21 body, 211 boss, 22 adjustable press, 23 bearing, 24 first shaft, 25 second shaft, 26 first hole, 3 insert, 31 insert housing, 311 insert upper housing, 312 insert lower housing, 3121 extension, 3122 lower connection, 32 insert drive sleeve mounting base, 33 second angle sensor, 34 second rotational positioning means, 4 rotational drive means, 41 first driver, 42 rotational device base, 43 elongated member adapter, 44 jumper fiber splice, 45 jumper fiber sleeve, 5 a forward and backward translation driving device, 51 a forward and backward translation driving device base, 52 a sliding rail, 53 a lead screw, 54 a sliding block, 55 a second driver, 56 a driven wheel, 57 a driving wheel, 6 a plug connecting piece, 7 an elongated component, 71 an elongated component plug, 50 a clamping hole, 60 a cooling sleeve, 70 a cooling circulation component, 80 a sealing plug and 90 a cooling circulation component cap.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a stereotactic transmission system for controlling a slender member, which can drive the slender member to rotate through a rotary driving device, realize the directional control of the slender member without additionally installing a supporting structure at the skull, reduce the pain of a patient and is simple and convenient to install. The following provides a detailed description of embodiments of the invention.
Fig. 1 is a schematic structural diagram of a stereotactic drive system for controlling an elongate member according to an embodiment of the present invention. Referring to fig. 1, an embodiment of the present invention provides a stereotactic drive system for controlling an elongate member, comprising: a guide 1, a drive sleeve 2, an insert 3 and a rotary drive 4.
The guiding device 1 is connected to the distal end of a drive sleeve 2, the proximal end of the drive sleeve 2 being connected to the distal end of an insert 3.
In use, the elongate member passes through the insert 3, the drive sleeve 2 and the guide 1, the distal end of the elongate member may extend from the distal end of the guide 1, and the rotation drive means 4 drives the elongate member to rotate.
The insert 3 may be fixed to any structure as long as the proximal end of the insert 3 is opposite to the distal end of the rotation driving device 4 after being fixed, so that the rotation driving device 4 can drive the elongated member to rotate, and the elongated member can move along the axial direction of the insert 3 and rotate around the axis of the elongated member. For example, the insert 3 is fixed to a dedicated bracket.
In summary, the stereotactic transmission system for controlling an elongated member according to the embodiments of the present invention comprises a guiding device 1, a transmission sleeve 2, an insert 3 and a rotation driving device 4, wherein the guiding device 1 is connected to a distal end of the transmission sleeve 2, a proximal end of the transmission sleeve 2 is connected to a distal end of the insert 3, in a use state, the elongated member passes through the insert 3, the transmission sleeve 2 and the guiding device 1, the distal end of the elongated member can extend from the distal end of the guiding device 1, and the rotation driving device 4 drives the elongated member to rotate. In the embodiment of the invention, the rotation control of the slender member is realized by driving the slender member to rotate through the rotation driving device, the directional control of the slender member can be realized without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the installation is simple and convenient.
With continued reference to fig. 1, the stereotactic transmission system for controlling an elongated member according to an embodiment of the present invention may further include a front-back translation driving device 5, the rotation driving device 4 is slidably connected to the front-back translation driving device 5, and the rotation driving device 4 is slidably connected to the front-back translation driving device 5 in various ways, which is not limited in this respect by the embodiment of the present invention. Since the rotation driving device 4 is slidably connected to the forward and backward translation driving device 5, the forward and backward translation driving device 5 can drive the rotation driving device 4 to move along the length direction of the elongated member, so that the elongated member moves along with the movement of the rotation driving device 4.
The insert 3 may be further fixed to the forward and backward translation driving device 5, and there are various ways of fixedly connecting the insert 3 to the forward and backward translation driving device 5, for example, referring to fig. 1, the stereotactic transmission system for controlling an elongated member according to the embodiment of the present invention may further include an insert connecting member 6, one end of the insert connecting member 6 is fixedly connected to the forward and backward translation driving device 5, and the other end is fixedly connected to the insert 3, so that the insert 3 is fixedly connected to the forward and backward translation driving device 5 through the insert connecting member 6.
Therefore, the front-back translation driving device 5 can drive the rotation driving device 4 to move along the length direction of the slender component by connecting the rotation driving device 4 to the front-back translation driving device 5 in a sliding manner, so that the slender component moves along with the movement of the rotation driving device 4, and the control of the movement of the slender component along the length direction is realized through the front-back translation driving device.
The various components of the stereotactic drive system for controlling the elongate member are described in detail below:
fig. 2 is a schematic structural view of the guiding device 1 provided by the embodiment of the invention, and referring to fig. 2, the guiding device 1 comprises a hollow elongated structure guiding element 11 and a guiding device shell, wherein the proximal end of the hollow elongated structure guiding element 11 is connected with the distal end of the guiding device shell, and the proximal end of the guiding device shell is connected with the distal end of the transmission sleeve 2.
The elongate member passes through the guide housing and the hollow elongate structural guide 11, and the distal end of the elongate member may protrude from the distal end of the hollow elongate structural guide 11.
Wherein the hollow elongate structure guide 11 is hollow and can guide an elongate member, the hollow elongate structure guide 11 may be, for example, a hollow bone screw.
There are various configurations of the housing of the guide, including but not limited to the following:
the first method comprises the following steps:
the guiding device shell is a first bone screw cap, the proximal end of the hollow slender structure guiding piece 11 is in threaded connection with the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is connected with the distal end of the transmission sleeve 2.
In case the guide housing is a first bone screw cap, the guide 1 may further comprise a first angle sensor and a first rotational positioning means, both mounted within the guide housing, i.e. the first bone screw cap, the elongated member passing through the first rotational positioning means and the first angle sensor.
Specifically, the first angle sensor is detachably connected with the first rotary positioning device, and the elongated member passes through the first rotary positioning device and the first angle sensor, can move along the axial direction and can rotate around the axis of the elongated member. In a use state, the first rotary positioning device clamps the slender component according to preset pressure, the slender component is allowed to move along the length direction of the slender component, meanwhile, the slender component drives the first rotary positioning device to rotate, the first angle sensor detects the rotation angle of the first rotary positioning device, and the slender component drives the first rotary positioning device to rotate, so that the rotation angle of the first rotary positioning device, detected by the first angle sensor, is the rotation angle of the slender component, and the first angle sensor sends the detected rotation angle to the control device.
Thereby, by means of the provision of the first rotational positioning means and the first angle sensor, the angle of rotation of the elongated member within the housing of the guiding device can be detected.
The structure of the first rotary positioning device is described as follows:
fig. 3 is an exploded view of an angle of the first rotational positioning device and the first angle sensor provided in the embodiment of the present invention, and fig. 4 is an exploded view of another angle of the first rotational positioning device and the first angle sensor provided in the embodiment of the present invention. Referring to fig. 3-4, the first rotational positioning device may include a body 21, at least one adjustable press 22, two bearings 23, a first shaft 24 and a second shaft 25.
The side of the main body 21 is provided with two holes, one end of the main body 21 is provided with a groove, the groove divides the two holes into two parts, the groove bottom of the groove is provided with a through hole, one end face of the main body 21 is provided with a first hole 26 matched with the adjustable jacking device 22, one of the two holes close to the first hole 26 is communicated with the first hole 26, the two bearings 23 are arranged in the groove, the first shaft 24 is arranged in one of the two holes through one bearing 23 of the two bearings 23, the second shaft 25 is arranged in the other hole of the two holes through the other bearing 23 of the two bearings 23, the adjustable jacking device 22 is arranged in the first hole 26, and the slender component 7 is arranged between the two bearings 23 and passes through the through hole at the groove bottom.
Illustratively, the centerlines of the two bores are parallel to each other.
In the use state, the adjustable pressure ram 22 is screwed, the two bearings 23 clamp the elongated member 7, the pressure between the two bearings 23 and the elongated member 7 reaches a predetermined value, that is, the position of the shaft in the hole of the two holes communicating with the first hole 26 can be adjusted by screwing the adjustable pressure ram 22, so that the shaft in the hole of the two holes communicating with the first hole 26 drives the bearing 23 through which it passes to apply pressure to the elongated member 7, and simultaneously, the shaft in the hole of the two holes not communicating with the first hole 26 also applies pressure to the elongated member 7 through the bearing 23 through which it passes, thereby adjusting the pressure between the two bearings 23 and the elongated member 7 to a predetermined value by screwing the adjustable pressure ram 22.
In order to adjust the position of the shaft in the hole communicating with the first hole 26 of the two holes by tightening the adjustable press 22, it is necessary to set the size of the hole communicating with the first hole 26 of the two holes larger than the size of the shaft provided in itself.
The shaft in the bore, which is not communicated with the first bore 26, of the two bores may be fixedly disposed in the bore, and the embodiment of the present invention is not limited thereto as long as the shaft in the bore can apply pressure to the elongated member 7 through the bearing 23 through which it passes.
And the type of the bearing 23 is not limited in the embodiment of the present invention, and the bearing 23 may be a bushing, for example.
For example, the number of the adjustable rams 22 may be 2 and the number of the first holes 26 may be 2. Two first holes 26 may be provided on either side of the recess.
With continued reference to fig. 3-4, in case the rotational positioning device 2 comprises a body 21, at least one adjustable press 22, two bearings 23, a first shaft 24 and a second shaft 25, the other end of the body 21 is provided with a protrusion 211, the protrusion 211 is provided with a through hole, the through hole of the protrusion 211 communicates with the through hole of the groove bottom, the elongated member 7 passes through the through hole of the protrusion 211, the first angle sensor is provided with a snap hole 50, and the protrusion 211 snaps into the snap hole 50.
The first angle sensor and the first rotary positioning device can be detachably connected by a mode that a protrusion 211 is arranged at the other end of the main body 21, a clamping hole 50 is arranged on the first angle sensor, and the protrusion 211 and the clamping hole 50 are clamped to connect the first angle sensor and the first rotary positioning device together.
In one implementation manner, the left side and the right side of the protrusion 211 are arc-shaped, the clamping hole 50 of the first angle sensor is horseshoe-shaped, and the protrusion 211 is clamped with the horseshoe-shaped clamping hole 50.
Therefore, the first angle sensor is detachably connected with the first rotary positioning device in a mode that the protrusion 211 is arranged at the other end of the main body 21 and the clamping hole 50 is arranged on the first angle sensor.
And the second method comprises the following steps:
with continued reference to fig. 2, the guide housing may include a second bone screw cap 12, a guide housing body, and a drive sleeve mounting base 13.
The proximal end of the hollow elongated structure guide 11 is in threaded connection with the distal end of the second bone screw cap 12, the proximal end of the second bone screw cap 12 is connected with the distal end of the guide housing body, the drive sleeve mounting base 13 is arranged at the proximal end of the guide housing body, the drive sleeve mounting base 13 is connected with the distal end of the drive sleeve 2, and the elongated member 7 passes through the drive sleeve mounting base 13, the guide housing body and the second bone screw cap 12.
When the bone screw cap is used, the near end of the second bone screw cap 12 is connected with the far end of the guiding device shell body, the transmission sleeve mounting base 13 is arranged at the near end of the guiding device shell body, the transmission sleeve mounting base 13 is connected with the far end of the transmission sleeve 2, and then the far end of the second bone screw cap 12 is in threaded connection with the near end of the hollow elongated structure guiding piece 11.
The guiding device housing body and the transmission sleeve mounting base 13 may be an integral structure or a non-integral structure, which is not limited in this embodiment of the present invention.
When the guide housing body is a non-integral structure, for example, fig. 5 is a cross-sectional view of fig. 2, referring to fig. 2 and 5, the guide housing body may include a guide housing body fixing portion 14 and a guide housing body sliding portion 15, a proximal end of the second bone screw cap 12 may be connected to a distal end of the guide housing body fixing portion 14, a proximal end of the guide housing body fixing portion 14 may be connected to a distal end of the guide housing body sliding portion 15, a driving sleeve mounting base 13 may be provided at a proximal end of the guide housing body sliding portion 15, and the elongated member 7 may pass through the guide housing body sliding portion 15 and the guide housing body fixing portion 14.
With continued reference to fig. 5, the guide housing body fixing part 14 and/or the guide housing body sliding part 15 are provided with a scale 16, the guide housing body fixing part 14 and the guide housing body sliding part 15 are relatively movable, the scale 16 shows the distance of the relative movement, i.e. in use, the guide housing body sliding part 15 can be pulled away from the guide housing body fixing part 14, and the pull-out distance can be read from the scale 16 every time the guide housing body sliding part 15 is pulled out by a distance, in fig. 5 the guide housing body sliding part 15 is provided with the scale 16.
Accordingly, by providing the scale 16 on the guide housing body fixing portion 14 and/or the guide housing body sliding portion 15, the distance of the relative movement between the guide housing body fixing portion 14 and the guide housing body sliding portion 15 can be displayed.
With continued reference to fig. 5, based on the guide housing comprising the second bone screw cap 12, the guide housing body and the drive sleeve mounting base 13, the guide housing further comprises a bone screw adapter bolt 17, the second bone screw cap 12 is screwed onto the hollow elongate structural guide 11, the distal end of the bone screw adapter bolt 17 is fixed within the second bone screw cap 12, the proximal end of the bone screw adapter bolt 17 is threadedly connected to the distal end of the guide housing body, and the elongate member 7 passes through the bone screw adapter bolt 17.
Specifically, the bone screw adapter bolt 17 is provided with a bolt protrusion 171, the size of the bolt protrusion 171 is larger than the size of the opening at the proximal end of the second bone screw cap 12, and when the second bone screw cap 12 is screwed on the hollow elongated structure guide 11, the opening at the proximal end of the second bone screw cap 12 catches the bolt protrusion 171, so that the distal end of the bone screw adapter bolt 17 is fixed in the second bone screw cap 12.
In use, the bone screw adapter bolt 17 is inserted into the second bone screw cap 12, then the proximal end of the bone screw adapter bolt 17 is connected with the distal end of the guide housing body by screw threads, and finally the second bone screw cap 12 is screwed to the hollow elongated structure guide 11, so that the opening at the proximal end of the second bone screw cap 12 and the hollow elongated structure guide 11 catch the bolt protrusion 171.
With continued reference to fig. 2, when the guide housing is in the second configuration described above, the guide 1 may further include a first angular sensor 18 and a first rotational positioning device 19, the first angular sensor 18 and the first rotational positioning device 19 being mounted within the guide housing, the elongate member 7 passing through the first rotational positioning device 19 and the first angular sensor 18. The specific structure and connection manner of the first rotational positioning device 19 and the first angle sensor 18 are described in the first structure of the guiding device housing, and will not be described in detail herein.
Since in use some types of elongate members require a cooling seal, for example when the elongate member is an optical fibre, the guide 1 may further comprise a cooling jacket 60, a cooling circulation assembly 70 and a sealing plug 80, with the cooling circulation assembly 70 and sealing plug 80 being mounted sequentially in the guide housing in a distal to proximal direction, the cooling jacket 60 passing sequentially through the sealing plug 80 and cooling circulation assembly 70, the elongate member 7 being disposed within the cooling jacket 60, with continued reference to figure 5.
The sealing may be done in a variety of ways, and in one implementation, the guide 1 may further include a cooling circulation assembly cap 90, the cooling circulation assembly cap 90 being disposed at the proximal end of the sealing plug 80 and mounted within the guide housing, and the cooling collar 60 passing through the cooling circulation assembly cap 90.
Thereby, by providing the cooling jacket 60, the cooling circulation assembly 70 and the sealing plug 80, a cooling seal to the elongated member is achieved.
The cooling circulation assembly 70 is engaged in the guide housing body sliding portion 15, and the cooling jacket 60 can be driven to perform a longitudinal movement of a fixed distance relative to the guide housing body fixing portion 14 by the guide housing body sliding portion 15.
The structure of the insert 3 is described below:
fig. 6 is a schematic diagram of a structure of the insert 3, and referring to fig. 6, the insert 3 may include an insert housing 31 and an insert drive sleeve mounting base 32. An insert drive sleeve mounting base 32 is arranged at the distal end of the insert housing 31, the insert drive sleeve mounting base 32 being connected to the proximal end of the drive sleeve 2, the elongated member 7 passing through the insert housing 31 and the insert drive sleeve mounting base 32, the elongated member 7 being provided with an elongated member plug 71, the elongated member plug 71 being extendable from the proximal end of the insert housing 31. In one implementation, the insert housing 31 and the insert drive sleeve mounting base 32 may be a unitary structure.
Fig. 7 is another schematic structural view of the insert 3, and referring to fig. 7, since the friction force between the sealing plug 80 and the elongated member 7 and the stress accumulation of the elongated member 7 in the longitudinal direction in the case that the guiding device 1 includes the sealing plug 80 make the rotation angle of the elongated member 7 unstable after the rotation angle reaches the preset requirement at the first angle sensor, in the case that the guiding device 1 further includes the cooling jacket 60, the cooling circulation assembly 70 and the sealing plug 80, the insert 3 may further include a second angle sensor 33 and a second rotational positioning device 34, the second rotational positioning device 34 and the second angle sensor 33 are both installed in the insert housing 31, and the elongated member 7 passes through the second rotational positioning device 34 and the second angle sensor 33. The specific structure and connection mode of the second rotational positioning device 34 and the second angle sensor 33 are the same as those of the first rotational positioning device and the first angle sensor, and the differences are only the directions: the first angle sensor is positioned at the far end, and the first rotary positioning device is positioned at the near end; the second angle sensor 33 is located at the proximal end, and the second rotational positioning device 34 is located at the distal end, which can be referred to the corresponding description when the guiding device housing is in the above-mentioned first structure, and will not be described herein again.
The second angle sensor 33 detects the rotation angle of the second rotational positioning device 34 and sends the rotation angle to the control device, and after receiving the rotation angle of the second rotational positioning device 34, the control device performs subsequent control operations so that the rotation angle of the first rotational positioning device is the same as the rotation angle of the second rotational positioning device 34.
Thereby, by providing the second rotational positioning means 34 and the second angle sensor 33, the rotation angle of the elongated member located inside the card housing 13 can be detected, so that the control means performs a subsequent control operation such that the rotation angle of the elongated member 7 at the first angle sensor is the same as the rotation angle at the second angle sensor 33.
The mechanism of the card housing 31 is various, and the embodiment of the present invention is not limited in any way, for example, referring to fig. 7, the card housing 31 may include an upper card housing 311 and a lower card housing 312, the lower card housing 312 includes an extension portion 3121 and a lower connection portion 3122 connected to each other, the upper card housing 311 and the lower connection portion 3122 cover each other to form a receiving cavity, and the second rotational positioning device 34 and the second angle sensor 33 are installed in the receiving cavity.
The rotary drive 4 is described below:
fig. 8 is a schematic structural view of the rotation driving device 4, and referring to fig. 8, the rotation driving device 4 includes a first driver 41, the first driver 41 is connected with the elongated member 7, and the first driver 41 drives the elongated member 7 to rotate around its axis.
The first driver 41 may be configured in various forms, including but not limited to an electric motor, a hydraulic form and a pneumatic form, and the embodiment of the present invention is not limited thereto.
The first driver 41 can be connected with the elongated member 7 in various ways, and for example, the rotary driving device 4 can further include a first transmission mechanism, the first driver 41 is connected with the first transmission mechanism, and the first transmission mechanism is connected with the elongated member 7, so that the first driver 41 drives the elongated member 7 to rotate around its axis through the first transmission mechanism connection.
The first transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
Thereby, driving the elongated member 7 in rotation about its own axis is achieved by the first driver 41.
With continued reference to fig. 8, the rotary drive 4 may further include a rotary drive base 42, with the first driver 41 mounted to the rotary drive base 42.
Since some types of elongate members require an adapter to be used in use, for example where the elongate member 7 is an optical fibre, fig. 9 is a cross-sectional view of fig. 8, and referring to fig. 9, the rotary drive device 4 may further comprise an elongate member adapter 43, the first driver 41 driving the elongate member adapter 43 to rotate in use, the distal end of the elongate member adapter 43 being connected to the elongate member 7.
Since the distal end of the elongate member adapter 43 is connected to the elongate member 7, when the first driver 41 drives the elongate member adapter 43 to rotate, the elongate member adapter 43 carries the elongate member 7 with it.
With continued reference to fig. 9, when the elongate member 7 is an optical fiber, the ablation fiber is connected to the distal end of the elongate member adapter 43, and a delivery fiber is included, the distal end of which is connected to the proximal end of the jumper fiber optic connector 44, and the proximal end of which is connected to the laser generator. When the ablation device is used, the distal end of the jumper optical fiber connector 44 is connected with the elongated member adapter 43, the jumper optical fiber connector 44 is fixedly connected with the rotating device base 42 through the jumper optical fiber sleeve 45, then the distal end of the jumper optical fiber connector 44 is disconnected with the distal end of the elongated member adapter 43, the elongated member adapter 43 is connected with the ablation optical fiber, and at the moment, when the first driver 41 drives the elongated member adapter 43 to rotate, the elongated member adapter 43 can drive the ablation optical fiber connected with the elongated member adapter to rotate along with the elongated member adapter, and ablation treatment can be performed through the ablation optical fiber.
The forward-backward translation drive means 5 will be described below:
fig. 10 is a schematic structural view of the forward/backward translation driving device 5, and referring to fig. 10, the forward/backward translation driving device 5 may include a forward/backward translation driving device base 51, at least one slide rail 52, a lead screw 53, a slide block 54, and a second driver 55.
At least one slide rail 52 and a lead screw 53 are arranged in parallel and both penetrate through a slide block 54, two ends of the at least one slide rail 52 are fixedly installed on the front and back translation driving device base 51, the lead screw 53 is rotatably connected to the front and back translation driving device base 51, a second driver 55 drives the lead screw 53 to rotate, the second driver 55 is installed on the front and back translation driving device base 51, and the rotary driving device 4 is installed on the slide block 54.
In use, the second driver 55 drives the lead screw 53 to rotate, the lead screw 53 drives the slide block 54 to move along the slide rail, and the slide block 54 can drive the rotary driving device 4 to move along the length direction of the elongated member 7 because the rotary driving device 4 is mounted on the slide block 54.
The second driver 55 may be configured in various forms, including but not limited to an electric motor, a hydraulic form and a pneumatic form, and the embodiment of the present invention is not limited thereto.
The second driver 55 is connected to the lead screw 53 in various ways, and for example, the front-back translation driving device 5 may further include a second transmission mechanism, the second driver 55 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the other end of the lead screw 53, so that the second driver 55 is connected to the lead screw 53 through the second transmission mechanism to drive the lead screw 53 to rotate.
The second transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
Illustratively, with continued reference to fig. 10, the second transmission mechanism includes a driven wheel 56, a movable wheel 57 and a belt, the second driver 55 drives the movable wheel 57 to rotate, the movable wheel 57 is connected with the driven wheel 56 through the belt, the movable wheel 57 drives the driven wheel 56 to rotate, the driven wheel 56 is connected with the other end of the lead screw 53, and the driven wheel 56 drives the lead screw 53 to rotate.
Thus, the slide block 54 can move the rotary drive device 4 along the length direction of the elongated member 7 by means of the slide rail 52, the lead screw 53, the slide block 54 and the second driver 55.
It should be noted that the embodiments may be arbitrarily combined with each other.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (17)

1. A stereotactic drive system for controlling an elongated member, comprising: the device comprises a guide device, a transmission sleeve, an insert and a rotary driving device;
the guiding device is connected with the distal end of the transmission sleeve, and the proximal end of the transmission sleeve is connected with the distal end of the plug-in unit;
in use, an elongate member extends through the inserter, the drive sleeve and the guide, a distal end of the elongate member is extendable from a distal end of the guide, and the rotary drive drives the elongate member to rotate.
2. The apparatus of claim 1, further comprising a forward-backward translation drive, wherein the rotational drive is slidably coupled to the forward-backward translation drive, and wherein the forward-backward translation drive moves the rotational drive along the length of the elongated member.
3. The device of claim 1, wherein the guide device comprises a hollow elongated structure guide and a guide device housing;
the proximal end of the hollow elongate structural guide is connected to the distal end of the guide housing, and the proximal end of the guide housing is connected to the distal end of the drive sleeve;
the elongated member passes through the guide housing and the hollow elongated structure guide, and a distal end of the elongated member may protrude from a distal end of the hollow elongated structure guide.
4. The device of claim 3, wherein the guide housing is a first bone screw cap, a proximal end of the hollow elongate structural guide is threadably coupled to a distal end of the first bone screw cap, and a proximal end of the first bone screw cap is coupled to a distal end of the drive sleeve.
5. The device of claim 3, wherein the guide housing comprises a second bone screw cap, a guide housing body, and a drive sleeve mounting base;
the proximal end of the hollow elongated structure guide is in threaded connection with the distal end of the second bone screw cap, the proximal end of the second bone screw cap is connected with the distal end of the guide device housing body, the transmission sleeve mounting base is arranged at the proximal end of the guide device housing body, and the transmission sleeve mounting base is connected with the distal end of the transmission sleeve;
the elongated member passes through the drive sleeve mounting base, the guide housing body, and the second bone screw cap.
6. The device of claim 5, wherein the guide housing further comprises a bone screw adapter bolt, wherein a distal end of the bone screw adapter bolt is secured within the second bone screw cap when the second bone screw cap is tightened onto the hollow elongate structural guide, wherein a proximal end of the bone screw adapter bolt is threadably coupled to the distal end of the guide housing body, and wherein the elongate member passes through the bone screw adapter bolt.
7. The device of claim 5, wherein the guide housing body comprises a guide housing body securing portion and a guide housing body sliding portion, the proximal end of the second bone screw cap being coupled to the distal end of the guide housing body securing portion, the proximal end of the guide housing body securing portion being coupled to the distal end of the guide housing body sliding portion, the drive sleeve mounting seat being disposed at the proximal end of the guide housing body sliding portion;
the elongated member passes through the guide housing body sliding portion and the guide housing body fixing portion.
8. The device according to claim 7, wherein the guide housing body fixing portion and/or the guide housing body sliding portion are provided with a scale, the guide housing body fixing portion and the guide housing body sliding portion are relatively movable, and the scale shows a distance of the relative movement.
9. The apparatus of claim 4 or 5, wherein the guide means further comprises a first angle sensor and a first rotational positioning means;
the first angular sensor and the first rotational positioning device are both mounted within the guide housing, and the elongate member passes through the first rotational positioning device and the first angular sensor.
10. The apparatus of any one of claims 5 to 9, wherein the guide further comprises a cooling jacket, a cooling circulation assembly and a sealing plug;
the cooling circulation assembly and the sealing plug are sequentially mounted in the guider housing along the direction from the far end to the near end;
the cooling jacket passes through the sealing plug and the cooling circulation assembly in sequence, the elongate member being disposed within the cooling jacket.
11. The apparatus of claim 10, wherein the insert comprises an insert housing and an insert drive sleeve mounting base;
the plug-in transmission sleeve mounting base is arranged at the far end of the plug-in shell and is connected with the near end of the transmission sleeve;
the elongated member passes through the insert housing and the insert drive sleeve mounting base.
12. The apparatus of claim 11, wherein the insert further comprises a second angular sensor and a second rotational positioning device;
the second rotational positioning device and the second angle sensor are both mounted within the insert housing, the elongate member passing through the second rotational positioning device and the second angle sensor.
13. The apparatus of claim 12, wherein the insert housing comprises an insert upper housing and an insert lower housing;
the casing includes interconnect's extension and lower connecting portion under the plug-in components, the casing with lower connecting portion cover each other and close and form the holding chamber on the plug-in components, second rotational positioning device with second angle sensor install in the holding intracavity.
14. The apparatus of claim 1, wherein the rotational drive means comprises a first driver;
the first driver is coupled to the elongated member, the first driver driving the elongated member to rotate about its axis.
15. The apparatus of claim 14, wherein the rotational drive further comprises a rotational drive base;
the first driver is mounted to the swivel base.
16. The device of claim 15, wherein the rotational drive device further comprises an elongate member adapter;
in use, the first driver drives the elongate member adapter in rotation, the distal end of the elongate member adapter being connected to the elongate member.
17. The apparatus of claim 1, wherein the fore-aft translational drive comprises an fore-aft translational drive base, at least one slide rail, a lead screw, a slide block, and a second driver;
the sliding block is arranged in parallel with the lead screw and penetrates through the sliding block, two ends of the at least one sliding rail are fixedly installed on the front and back translation driving device base, the lead screw is connected to the front and back translation driving device base in a rotating mode, the lead screw is driven to rotate by the second driver, the second driver is installed on the front and back translation driving device base, and the rotation driving device is installed on the sliding block.
CN202011632717.XA 2020-12-31 2020-12-31 Stereotactic transmission system for controlling elongated members Active CN114681069B (en)

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CN202011632717.XA CN114681069B (en) 2020-12-31 2020-12-31 Stereotactic transmission system for controlling elongated members
PCT/CN2021/143704 WO2022143986A1 (en) 2020-12-31 2021-12-31 Three-dimensional directional transmission system for controlling elongated member
CN202180066111.0A CN116761567A (en) 2020-12-31 2021-12-31 Stereotactic transmission system for controlling elongated members

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