CN114681069B - Stereotactic transmission system for controlling elongated members - Google Patents

Stereotactic transmission system for controlling elongated members Download PDF

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Publication number
CN114681069B
CN114681069B CN202011632717.XA CN202011632717A CN114681069B CN 114681069 B CN114681069 B CN 114681069B CN 202011632717 A CN202011632717 A CN 202011632717A CN 114681069 B CN114681069 B CN 114681069B
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CN
China
Prior art keywords
distal end
insert
guide
proximal end
optical fiber
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Active
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CN202011632717.XA
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Chinese (zh)
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CN114681069A (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

Embodiments of the present invention disclose a stereotactic drive system for controlling an elongated member. The system comprises a guide means connected to the distal end of the drive sleeve, a proximal end of the drive sleeve connected to the distal end of the insert, and a rotational drive means through which the elongate member passes in use, the drive sleeve and the guide means, the distal end of the elongate member being extendable from the distal end of the guide means, the rotational drive means driving the elongate member in rotation. 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, the minimally invasive interventional therapy has remarkable advantages and application prospects for various diseases, and when the minimally invasive interventional therapy is performed, the elongated member needs to be used as an interventional tool to enter a human body for treatment, for example: the elongate member may be an optical fiber, a liquid nitrogen catheter, or a radio frequency probe.
In order to perform directional control on the elongated member, an additional support structure is required to be installed at a patient, such as a skull, in order to perform directional control on the elongated member, however, the additional support structure increases the number of bone nails implanted into the skull, increases pain of the patient, and is complicated and inconvenient to install.
Disclosure of Invention
The invention provides a three-dimensional directional transmission system for controlling an elongated member, which is used for driving the elongated member to rotate through a rotary driving device, and can realize directional control on the elongated member without additionally installing a supporting structure at a skull, so that the pain of a patient is reduced, and the installation is simple and convenient. 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 guiding device, a transmission sleeve, an insert and a rotary driving device;
the guide 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;
in use, an elongate member passes through the insert, the drive sleeve and the guide means, the distal end of the elongate member being extendable from the distal end of the guide means, the rotational drive means driving the elongate member in rotation.
Optionally, the stereotactic transmission system for controlling an elongated member further comprises a front-back translation driving device, wherein 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 fore-aft translational drive.
Optionally, the guide comprises a hollow elongate structural guide and a guide 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 elongate member passes through the guide housing and the hollow elongate structure guide, the distal end of the elongate member being extendable from the distal end of the hollow elongate structure guide.
Optionally, the guiding device shell is a first bone screw cap, the proximal end of the hollow slender structure guiding piece 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 guiding device shell comprises a second bone screw cap, a guiding device shell body and a transmission sleeve mounting base;
The proximal end of the hollow slender structure guide piece 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 shell body, the transmission sleeve mounting base is arranged at the proximal end of the guide device shell body, and the transmission sleeve mounting base is connected with the distal end of the transmission sleeve;
the elongate member passes through the drive sleeve mounting base, the guide housing body, and the second bone screw cap.
Optionally, the guiding device housing further includes a bone screw adaptor bolt, when the second bone screw cap is screwed on the hollow guiding piece with an elongated structure, a distal end of the bone screw adaptor bolt is fixed in the second bone screw cap, a proximal end of the bone screw adaptor bolt is in threaded connection with a distal end of the guiding device housing body, and the elongated member passes through the bone screw adaptor bolt.
Optionally, the guiding device housing body includes a guiding device housing body fixing portion and a guiding device housing body sliding portion, the proximal end of the second bone screw cap is connected with the distal end of the guiding device housing body fixing portion, the proximal end of the guiding device housing body fixing portion is connected with the distal end of the guiding device housing body sliding portion, and the transmission sleeve mounting base is disposed at the proximal end of the guiding device housing body sliding portion;
The elongated member passes through the guide housing body sliding portion and the guide housing body fixing portion.
Optionally, the guiding device casing body fixing part and/or the guiding device casing body sliding part are provided with a graduated scale, the guiding device casing body fixing part and the guiding device casing 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 rotary positioning device;
the first angle sensor and the first rotational positioning device are both mounted within the guide housing, and the elongated member passes through the first rotational positioning device and the first angle 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 arranged in the guide device shell along the direction from the distal end to the proximal end;
the cooling jacket sequentially passes through the sealing plug and the cooling circulation assembly, and the elongated member is disposed inside the cooling jacket.
Optionally, the insert includes an insert housing and an insert drive sleeve mounting base;
The plug-in transmission sleeve mounting base is arranged at the distal end of the plug-in shell and is connected with the proximal 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 insert housing, and the elongated member passes through the second rotational positioning device and the second angle sensor.
Optionally, the insert housing includes an insert upper housing and an insert lower housing;
the insert lower shell comprises an extending part and a lower connecting part which are connected with each other, the insert upper shell 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 driving device comprises a first driver;
the first driver is connected with the slender component, and the first driver drives the slender component to rotate around the axis of the slender component.
Optionally, the rotation driving device further comprises a rotation device base;
The first driver is mounted to the rotating device base.
Optionally, the rotary drive device further comprises an elongate member adapter;
in use, the first driver drives the elongate member adapter to rotate, the distal end of the elongate member adapter being connected to the elongate member.
Optionally, the front-back translation driving device comprises a front-back translation driving device base, at least one sliding rail, a screw rod, a sliding block and a second driver;
the at least one sliding rail and the lead screw are arranged in parallel and penetrate through the sliding block, two ends of the at least one sliding rail are fixedly arranged on the front-back translation driving device base, the lead screw is rotationally connected with the front-back translation driving device base, the second driver drives the lead screw to rotate, the second driver is arranged on the front-back translation driving device base, and the rotation driving device is arranged on the sliding block.
From the foregoing, it will be seen that embodiments of the present invention provide a stereotactic transmission system for controlling an elongate member, comprising a guide means, a transmission sleeve, an insert and a rotational drive means, the guide means being connected to a distal end of the transmission sleeve, a proximal end of the transmission sleeve being connected to a distal end of the insert, the elongate member passing through the insert, the transmission sleeve and the guide means in use, the distal end of the elongate member being extendable from the distal end of the guide means, the rotational drive means driving the elongate 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 one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.
The innovation points of the embodiment of the invention include:
1. the front-back translation driving device can drive the rotation driving device to move along the length direction of the elongated member by sliding the rotation driving device to the front-back translation driving device, so that the elongated member moves along with the movement of the rotation driving device, and the control of the movement of the elongated member along the length direction is realized through the front-back translation driving device.
2. The rotation control of the slender components is realized by driving the slender components to rotate through the rotation driving device, the directional control of the slender components can be realized without additionally installing a supporting structure at the skull, the pain of a patient is reduced, and the device is simple and convenient to install.
3. By providing the first rotational positioning means and the first angle sensor, the rotational angle of the elongated member located within the guide housing can be detected.
4. The guide housing body fixing portion and/or the guide housing body sliding portion may be provided with a scale to display the distance of the relative movement between the guide housing body fixing portion and the guide housing body sliding portion.
5. By providing the second rotational positioning means and the second angle sensor, the rotational angle of the elongated member located in the package housing can be detected, so that the control means performs the subsequent control operation such that the rotational angle of the first rotational positioning means is the same as the rotational angle of the second rotational positioning means.
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 apparent that the drawings in the following description are only some embodiments of the invention. Other figures may be derived from these figures without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a stereotactic drive system for controlling an elongated member according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a guiding device according to an embodiment of the present invention;
FIG. 3 is an exploded view of a first rotational positioning device and an angle of a first angle sensor according to an embodiment of the present invention;
FIG. 4 is an exploded view of another angle of the first rotational positioning device and the first angle sensor provided by an embodiment of the present invention;
FIG. 5 is a cross-sectional view of FIG. 2;
FIG. 6 is a schematic illustration of a construction of an insert;
FIG. 7 is a schematic view of another construction of an insert;
FIG. 8 is a schematic view of a rotary drive device;
FIG. 9 is a cross-sectional view of FIG. 8;
fig. 10 is a schematic structural view of the front-rear translation driving device.
In fig. 1-10, 1 guide, 11 hollow elongated structural 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 device, 2 drive sleeve, 21 body, 211 boss, 22 adjustable top press, 23 bearing, 24 first shaft, 25 second shaft, 26 first bore, 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 device, 4 rotational drive, 41 first driver, 42 rotational drive base, 43 elongated member adapter, 44 jumper fiber optic connector, 45 fiber optic sleeve, 5 back and forth translation drive base, 51 back and forth translation drive base, 52 slide rail, 53, 54 slide block, 55 second driver, 56 driven wheel, 57, 6 insert, 7 insert, 71 insert cooling plug assembly, 80 cooling circulation sleeve, 60 cooling circulation sleeve assembly.
Detailed Description
The technical solutions 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 will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. A process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those 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 three-dimensional directional transmission system for controlling an elongated member, which can drive the elongated member to rotate through a rotary driving device, can realize directional control on the elongated member without additionally installing a supporting structure at a skull, reduces the pain of a patient and is simple and convenient to install. The following describes embodiments of the present invention in detail.
Fig. 1 is a schematic structural view of a stereotactic drive system for controlling an elongated member according to an embodiment of the present invention. Referring to fig. 1, a stereotactic drive system for controlling an elongated member provided by an embodiment of the present invention comprises: a guiding device 1, a transmission sleeve 2, an insert 3 and a rotary drive 4.
The guiding device 1 is connected to the distal end of the drive sleeve 2, and the proximal end of the drive sleeve 2 is connected to the distal end of the 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 being extendable from the distal end of the guide 1, and the rotational drive means 4 driving the elongate member in rotation.
The insert 3 may be secured to either structure, provided that after securing the proximal end of the insert 3 is opposite the distal end of the rotary drive device 4, allowing the rotary drive device 4 to drive the elongate member in rotation, the elongate member being movable within the insert 3 in its own axial direction and rotatable about its own axis. For example, the insert 3 is fixed to a dedicated bracket.
In summary, the stereotactic transmission system for controlling an elongated member provided by the embodiment of the present invention includes a guiding device 1, a transmission sleeve 2, an insert 3 and a rotation driving device 4, wherein the guiding device 1 is connected with the distal end of the transmission sleeve 2, the proximal end of the transmission sleeve 2 is connected with the distal end of the insert 3, in use, 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 the present invention may further include an anterior-posterior translation driving device 5, the rotation driving device 4 is slidably connected to the anterior-posterior translation driving device 5, and there are various ways in which the rotation driving device 4 is slidably connected to the anterior-posterior translation driving device 5. Since the rotation driving device 4 is slidably connected to the front-back translation driving device 5, the front-back 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 also be fixed to the front-rear translation driving device 5, and there are various manners in which the insert 3 and the front-rear translation driving device 5 are fixedly connected, and by way of example, with continued reference to fig. 1, the stereotactic transmission system for controlling an elongated member provided in the embodiment of the present invention may further include an insert connector 6, where one end of the insert connector 6 is fixedly connected to the front-rear 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 front-rear translation driving device 5 through the insert connector 6.
Therefore, by means of sliding connection of the rotary driving device 4 to the front-back translation driving device 5, the front-back translation driving device 5 can drive the rotary 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 rotary driving device 4, and the control of the movement of the elongated member along the length direction is realized through the front-back translation driving device.
The various components of the stereotactic drive system for controlling elongated members are described in detail below:
fig. 2 is a schematic structural view of a guiding device 1 according to an embodiment of the present invention, and referring to fig. 2, the guiding device 1 includes a hollow elongated structural guide 11 and a guiding device housing, wherein a proximal end of the hollow elongated structural guide 11 is connected to a distal end of the guiding device housing, and a proximal end of the guiding device housing is connected to a distal end of the driving 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 structural guide 11 is hollow and can guide the elongate members, the hollow elongate structural guide 11 can be, for example, a hollow bone screw.
The guide housing may have a variety of configurations including, but not limited to, the following:
first kind:
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 the case that the guide housing is a first bone screw cap, the guide 1 may further comprise a first angle sensor and a first rotational positioning device, both of which are mounted in the guide housing, i.e. the first bone screw cap, through which the elongated member passes.
Specifically, the first angle sensor is detachably connected to the first rotational positioning device, and the elongated member passes through the first rotational positioning device and the first angle sensor and is movable in the axial direction and rotatable about its own axis. In the use state, the first rotary positioning device clamps the slender component according to preset pressure, allows the slender component to move along the length direction of the slender component, enables the slender component to drive the first rotary positioning device to rotate at the same time, and the first angle sensor detects the rotation angle of the first rotary positioning device.
Thus, by providing the first rotational positioning means and the first angle sensor, the rotational angle of the elongated member located within the guide housing can be detected.
The structure of the first rotary positioning device is described as follows:
fig. 3 is an exploded view of one angle of the first rotary positioning device and the first angle sensor according to the embodiment of the present invention, and fig. 4 is an exploded view of the other angle of the first rotary positioning device and the first angle sensor according to the embodiment of the present invention. Referring to fig. 3-4, the first rotational positioning device may include a main body 21, at least one adjustable roof presser 22, two bearings 23, a first shaft 24, and a second shaft 25.
The side of main part 21 is provided with two holes, and the one end of main part 21 is provided with the recess, and the recess divides two holes into two parts respectively, and the tank bottom of recess is provided with the through-hole, and an terminal surface of main part 21 is provided with the first hole 26 with adjustable roof pressure ware 22 adaptation, and one that is close to first hole 26 in two holes communicates with first hole 26, and two bearings 23 set up in the recess, and first axle 24 passes one bearing 23 in two bearings 23 and sets up in one hole in two holes, and second axle 25 passes another bearing 23 in two bearings 23 and sets up in another hole in two holes, and adjustable roof pressure ware 22 sets up in first hole 26, and elongate member 7 sets up between two bearings 23 and passes the through-hole of tank bottom.
Illustratively, the centerlines of the two holes are parallel to each other.
In the state of use, the adjustable roof pressure device 22 is screwed down, 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 communicating with the first hole 26 can be adjusted by screwing down the adjustable roof pressure device 22 so that the shaft in the hole communicating with the first hole 26 brings the bearing 23 through which it passes to apply pressure to the elongated member 7, and at the same time, the shaft in the hole not communicating with the first hole 26 also applies pressure to the elongated member 7 through the bearing 23 through which it passes, whereby the pressure between the two bearings 23 and the elongated member 7 is adjusted to a predetermined value by screwing down the adjustable roof pressure device 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 jack 22, it is necessary to provide the hole communicating with the first hole 26 of the two holes with a larger size than the shaft provided to itself.
The shaft in the hole which is not in communication with the first hole 26 of the two holes may be fixedly provided in the hole, which is not limited in the embodiment of the present invention, as long as the shaft in the hole 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.
Illustratively, the number of adjustable jacks 22 may be 2 and the number of first apertures 26 may be 2. Two first holes 26 may be provided separately on both sides of the groove.
With continued reference to fig. 3-4, in the case where the rotational positioning device 2 includes a main body 21, at least one adjustable roof presser 22, two bearings 23, a first shaft 24, and a second shaft 25, the other end of the main 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 catching hole 50, and the protrusion 211 is caught with the catching hole 50.
The first angle sensor and the first rotary positioning device may be detachably connected by providing a protrusion 211 at the other end of the main body 21, providing a clamping hole 50 at the first angle sensor, and connecting the first angle sensor and the first rotary positioning device together by clamping the protrusion 211 and the clamping hole 50.
In one implementation manner, the left and right sides 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, however, the specific shapes of the protrusion 211 and the clamping hole 50 are not limited in the embodiment of the invention, so long as the two can be clamped.
Thus, by providing the projection 211 at the other end of the main body 21, the detachable connection between the first angle sensor and the first rotational positioning device is achieved in such a manner that the card hole 50 is provided at the first angle sensor.
Second kind:
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 elongate structural guide 11 is threaded 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 disposed 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 elongate member 7 passes through the drive sleeve mounting base 13, the guide housing body and the second bone screw cap 12.
When in use, the proximal end of the second bone screw cap 12 is connected with the distal end of the guiding device shell body, the transmission sleeve mounting base 13 is arranged at the proximal end of the guiding device shell body, the transmission sleeve mounting base 13 is connected with the distal end of the transmission sleeve 2, and then the distal end of the second bone screw cap 12 is in threaded connection with the proximal end of the hollow slender structure guiding piece 11.
The guide housing body and the transmission sleeve mounting base 13 may be an integral structure or a non-integral structure, which is not limited in any way in the embodiment of the present invention.
When the guide housing body is of a non-integral structure, as illustrated in fig. 5, which 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, the proximal end of the second bone screw cap 12 is connected to the distal end of the guide housing body fixing portion 14, the proximal end of the guide housing body fixing portion 14 is connected to the distal end of the guide housing body sliding portion 15, the driving sleeve mounting base 13 is provided at the proximal end of the guide housing body sliding portion 15, and the elongated member 7 passes 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 being relatively movable, the scale 16 displaying the distance of the relative movement, that is, in use, the guide housing body sliding part 15 may be pulled away from the guide housing body fixing part 14, and the pull-out distance may be read from the scale 16 every time the guide housing body sliding part 15 is pulled out by a certain distance, in fig. 5, the scale 16 is provided.
Thus, 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 by providing the scale 16 on the guide housing body fixing portion 14 and/or the guide housing body sliding portion 15.
With continued reference to fig. 5, on the basis that the guide housing includes the second cap 12, the guide housing body and the driving sleeve mounting base 13, the guide housing further includes the nail transfer bolt 17, when the second cap 12 is screwed down on the hollow elongated structural guide 11, the distal end of the nail transfer bolt 17 is fixed in the second cap 12, the proximal end of the nail transfer bolt 17 is screwed with the distal end of the guide housing body, and the elongated member 7 passes through the nail transfer bolt 17.
Specifically, the bone screw transit 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 down on the hollow elongated structural guide 11, the opening at the proximal end of the second bone screw cap 12 is clamped to the bolt protrusion 171, so that the distal end of the bone screw transit bolt 17 is fixed in the second bone screw cap 12.
In use, the bone screw adaptor bolt 17 is inserted into the second bone screw cap 12, then the proximal end of the bone screw adaptor bolt 17 is threaded with the distal end of the guide housing body, and finally the second bone screw cap 12 is screwed onto the hollow elongate structural guide 11 such that the opening at the proximal end of the second bone screw cap 12 and the hollow elongate structural guide 11 capture the bolt projection 171.
With continued reference to fig. 2, when the guide housing is of the second structure described above, the guide 1 may further include a first angle sensor 18 and a first rotational positioning device 19, the first angle sensor 18 and the first rotational positioning device 19 being both mounted within the guide housing, the elongated member 7 passing through the first rotational positioning device 19 and the first angle sensor 18. The specific structure and connection manner of the first rotary positioning device 19 and the first angle sensor 18 are referred to the corresponding description when the guiding device housing is of the first structure, and will not be described herein.
Since in use some types of elongate members require a cooling seal, for example when the elongate member is an optical fibre, and thus with continued reference to figure 5, the guide 1 may further comprise a cooling sleeve 60, a cooling circulation assembly 70 and a sealing plug 80, the cooling circulation assembly 70 and sealing plug 80 being mounted in sequence within the guide housing in a distal to proximal direction, the cooling sleeve 60 passing in sequence through the sealing plug 80 and the cooling circulation assembly 70, the elongate member 7 being disposed within the cooling sleeve 60.
There are various ways of sealing, 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, the cooling sleeve 60 passing through the cooling circulation assembly cap 90.
Thereby, a cooling seal for the elongated member is achieved by means of the provision of the cooling jacket 60, the cooling circulation assembly 70 and the sealing plug 80.
The cooling circulation assembly 70 is caught in the guide housing body sliding part 15, and the cooling jacket 60 is driven to perform a longitudinal movement of a fixed distance by the guide housing body sliding part 15 with respect to the guide housing body fixing part 14.
The structure of the insert 3 is described below:
fig. 6 is a schematic view of a construction of the insert 3, see fig. 6, the insert 3 may include an insert housing 31 and an insert drive sleeve mounting base 32. The 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 elongate member 7 passing through the insert housing 31 and the insert drive sleeve mounting base 32, the elongate member 7 being provided with an elongate member plug 71, the elongate 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 of unitary construction.
Fig. 7 is a schematic view of another construction of the insert 3, see fig. 7, in which case the insert 3 may further comprise a second angle sensor 33 and a second rotational positioning device 34, in which case the guide 1 further comprises a cooling sleeve 60, a cooling circulation assembly 70 and a sealing plug 80, the second rotational positioning device 34 and the second angle sensor 33 are both mounted in the insert housing 31, and the elongated member 7 passes through the second rotational positioning device 34 and the second angle sensor 33, because the friction between the sealing plug 80 and the elongated member 7 and the accumulation of stress of the elongated member 7 in the longitudinal direction in case the guide 1 comprises the sealing plug 80, which makes the rotation angle of the elongated member 7 at the first angle sensor reach a preset requirement. The specific structure and connection manner of the second rotary positioning device 34 and the second angle sensor 33 are the same as those of the first rotary positioning device and the first angle sensor, and the difference is only that the directions are different: 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 rotary positioning device 34 is located at the distal end, and the description of the first structure of the guiding device housing can be referred to specifically, and will not be repeated here.
The second angle sensor 33 detects the rotation angle of the second rotation positioning device 34 and sends the rotation angle to the control device, and the control device performs subsequent control operation after receiving the rotation angle of the second rotation positioning device 34 so that the rotation angle of the first rotation positioning device is the same as the rotation angle of the second rotation positioning device 34.
Thereby, by providing the second rotational positioning means 34 and the second angle sensor 33, the rotational angle of the elongated member located in the insert housing 13 can be detected, so that the control means performs the subsequent control operation such that the rotational angle of the elongated member 7 at the first angle sensor is the same as the rotational angle at the second angle sensor 33.
The mechanism of the insert housing 31 is various, and the embodiment of the present invention is not limited in this respect, and as an example, with continued reference to fig. 7, the insert housing 31 may include an insert upper housing 311 and an insert lower housing 312, the insert lower housing 312 includes an extension 3121 and a lower connection 3122 connected to each other, and the insert upper housing 311 and the lower connection 3122 are mutually covered to form a receiving cavity, and the second rotary 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, 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 own axis.
The first driver 41 has various structural forms including, but not limited to, a motor, a hydraulic form and a pneumatic form, and the embodiment of the present invention is not limited in this regard.
The first driver 41 may be connected to the elongated member 7 in a plurality of ways, and the rotation driving device 4 may further include a first transmission mechanism, where the first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the elongated member 7, so that the first driver 41 drives the elongated member 7 to rotate around its own axis through the connection of the first transmission mechanism.
The first transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
Thereby, the driving of 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 device 4 may further include a rotary device base 42, the first driver 41 being mounted to the rotary device base 42.
Since in use, certain types of elongate members require an adapter for use, for example when 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, in use the first driver 41 driving the elongate member adapter 43 in rotation, 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 drives the elongate member 7 to rotate therewith.
With continued reference to fig. 9, when the elongate member 7 is an optical fiber, the connection to the distal end of the elongate member adapter 43 is an ablative fiber, and further includes a delivery fiber, 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 a laser generator. In use, the distal end of the jumper fiber optic connector 44 is connected to the elongate member adaptor 43, the jumper fiber optic connector 44 is fixedly connected to the rotating device base 42 via the jumper fiber sleeve 45, then the distal end of the jumper fiber optic connector 44 is disconnected from the distal end of the elongate member adaptor 43, and the elongate member adaptor 43 is connected to the ablation fiber, at this time, when the first driver 41 drives the elongate member adaptor 43 to rotate, the elongate member adaptor 43 can drive the ablation fiber connected thereto to rotate therewith, and ablation treatment can be performed via the ablation fiber.
The following describes the front-rear translation driving device 5:
fig. 10 is a schematic structural view of the fore-and-aft translational driving device 5, referring to fig. 10, the fore-and-aft translational driving device 5 may include a fore-and-aft translational 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 lead screw 53 parallel arrangement and all pass the sliding block 54, and the both ends of at least one slide rail 52 fixed mounting is in translation drive base 51 back and forth, and lead screw 53 swivelling joint is in translation drive base 51 back and forth, and the rotation of second driver 55 drive lead screw 53, and second driver 55 is installed in translation drive base 51 back and forth, and rotation drive 4 is installed in sliding block 54.
In use, the second driver 55 drives the screw rod 53 to rotate, the screw rod 53 drives the sliding block 54 to move along the sliding rail, and the sliding block 54 can drive the rotation driving device 4 to move along the length direction of the elongated member 7 because the rotation driving device 4 is mounted on the sliding block 54.
The second driver 55 may have various structural forms including, but not limited to, a motor, a hydraulic form and a pneumatic form, and the embodiment of the present invention is not limited in this regard.
The second driver 55 is connected to the screw 53 in various manners, and the front-rear translation driving device 5 may further include a second transmission mechanism, where the second driver 55 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the other end of the screw 53, so that the second driver 55 drives the screw 53 to rotate through the connection of the second transmission mechanism.
The second transmission mechanism has various structural forms, including but not limited to a gear form and a belt form.
For example, with continued reference to fig. 10, the second transmission mechanism includes a driven wheel 56, a driving wheel 57 and a belt, the second driver 55 drives the driving wheel 57 to rotate, the driving wheel 57 is connected with the driven wheel 56 through the belt, the driving wheel 57 drives the driven wheel 56 to rotate, the driven wheel 56 is connected with the other end of the screw 53, and the driven wheel 56 drives the screw 53 to rotate.
By providing the slide rail 52, the screw 53, the slider 54 and the second driver 55, the slider 54 can drive the rotation driving device 4 to move along the length direction of the elongated member 7.
The embodiments may be arbitrarily combined.
Those of ordinary skill in the art will appreciate that: the drawing is a schematic diagram of one embodiment and the modules or flows in the drawing are not necessarily required to practice the invention.
Those of ordinary skill in the art will appreciate that: the modules in the apparatus of the embodiments may be distributed in the apparatus of the embodiments according to the description of the embodiments, or may be located in one or more apparatuses different from the present embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (19)

1. A stereotactic transmission system for controlling optical fibers, comprising: the device comprises a guide device, a transmission sleeve, an insert and a rotary driving device;
the guide device comprises a hollow bone nail and a guide device shell;
the proximal end of the hollow bone nail is connected with the distal end of the guiding device shell, the proximal end of the guiding device shell 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 insert;
in a use state, the optical fiber passes through the insert, the transmission sleeve, the guide device shell and the hollow bone nail, the distal end of the optical fiber extends out of the distal end of the hollow bone nail, and the rotary driving device drives the optical fiber to rotate;
The rotary driving device comprises a first driver;
the first driver is connected with the optical fiber, and drives the optical fiber to rotate around the axis of the optical fiber.
2. The system of claim 1, further comprising a back-and-forth translational drive device, wherein the rotational drive device is slidably coupled to the back-and-forth translational drive device, wherein the back-and-forth translational drive device moves the rotational drive device along the length of the optical fiber.
3. The system of claim 1, wherein the guide housing is a first bone screw cap, the proximal end of the hollow bone screw is threaded with the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is coupled with the distal end of the drive sleeve.
4. The system of claim 1, 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 bone nail is in threaded connection with the distal end of the second bone nail cap, the proximal end of the second bone nail cap is connected with the distal end of the guiding device shell body, the transmission sleeve mounting base is arranged at the proximal end of the guiding device shell body, and the transmission sleeve mounting base is connected with the distal end of the transmission sleeve;
The optical fiber passes through the drive sleeve mounting base, the guide housing body and the second bone screw cap.
5. The system of claim 4, 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 against the hollow bone screw, wherein a proximal end of the bone screw adapter bolt is threadably coupled to a distal end of the guide housing body, and wherein the optical fiber passes through the bone screw adapter bolt.
6. The system of claim 4, wherein the guide housing body comprises a guide housing body fixation 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 fixation portion, the proximal end of the guide housing body fixation portion being coupled to the distal end of the guide housing body sliding portion, the drive sleeve mounting base being disposed at the proximal end of the guide housing body sliding portion;
the optical fiber passes through the guide housing body sliding portion and the guide housing body fixing portion.
7. The system of claim 6, wherein the guide housing body securing portion and/or the guide housing body sliding portion are provided with a scale, the guide housing body securing portion and the guide housing body sliding portion being relatively movable, the scale displaying a distance of the relative movement.
8. The system of claim 4, wherein the guide further comprises a first angle sensor and a first rotational positioning device;
the first angle sensor and the first rotary positioning device are both installed in the guiding device shell, and the optical fiber passes through the first rotary positioning device and the first angle sensor.
9. The system of any one of claims 4 to 8, 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 arranged in the guide device shell along the direction from the distal end to the proximal end;
the cooling sleeve sequentially penetrates through the sealing plug and the cooling circulation assembly, and the optical fiber is arranged inside the cooling sleeve.
10. The system of claim 9, 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 distal end of the plug-in shell and is connected with the proximal end of the transmission sleeve;
in use, the optical fiber passes through the insert housing and the insert drive sleeve mounting base.
11. The system of claim 10, wherein the insert further comprises a second angle sensor and a second rotational positioning device;
the second rotary positioning device and the second angle sensor are both arranged in the plug-in housing, and in a use state, the optical fiber passes through the second rotary positioning device and the second angle sensor.
12. The system of claim 11, wherein the insert housing comprises an insert upper housing and an insert lower housing;
the insert lower shell comprises an extending part and a lower connecting part which are connected with each other, the insert upper shell 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.
13. The system of claim 1, wherein the rotary drive further comprises a rotary device base;
The first driver is mounted to the rotating device base.
14. The system of claim 13, wherein the rotary drive device further comprises a fiber optic adapter;
in a use state, the first driver drives the optical fiber adapter to rotate, and the far end of the optical fiber adapter is connected with the optical fiber.
15. The system of claim 2, wherein the fore-aft translational drive device comprises a fore-aft translational drive device base, at least one slide rail, a lead screw, a slider, and a second driver;
the at least one sliding rail and the lead screw are arranged in parallel and penetrate through the sliding block, two ends of the at least one sliding rail are fixedly arranged on the front-back translation driving device base, the lead screw is rotationally connected with the front-back translation driving device base, the second driver drives the lead screw to rotate, the second driver is arranged on the front-back translation driving device base, and the rotation driving device is arranged on the sliding block.
16. A stereotactic transmission system for controlling optical fibers, comprising: the device comprises a guide device, a transmission sleeve, an insert and a front-back translation driving device;
The guide device comprises a hollow bone nail and a guide device shell;
the proximal end of the hollow bone nail is connected with the distal end of the guiding device shell, the proximal end of the guiding device shell 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 insert;
in a use state, the optical fiber passes through the insert, the transmission sleeve, the guide device shell and the hollow bone nail, the far end of the optical fiber extends out of the far end of the hollow bone nail, and the front-back translation driving device drives the optical fiber to move back and forth along the length direction.
17. The system of claim 16, further comprising an adapter, a distal end of the adapter being coupled to a proximal end of the optical fiber, the adapter being slidably coupled to the anterior-posterior translation driving device.
18. The system of claim 17, wherein the adapter is a rotary drive.
19. The system of claim 18, wherein the insert is fixedly coupled to the fore-aft translational drive via an insert coupling.
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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