CN116421274A - Ultrasonic surgical instrument for laminectomy - Google Patents
Ultrasonic surgical instrument for laminectomy Download PDFInfo
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- CN116421274A CN116421274A CN202310544562.1A CN202310544562A CN116421274A CN 116421274 A CN116421274 A CN 116421274A CN 202310544562 A CN202310544562 A CN 202310544562A CN 116421274 A CN116421274 A CN 116421274A
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- 238000002684 laminectomy Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 36
- 238000001179 sorption measurement Methods 0.000 claims description 14
- 230000005294 ferromagnetic effect Effects 0.000 claims description 9
- 230000005291 magnetic effect Effects 0.000 claims description 8
- 210000001519 tissue Anatomy 0.000 claims description 4
- 210000000278 spinal cord Anatomy 0.000 abstract description 7
- 230000029058 respiratory gaseous exchange Effects 0.000 abstract description 6
- 210000001032 spinal nerve Anatomy 0.000 abstract description 6
- 230000000241 respiratory effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000006837 decompression Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- IAYPIBMASNFSPL-UHFFFAOYSA-N Ethylene oxide Chemical compound C1CO1 IAYPIBMASNFSPL-UHFFFAOYSA-N 0.000 description 1
- 206010029174 Nerve compression Diseases 0.000 description 1
- 206010041549 Spinal cord compression Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 208000005198 spinal stenosis Diseases 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B2017/320082—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for incising tissue
-
- 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
- A61B2090/062—Measuring instruments not otherwise provided for penetration depth
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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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
- A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses an ultrasonic surgical instrument for laminectomy, which relates to the technical field of medical instruments and comprises a handle, an ultrasonic shell, an ultrasonic bone knife assembly and a follow-up sleeve, wherein the handle is connected to the bottom of the ultrasonic shell, the follow-up sleeve is connected to the front end of the ultrasonic shell, the follow-up sleeve is used for being abutted against a vertebral plate to synchronously move with the vertebral plate, the ultrasonic bone knife assembly comprises an ultrasonic knife handle and a bone knife connected to one end of the ultrasonic knife handle, the ultrasonic knife handle is arranged in the ultrasonic shell, the bone knife is arranged in the follow-up sleeve, a driving mechanism for driving the ultrasonic bone knife assembly to reciprocate linearly is arranged in the ultrasonic shell, and when the follow-up sleeve is abutted against the vertebral plate, the ultrasonic bone knife assembly is driven to extend out of the follow-up sleeve through the driving mechanism to cut the vertebral plate. The invention can realize respiratory follow-up when the vertebral body is fluctuated due to the respiration of a patient, so as to accurately complete the cutting of the vertebral plate and ensure that spinal cord/nerve under the vertebral plate is not damaged.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a laminectomy ultrasonic surgical instrument.
Background
Spinal laminectomy is a key step in spinal surgery, and is a treatment method for removing the lamina and relieving spinal cord and nerve compression caused by spinal stenosis by surgery. The following three clinical difficulties are mainly faced in the implementation process: (1) From the operation, the selection of the decompression position and whether the cutting is penetrated depend on the experience, the manipulation and the current state of doctors, and the randomness is high; (2) From the view of the operation space, the wound is narrow, the operation area is limited, and the access and operation of the operation tool are difficult; (3) From the view of the operation, the doctor's view is limited due to the narrow wound, the shielding of soft tissue. Therefore, how to effectively reduce the complications of the decompression operation, improve the safety and the curative effect of the operation, and is a great challenge for spinal surgery (especially for minimally invasive spinal surgery).
The intelligent equipment such as navigation and robots and the like is considered as an effective method for solving the pain point of the spine positioning operation because the intelligent equipment has high operation precision and can fuse medical images to provide multi-mode operation information for doctors, but the robot technologies facing the positioning operation can not meet the clinical requirements of the spine laminectomy operation: firstly, a positioning mark tracked by an image-guided positioning robot is not arranged on a vertebral body to be operated, the vertebral body can move up and down due to respiration, and the positioning mark cannot truly reflect the motion state of the vertebral body to be operated; secondly, during the decompression operation, the external shape of the rigid tissues such as the vertebral body and the like changes, and the external shape and the relative position of the soft tissues such as the nerve and the like also change, so that the positioning robot under the guidance of the image cannot recognize and correct the changes. Therefore, there is a need for a respiratory follow-up laminectomy instrument that moves synchronously with the movement of the cone during breathing to accurately perform laminectomy and ensure that the underlying spinal cord/nerve is not damaged.
Disclosure of Invention
The invention aims to provide an ultrasonic surgical instrument for laminectomy, which solves the problems in the prior art, can realize breathing follow-up when a patient breathes to cause the fluctuation of a vertebral body, accurately completes the cutting of a vertebral plate, and ensures that spinal cord/nerves under the vertebral plate are not damaged.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a laminectomy ultrasonic surgical instrument, which comprises a handle, an ultrasonic shell, an ultrasonic bone knife assembly and a follow-up sleeve, wherein the handle is connected to the bottom of the ultrasonic shell, the follow-up sleeve is connected to the front end of the ultrasonic shell and is used for being abutted against a vertebral plate to move synchronously with the vertebral plate, the ultrasonic bone knife assembly comprises an ultrasonic knife handle and a bone knife connected to one end of the ultrasonic knife handle, the ultrasonic knife handle is arranged in the ultrasonic shell, the bone knife is arranged in the follow-up sleeve, a driving mechanism for driving the ultrasonic bone knife assembly to move linearly in a reciprocating mode is arranged in the ultrasonic shell, and when the follow-up sleeve is abutted against the vertebral plate, the driving mechanism drives the ultrasonic bone knife assembly to extend out of the follow-up sleeve to cut the vertebral plate.
Preferably, a locking mechanism is arranged in the ultrasonic shell, the ultrasonic knife handle is arranged on the locking mechanism, the locking mechanism comprises a locking fixing piece, a locking movable piece and a locking adjusting mechanism, the locking movable piece is connected to the locking fixing piece in a sliding mode, a first clamping piece is arranged on the locking movable piece, a second clamping piece corresponding to the first clamping piece is arranged on the locking fixing piece, and the locking adjusting mechanism is connected with the locking movable piece and the locking fixing piece and used for adjusting the distance between the locking movable piece and the locking fixing piece so that the first clamping piece and the second clamping piece are close to each other to clamp the ultrasonic knife handle, or the first clamping piece is far away from the second clamping piece to loosen the ultrasonic knife handle; the locking fixing piece is connected with the driving mechanism, and the driving mechanism drives the locking mechanism to reciprocate linearly so as to drive the ultrasonic bone knife assembly to reciprocate linearly.
Preferably, the locking adjustment mechanism comprises a locking crank, a locking connecting rod and a locking spanner, wherein a shaft on one side of the locking crank is rotationally connected to the locking fixing piece and fixedly connected with the locking spanner, a shaft on the other side of the locking crank is rotationally connected with one end of the locking connecting rod, the other end of the locking connecting rod is rotationally connected to the locking movable piece, the locking crank is driven to rotate through the locking spanner, and the locking movable piece is driven to slide close to or far away from the locking fixing piece through the locking connecting rod.
Preferably, the driving mechanism comprises a base, a driving motor, a sliding table, a screw and a screw nut, wherein the base is fixedly connected in the ultrasonic shell, the driving motor is fixedly connected on the base, an output shaft of the driving motor is connected with the screw and is used for driving the screw to rotate, the screw nut is in threaded connection with the screw, a sliding rail is arranged on the base, a sliding block is connected on the sliding rail in a sliding manner, and the sliding table is fixedly connected on the sliding block and is fixedly connected with the screw nut; force sensor fixing seats are fixedly connected to the inner sides of two ends of the locking fixing piece, a force sensor is arranged in each force sensor fixing seat, and the two force sensors respectively prop against two ends of the sliding table so as to measure the cutting force through the force sensors.
Preferably, two ends of the base are respectively provided with a limit switch, and each limit switch is respectively matched with two ends of the locking fixing piece for use so as to limit and protect the movement stroke of the driving motor.
Preferably, the driving motor is a screw motor, and the cutting depth of the current tissue is calculated through an encoder of the screw motor.
Preferably, the handle is provided with a self-resetting advancing button, a self-resetting backing button and a self-resetting self-identifying button, the self-resetting advancing button, the self-resetting backing button and the self-resetting self-identifying button are respectively connected with the controller, forward and backing of the osteotome are controlled by respectively controlling forward rotation and reverse rotation of the driving motor through the self-resetting advancing button and the self-resetting backing button, and the osteotome is controlled by the self-resetting self-identifying button to automatically cut vertebral plates.
Preferably, a display screen is mounted on the ultrasonic housing for displaying relevant parameters during the laminectomy.
Preferably, the ultrasonic housing comprises a top ultrasonic housing and a bottom ultrasonic housing, wherein housing attracting magnets are arranged in the top ultrasonic housing and the bottom ultrasonic housing, and the top ultrasonic housing and the bottom ultrasonic housing are connected together through the magnetic attraction of the housing attracting magnets; the front end of the bottom ultrasonic shell is fixedly provided with a sleeve adsorption magnet, the follow-up sleeve is fixedly provided with a ferromagnetic piece corresponding to the sleeve adsorption magnet, and the sleeve adsorption magnet and the ferromagnetic piece are connected together through the magnetic attraction between the sleeve adsorption magnet and the ferromagnetic piece.
Preferably, the top end of the handle is provided with a slot, the bottom end of the ultrasonic shell is provided with an inserting block matched with the slot, the handle is also rotationally connected with a cam mechanism, and after the inserting block is inserted into the slot, the cam mechanism is rotated to enable the cam mechanism to prop against the bottom surface of the ultrasonic shell, so that the inserting block is tightly connected with the slot.
Compared with the prior art, the invention has the following technical effects:
the invention provides an ultrasonic surgical instrument for laminectomy, which is characterized in that a bone knife is arranged in a follow-up sleeve, the follow-up sleeve is abutted against a lamina when the lamina is cut, and the position of the follow-up sleeve relative to the lamina is kept fixed under the action of gravity and the hand pressure of a doctor, so that when a patient breathes to cause cone fluctuation, the follow-up sleeve and the cone synchronously move, respiratory follow-up is realized, and the lamina is accurately cut through an ultrasonic bone knife assembly, so that spinal cord/nerve under the lamina is not damaged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a laminectomy ultrasonic surgical instrument provided by the present invention;
FIG. 2 is a schematic perspective view of another view of the laminectomy ultrasonic surgical instrument provided by the present invention;
FIG. 3 is a front view of a laminectomy ultrasonic surgical instrument provided by the present invention;
FIG. 4 is a top view of a laminectomy ultrasonic surgical instrument provided by the present invention;
FIG. 5 is a schematic view of the structural connection of the ultrasonic osteotome assembly, locking mechanism and drive mechanism of the present invention;
FIG. 6 is a schematic view of a locking mechanism according to the present invention;
FIG. 7 is an enlarged schematic view of a portion A of FIG. 2;
in the figure: 1-handle, 2-ultrasonic shell, 3-ultrasonic osteotome subassembly, 4-follow-up sleeve, 5-ultrasonic osteotome handle, 6-osteotome, 7-locking mounting, 8-locking moving part, 9-first clamping part, 10-second clamping part, 11-locking crank, 12-locking connecting rod, 13-locking spanner, 14-base, 15-driving motor, 16-slip table, 17-lead screw, 18-lead screw nut, 19-slide rail, 20-slip block, 21-limit switch, 22-force sensor fixing seat, 23-force sensor, 24-self-reset advance button, 25-self-reset back button, 26-self-reset self-identification button, 27-display screen, 28-top ultrasonic shell, 29-bottom ultrasonic shell, 30-slot, 31-insert block, 32-cam mechanism, 33-slender guide rail.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an ultrasonic surgical instrument for laminectomy, which solves the problems in the prior art, can realize breathing follow-up when a patient breathes to cause the fluctuation of a vertebral body, so as to accurately complete the cutting of a vertebral plate and ensure that spinal cord/nerves below the vertebral plate are not damaged.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-7, the present embodiment provides an ultrasonic surgical instrument for laminectomy, which comprises a handle 1, an ultrasonic housing 2, an ultrasonic bone knife assembly 3 and a follow-up sleeve 4, wherein the handle 1 is connected to the bottom of the ultrasonic housing 2, the follow-up sleeve 4 is connected to the front end of the ultrasonic housing 2, the follow-up sleeve 4 is used for being abutted against a vertebral plate to move synchronously with the vertebral plate, the ultrasonic bone knife assembly 3 comprises an ultrasonic knife handle 5 and a bone knife 6 connected to one end of the ultrasonic knife handle 5, the ultrasonic knife handle 5 is installed in the ultrasonic housing 2, the bone knife 6 is arranged in the follow-up sleeve 4, a driving mechanism for driving the ultrasonic bone knife assembly 3 to reciprocate linearly is arranged in the ultrasonic housing 2, and when the follow-up sleeve 4 is abutted against the vertebral plate, the ultrasonic bone knife assembly 3 is driven to extend out of the follow-up sleeve 4 through the driving mechanism to cut the vertebral plate.
When the vertebral plate is cut, the follow-up sleeve 4 is abutted on the vertebral plate, and the relative positions of the follow-up sleeve 4 and the vertebral plate are kept fixed under the action of gravity and the pressure of the hands of a doctor, so that when a patient breathes to cause cone fluctuation, the follow-up sleeve 4 and the cone synchronously move, and further the whole breathing follow-up of the instrument is realized, the vertebral plate cutting is accurately finished through the ultrasonic bone knife assembly, and the spinal cord/nerve under the vertebral plate is not damaged.
In this embodiment, a locking mechanism is disposed in the ultrasonic casing 2, the ultrasonic knife handle 5 is mounted on the locking mechanism, the locking mechanism includes a locking fixing member 7, a locking movable member 8 and a locking adjusting mechanism, the locking movable member 8 is slidably connected to the locking fixing member 7, a first clamping member 9 is disposed on the locking movable member 8, a second clamping member 10 corresponding to the first clamping member 9 is disposed on the locking fixing member 7, the locking adjusting mechanism is connected to the locking movable member 8 and the locking fixing member 7, and is used for adjusting the distance between the locking movable member 8 and the locking fixing member 7, so that the first clamping member 9 and the second clamping member 10 are close to each other to clamp the ultrasonic knife handle 5, or the first clamping member 9 is far away from the second clamping member 10 to loosen the ultrasonic knife handle 5; the locking fixing piece 7 is connected with the driving mechanism, and the driving mechanism drives the locking mechanism to reciprocate and linearly move so as to drive the ultrasonic bone knife assembly 3 to reciprocate and linearly move. The distance between the locking movable part 8 and the locking fixed part 7 is adjusted through the locking adjusting mechanism, so that the ultrasonic knife handle 5 is convenient to install and detach.
In this embodiment, the locking adjustment mechanism includes locking crank 11, locking connecting rod 12 and locking spanner 13, and the axle rotation of locking crank 11 one side is connected on locking mounting 7 and with locking spanner 13 fixed connection, and the axle of locking crank 11 opposite side is connected with locking connecting rod 12 one end rotation, and locking connecting rod 12 other end rotation is connected on locking movable part 8, drives locking crank 11 rotation through locking spanner 13, and then drives locking movable part 8 through locking connecting rod 12 and slide and be close to or keep away from locking mounting 7. During adjustment, the ultrasonic knife handle 5 can be mounted and dismounted through the locking wrench 13 without using other tools, and the ultrasonic knife handle is convenient and quick to mount and dismount
In the embodiment, the driving mechanism comprises a base 14, a driving motor 15, a sliding table 16, a screw rod 17 and a screw rod nut 18, wherein the base 14 is fixedly connected in the ultrasonic shell 2, the driving motor 15 is fixedly connected on the base 14, an output shaft of the driving motor 15 is connected with the screw rod 17 and is used for driving the screw rod 17 to rotate, the screw rod nut 18 is in threaded connection with the screw rod 17, a sliding rail 19 is arranged on the base 14, a sliding block 20 is slidingly connected on the sliding rail 19, the sliding table 16 is fixedly connected on the sliding block 20 and is fixedly connected with the screw rod nut 18, and the locking fixing piece 7 is slidingly connected on the sliding table 16; the inner sides of the two ends of the locking fixing piece 7 are fixedly connected with force sensor fixing seats 22, a force sensor 23 is arranged in each force sensor fixing seat 22, and the two force sensors 23 respectively prop against the two ends of the sliding table 16 so as to measure the cutting force through the force sensors 23. The position of the locking and fixing piece 7 is limited by the two force sensors 23, so that the locking and fixing piece 7 can move along with the sliding table 16, the locking and fixing piece 7 is connected to the slender guide rail 33 on the sliding table 16 in a sliding mode, the locking and fixing piece 7 can have tiny displacement along the direction of the slender guide rail 33, and the two force sensors 23 can measure the relative acting force of the locking and fixing piece 7 and the sliding table 16 through tiny deformation when transmitting motion. The screw rod 17 is driven to rotate by the driving motor 15, and the sliding table 16 and the sliding block 20 are driven to linearly move along the sliding rail 19 by the screw rod nut 18, so that the locking fixing piece 7 and the ultrasonic knife handle 5 arranged on the locking fixing piece are linearly moved.
In this embodiment, two ends of the base 14 are respectively provided with a limit switch 21, and each limit switch 21 is respectively matched with two ends of the locking fixing member 7 for limiting and protecting the movement stroke of the driving motor 15.
In this embodiment, the driving motor 15 is a screw motor, and the cutting depth of the current tissue is calculated by an encoder of the screw motor; through the real-time supervision to cutting depth and cutting force size, can guarantee the security and the thoroughly of lamina cutting.
In this embodiment, the handle 1 is provided with a self-resetting forward button 24, a self-resetting backward button 25 and a self-resetting self-identifying button 26, the self-resetting forward button 24, the self-resetting backward button 25 and the self-resetting self-identifying button 26 are respectively connected with a controller, forward and backward movements of the bone knife 6 are controlled by respectively controlling forward rotation and backward rotation of the driving motor 15 through the self-resetting forward button 24 and the self-resetting backward button 25, and the bone knife 6 is controlled by the self-resetting self-identifying button 26 to automatically cut the vertebral plate. The function of the self-resetting autonomous identification button 26 is to activate autonomous identification and cutting functions, i.e., automatic cutting and retracting functions: after being pressed down, the driving motor 15 drives the bone knife 6 to feed forward, when the bone is contacted, the value of the force sensor 23 is changed, after the algorithm is identified, the motor movement mode is changed into a reciprocating cutting mode until the bone knife 6 is about to penetrate bone, at the moment, the algorithm identifies the key information of the value of the force sensor 23 again, and the motor automatically retreats.
In this embodiment, the ultrasonic housing 2 is provided with a display screen 27 for displaying parameters related to the cutting of the vertebral plate, such as the cutting depth, the cutting force, etc.
In this embodiment, the ultrasonic housing 2 includes a top ultrasonic housing 28 and a bottom ultrasonic housing 29, and housing attracting magnets are disposed in both the top ultrasonic housing 28 and the bottom ultrasonic housing 29, and are connected together by the magnetic attraction of the housing attracting magnets; the front end of the bottom ultrasonic shell 29 is fixedly provided with a sleeve adsorption magnet, the follow-up sleeve 4 is fixedly provided with a ferromagnetic piece corresponding to the sleeve adsorption magnet, and the sleeve adsorption magnet and the ferromagnetic piece are connected together through the magnetic attraction between the sleeve adsorption magnet and the ferromagnetic piece. Adopts a magnetic connection mode, and is convenient and quick to assemble and disassemble.
In this embodiment, the handle 1 top is equipped with slot 30, and ultrasonic housing 2 bottom is equipped with the inserted block 31 with slot 30 matched with, still rotates on the handle 1 and is connected with cam mechanism 32, after the inserted block 31 inserts slot 30, makes cam mechanism 32 jack up ultrasonic housing 2 bottom surface through rotating cam mechanism 32, with inserted block 31 and slot 30 zonulae occludens, easy dismounting is swift, is favorable to changing different ergonomic handles to different art person's user demand and personal impression, promotes the flexibility ratio, also can install on fixture such as arm. The handle 1 part adopts the design of 70 degrees of included angle with the osteotome 6, on one hand, in the operation process, the hand gravity of the operator is converted into the pressure of the handheld cutting system, thereby guaranteeing the cutting efficiency, and on the other hand, improving the comfort of the operator.
The ultrasonic bone knife assembly 3 is locked and released by adopting the crank-link mechanism, other tools are not needed, the quick assembly and disassembly of an operator are facilitated, and meanwhile, the ultrasonic bone knife assembly can be installed through the sterile sleeve; the following sleeve 4 adopts a magnetic installation mode, and can be installed and disassembled rapidly through the sterile sleeve. The ultrasonic device is favorable for meeting the sterile requirements of hospitals and animal experiment environments of different levels, if the hospitals support low-temperature sterilization modes such as ethylene oxide, plasma and the like, the whole sterilization can be performed after the assembly is installed, if the hospitals or animal experiment bases do not support the low-temperature sterilization modes, an aseptic sleeve isolation mode can be adopted, the ultrasonic shell 2 and the handle 1 are wrapped by the aseptic sleeve, and after the bone knife 6 and the follow-up sleeve 4 are sterilized at high temperature, the ultrasonic device is quickly installed outside the aseptic sleeve. It should be noted that if a sterile sleeve isolation is used, the top ultrasound housing 28 is no longer installed, preventing the sterile sleeve from being pulled, affecting the accuracy of the force values.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. An ultrasonic surgical laminectomy instrument, comprising: including handle, ultrasonic housing, supersound osteotome subassembly and follow-up sleeve, the handle is connected in the ultrasonic housing bottom, follow-up sleeve connection is in the ultrasonic housing front end, the follow-up sleeve is used for the butt to remove with the lamina synchronization on the lamina, the supersound osteotome subassembly includes supersound sword handle and connects the osteotome of supersound sword handle one end, the supersound sword handle is installed in the ultrasonic housing, the osteotome set up in the follow-up sleeve, be equipped with in the ultrasonic housing and be used for the drive supersound osteotome subassembly reciprocating rectilinear movement's actuating mechanism, when the follow-up sleeve butt is on the lamina, through actuating mechanism drive supersound osteotome subassembly stretches out the follow-up sleeve realizes the cutting to the lamina.
2. The laminectomy ultrasonic surgical instrument of claim 1, wherein: the ultrasonic knife handle is arranged on the locking mechanism, the locking mechanism comprises a locking fixing piece, a locking movable piece and a locking adjusting mechanism, the locking movable piece is connected to the locking fixing piece in a sliding mode, a first clamping piece is arranged on the locking movable piece, a second clamping piece corresponding to the first clamping piece is arranged on the locking fixing piece, and the locking adjusting mechanism is connected with the locking movable piece and the locking fixing piece and used for adjusting the distance between the locking movable piece and the locking fixing piece so that the first clamping piece and the second clamping piece are close to each other to clamp the ultrasonic knife handle, or the first clamping piece is far away from the second clamping piece to loosen the ultrasonic knife handle; the locking fixing piece is connected with the driving mechanism, and the driving mechanism drives the locking mechanism to reciprocate linearly so as to drive the ultrasonic bone knife assembly to reciprocate linearly.
3. The laminectomy ultrasonic surgical instrument of claim 2, wherein: the locking adjusting mechanism comprises a locking crank, a locking connecting rod and a locking spanner, wherein a shaft on one side of the locking crank is rotationally connected to the locking fixing piece and fixedly connected with the locking spanner, a shaft on the other side of the locking crank is rotationally connected with one end of the locking connecting rod, the other end of the locking connecting rod is rotationally connected to the locking movable piece, the locking crank is driven to rotate through the locking spanner, and the locking movable piece is driven to slide close to or far away from the locking fixing piece through the locking connecting rod.
4. The laminectomy ultrasonic surgical instrument of claim 2, wherein: the driving mechanism comprises a base, a driving motor, a sliding table, a screw and a screw nut, wherein the base is fixedly connected in the ultrasonic shell, the driving motor is fixedly connected on the base, an output shaft of the driving motor is connected with the screw and used for driving the screw to rotate, the screw nut is in threaded connection with the screw, a sliding rail is arranged on the base, a sliding block is connected onto the sliding rail in a sliding manner, the sliding table is fixedly connected onto the sliding block and is fixedly connected with the screw nut, and the locking fixing piece is connected onto the sliding table in a sliding manner; force sensor fixing seats are fixedly connected to the inner sides of two ends of the locking fixing piece, a force sensor is arranged in each force sensor fixing seat, and the two force sensors respectively prop against two ends of the sliding table so as to measure the cutting force through the force sensors.
5. The laminectomy ultrasonic surgical instrument of claim 4, wherein: and two ends of the base are respectively provided with a limit switch, and each limit switch is respectively matched with two ends of the locking fixing piece for use so as to limit and protect the movement stroke of the driving motor.
6. The laminectomy ultrasonic surgical instrument of claim 4, wherein: the driving motor is a screw motor, and the cutting depth of the current tissue is calculated through an encoder of the screw motor.
7. The laminectomy ultrasonic surgical instrument of claim 4, wherein: the automatic bone knife cutting device is characterized in that a self-resetting advancing button, a self-resetting backing button and a self-resetting automatic identification button are arranged on the handle, the self-resetting advancing button, the self-resetting backing button and the self-resetting automatic identification button are respectively connected with the controller, forward rotation and reverse rotation of the driving motor are controlled through the self-resetting advancing button and the self-resetting backing button respectively to control the advancing and backing of the bone knife, and the self-resetting automatic identification button is used for controlling the bone knife to automatically cut vertebral plates.
8. The laminectomy ultrasonic surgical instrument of claim 1, wherein: and a display screen is arranged on the ultrasonic shell and used for displaying relevant parameters during the cutting of the vertebral plate.
9. The laminectomy ultrasonic surgical instrument of claim 1, wherein: the ultrasonic shell comprises a top ultrasonic shell and a bottom ultrasonic shell, wherein shell adsorption magnets are arranged in the top ultrasonic shell and the bottom ultrasonic shell, and the top ultrasonic shell and the bottom ultrasonic shell are connected together through the magnetic attraction of the shell adsorption magnets; the front end of the bottom ultrasonic shell is fixedly provided with a sleeve adsorption magnet, the follow-up sleeve is fixedly provided with a ferromagnetic piece corresponding to the sleeve adsorption magnet, and the sleeve adsorption magnet and the ferromagnetic piece are connected together through the magnetic attraction between the sleeve adsorption magnet and the ferromagnetic piece.
10. The laminectomy ultrasonic surgical instrument of claim 1, wherein: the ultrasonic testing device is characterized in that a slot is formed in the top end of the handle, an inserting block matched with the slot is arranged at the bottom end of the ultrasonic housing, a cam mechanism is further rotationally connected to the handle, and after the inserting block is inserted into the slot, the cam mechanism is rotated to enable the cam mechanism to tightly prop against the bottom surface of the ultrasonic housing, and the inserting block is tightly connected with the slot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310544562.1A CN116421274A (en) | 2023-05-16 | 2023-05-16 | Ultrasonic surgical instrument for laminectomy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310544562.1A CN116421274A (en) | 2023-05-16 | 2023-05-16 | Ultrasonic surgical instrument for laminectomy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117297708A (en) * | 2023-10-18 | 2023-12-29 | 北京铸正机器人有限公司 | Respiration-follow-up ultrasonic bone knife end effector |
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2023
- 2023-05-16 CN CN202310544562.1A patent/CN116421274A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117297708A (en) * | 2023-10-18 | 2023-12-29 | 北京铸正机器人有限公司 | Respiration-follow-up ultrasonic bone knife end effector |
| CN117297708B (en) * | 2023-10-18 | 2024-04-02 | 北京铸正机器人有限公司 | Respiration-follow-up ultrasonic bone knife end effector |
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