CN202027587U - Force information collector for thoracolumbar operation of human body - Google Patents
Force information collector for thoracolumbar operation of human body Download PDFInfo
- Publication number
- CN202027587U CN202027587U CN2011200478532U CN201120047853U CN202027587U CN 202027587 U CN202027587 U CN 202027587U CN 2011200478532 U CN2011200478532 U CN 2011200478532U CN 201120047853 U CN201120047853 U CN 201120047853U CN 202027587 U CN202027587 U CN 202027587U
- Authority
- CN
- China
- Prior art keywords
- tension
- joint
- compression
- handle
- twisting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Surgical Instruments (AREA)
Abstract
A force information collector for thoracolumbar operation of a human body comprises a handle, a torsion power transmission mechanism, a tension and compression power transmission mechanism, an operating head and a reference frame, wherein the torsion power transmission mechanism is embedded in a groove of the handle; the tension and compression power transmission mechanism is connected to the front end of the torsion power transmission mechanism; the operating head is connected to the front end of the tension and compression power transmission mechanism; and the reference frame is connected to a tension and compression connector. The force information collector for the thoracolumbar operation of the human body can be used in conjunction with an optical positioning system, can directly act on the thoracic vertebra and lumbar vertebra of the human body in the pedicle screw implantation operation process and synchronously collect and feed back the force information. The force information collector also can act on the thoracic vertebra and lumbar vertebra specimens of the human body through special information collection experiment to collect and feed back the force information. The collected force information can be used for force model construction in the virtual pedicle screw implantation operation system.
Description
Technical field
This utility model relates to the virtual emulation technology, particularly a kind of human body breast, lumbar surgery haptic information acquiring device.
Background technology
The operation virtual emulation is the application of virtual reality technology at medical domain, is the important research direction in present digitized surgical technic field.By operation virtual emulation technology, the doctor can formulate the optimization operation plan; Also can not repeat exercise by cadaver sample, thereby reduce surgeon's operative training expense and shorten cultivation cycle, operation virtual emulation technology has overcome few, the high deficiency of operational objectives (cadaver sample) cost of the actual hands-on chance of doctor under the conventional surgical training of doctors pattern, and is significant to the quality and the efficient that improve the medical surgery training.
Spinal column is one of most important organ of human body.People's spinal lesion and fracture dislocation incidence rate are in rising trend in recent years.The internal fixation of spine operation that is implanted as the basis with pedicle screw has advantages such as cycle weak point, instant effect, often becomes doctor and patient's first-selection.The implant surgery of spinal column pedicle screw need be determined the ideal mouth that advances to hammer on vertebral body, and the relative pose of monitoring in real time between screw or operation tool and the vertebral body concerns, and, doctor's viewing area is limited, rely on the X-ray that obtains affected part repeatedly, obtain the relative pose information between implant or operation tool and the trouble bone discontinuously, this has proposed very high requirement for doctor's operation technique level.In order to improve doctor's technical merit at short notice with lower cost, be necessary to develop the operation dummy emulation system of implanting towards the spinal column pedicle screw specially.
In order to reach operation virtual emulation effect true to nature, thereby according to the different of human body vertebral body different parts physical characteristic and punching and plant the nail degree of depth, orientation, speed, the isoparametric difference of acceleration and export different feedback forces, power is felt the feedback system ingredient that is absolutely necessary.Basic power feels that feedback system comprises device for force feedback and power feel modeling.Existing power vision model involves a large amount of complicated calculations and theoretical property is very strong, and structure of human body vertebral body and biomechanics characteristic are very complicated, the true feedback force that shows in the simple power visual information that draws by Theoretical Calculation and the operation has certain difference, the fidelity of virtual emulation thereby influence is performed the operation.Compare with simple Theoretical Calculation, feel that by power harvester gathers real feedback force information in the actual pedicle screw implantation, and to carry out modeling analysis and research on this basis be a kind of more direct effective solution.
Find through literature search prior art, the patent No. is that the Chinese utility model patent " analog scalpel unit " (notification number is CN1176448C) of ZL02118522.0 discloses a kind of analog scalpel, application number is the force acquisition device that 200410031486.1 Chinese utility model patent " a kind of force acquisition device of scalpel " (publication number is CN1677064A) then discloses this analog scalpel, and application number is that 200910308169.2 Chinese utility model patent " virtual surgery haptic information acquiring device " (publication number is CN101653356A) discloses a kind of virtual surgery haptic information acquiring device.These three patents all relate to the collection of human body soft tissue force feedback information, but do not consider the clamping and positioning of operational objectives in the information gathering process (tissue), up to the present, still do not have the haptic information acquiring device of implanting virtual operation towards pedicle nail.
The utility model content
The purpose of this utility model in order to solve the problems referred to above that prior art exists, provides a kind of human body breast, lumbar surgery haptic information acquiring device exactly.
To achieve these goals, this utility model has adopted following technical scheme: a kind of human body breast, lumbar surgery haptic information acquiring device, and it comprises:
Handle is made of pyriform afterbody that fuses and cylindrical shape head, is provided with the type groove of axial perforation in the handle;
Reverse force transmission mechanism, be inlaid in the type groove of handle, comprise torque sensor and twisting joint that movable cutting ferrule links to each other, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms with the cylindrical shape head and is rotatably connected;
The tension and compression force transmission mechanism, be connected the front end that reverses force transmission mechanism, comprise tension and compression joint and tension-compression sensor, tension and compression joint and twisting joint be nested to link to each other and forms removable the connection with twisting joint, the rear portion of tension and compression joint is provided with die cavity, tension-compression sensor is arranged in the die cavity of tension and compression joint and with the tension and compression joint fixedlys connected, and fixedlys connected with twisting joint in the rear portion of tension-compression sensor;
Operating head is connected the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs pulloverly to fixedly connected with the tension and compression joint, and sickle and installation are pullover nestedly to be movably connected and to link to each other with the nested transmission of tension and compression joint;
Frame of reference is connected on the tension and compression joint.
The pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed hole and 8 screwed holes that are used to locate twisting joint of being used for fixing torsion sensor.
The main body of described torque sensor is the cylinder bodily form, and periphery is provided with axial anti-slip tank, and the cylinder tail end is connected with a lead, and this lead passes from the pyriform afterbody of handle; Described twisting joint is the multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is bigger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with the twice annular groove, die cavity in twisting joint back segment and the handle forms matched in clearance, by 8 attachment screws are screwed in from the screwed hole that 8 of the cylindrical shape head of handle are used to connect twisting joint, 8 attachment screws are cooperated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle.
Described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part, the head threads shaft part is fixedlyed connected with the tension and compression joint, the middle part is connected with lead for discoid section, it is protruding that this lead radially passes the tension and compression joint, and the rear threads shaft part is fixedlyed connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to the stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetrical distribution, and the chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is a thread spindle, postpones and be the V-arrangement protrusion in the top of thread spindle; By in 4 screw holes, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides on the twisting joint, realization tension and compression joint is connected with the removable of twisting joint.
A kind of in broken bone object, circuit-closer or the screw thread screw tap of described sickle, the sickle tail end has and is used for protruding the V-arrangement link slot that nested transmission links to each other with the V-arrangement of tension and compression joint, and the sickle front end is provided with cutting edge; Described installation is pullover to be the cylindrical tube shape structure, pullover forward outer surface is installed is provided with two faces that scabble that are symmetrical distribution.
Described frame of reference comprises that pole, cross that order fuses carry ball-collecting rack and infrared external reflection ball; The pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and pole upper end is connected with the cross point that cross carries ball-collecting rack, the infrared external reflection ball totally 4 be connected to 4 angle point places that cross carries ball-collecting rack.
This utility model human body breast, lumbar surgery haptic information acquiring device cooperate optical positioning system to use, and can directly act on human body breast, lumbar vertebra in pedicle screw implant surgery process, and synchronous acquisition feedback force information; Also can act on human body breast, lumbar vertebra specimen, gather feedback force information by special information gathering experiment.The power vision model that the power visual information of being gathered can be used in the virtual pedicle nail implant surgery system makes up.
Description of drawings
Fig. 1 is the perspective view of this utility model human body breast, lumbar surgery haptic information acquiring device;
Fig. 2 is the sectional structure sketch map of this utility model human body breast, lumbar surgery haptic information acquiring device;
Fig. 3 is the perspective view of the handle in this utility model;
Fig. 4 is the perspective view of reversing force transmission mechanism in this utility model;
Fig. 5 is the perspective view of the twisting joint in this utility model;
Fig. 6 is the perspective view of the tension and compression force transmission mechanism in this utility model;
Fig. 7 is the perspective view of the tension and compression joint in this utility model;
Fig. 8 is the perspective view of the tension-compression sensor in this utility model;
Fig. 9 is the perspective view of the operating head in this utility model;
Figure 10 is the pullover perspective view of the installation in this utility model;
Figure 11 is the perspective view of the sickle in this utility model;
Figure 12 is the perspective view of the frame of reference in this utility model.
The specific embodiment
Below in conjunction with the drawings and specific embodiments this utility model is elaborated.
Referring to Fig. 1, Fig. 2, this utility model human body breast, lumbar surgery haptic information acquiring device comprise handle 1, reverse force transmission mechanism 2, tension and compression force transmission mechanism 3, operating head 4 and frame of reference 5.
Continuation cooperates referring to Fig. 3 referring to Fig. 1, Fig. 2, and the handle 1 in this utility model is made of pyriform afterbody 11 that fuses and cylindrical shape head 12, is provided with the type groove 13 of axial perforation in the handle.Have axial anti-slip tank 111 at pyriform afterbody 11 outer surfaces, on the barrel of cylindrical shape head 12, be provided with 6 screwed hole 121 and 8 screwed holes 122 that are used to locate twisting joint that are used for fixing torsion sensor.
Continuation is referring to Fig. 1, Fig. 2, cooperation is referring to Fig. 4, Fig. 5, reversing in the type groove 13 that force transmission mechanism 2 is inlaid in handle 1 in this utility model, comprise torque sensor 21 and twisting joint 22 that movable cutting ferrule links to each other, torque sensor 21 is arranged on the rear portion of the cylindrical shape head 12 of handle, and twisting joint 22 is arranged on cylindrical shape head 12 anterior of handle and forms with cylindrical shape head 12 and is rotatably connected.The main body of torque sensor 21 is the cylinder bodily form, and periphery is provided with axial anti-slip tank 211, and the cylinder tail end is connected with a lead 23, and this lead passes from the pyriform afterbody 11 of handle.Twisting joint 22 is the multidiameter structure, comprise the back segment 222 that diameter bigger leading portion 221 and diameter are less, the leading portion outer wall is provided with 4 even axial slides spaced apart 223, and the back segment outer wall is provided with twice annular groove 224, twisting joint back segment 222 and the interior die cavity 13 formation matched in clearance of handle.By 8 attachment screws are screwed in from the screwed hole 122 that 8 of the cylindrical shape head 12 of handle are used to connect twisting joint, 8 attachment screws are cooperated with the twice annular groove 224 of twisting joint 22 back segments, realize being rotatably connected of cylindrical shape head 12 of twisting joint 22 and handle.21 of above-mentioned torque sensors bear torsional moment, and twisting joint 22 bears torsional moment and pressure simultaneously.
Continuation is referring to Fig. 1, Fig. 2, cooperation is referring to Fig. 6, Fig. 7, Fig. 8, tension and compression force transmission mechanism 3 in this utility model is connected the front end that reverses force transmission mechanism 2, comprise tension and compression joint 31 and tension-compression sensor 32, tension and compression joint 31 and twisting joint 22 be nested to link to each other and forms removable connections with twisting joint 22, the rear portion of tension and compression joint 31 is provided with die cavity, and this die cavity is arranged on the back segment of tension and compression joint 31 and extends to the stage casing.Tension-compression sensor 32 is arranged in this die cavity and with tension and compression joint 31 fixedlys connected, and fixedlys connected with twisting joint 22 in the rear portion of tension-compression sensor 32.Tension and compression joint 31 comprises back segment 311, stage casing 312 and the leading portion 313 that diameter dwindles successively; Back segment 311 outer surfaces are provided with two faces that scabble 3111 that are symmetrical distribution, and are provided with 4 even radial screw holes 3112 spaced apart; The leading portion 313 of tension and compression joint is a thread spindle, postpones and be V-arrangement protrusion 314 in the top of thread spindle.By in 4 screw holes 3112, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides 223 on the twisting joint 22, realization tension and compression joint 31 is connected with the removable of twisting joint 22.Tension-compression sensor 32 comprises head threads shaft part 321, middle part disk segments 322 and rear threads shaft part 323, head threads shaft part 321 is fixedlyed connected with tension and compression joint 31, the middle part is connected with lead 33 for discoid section 322, it is protruding that this lead 33 radially passes tension and compression joint 31, and rear threads shaft part 323 is fixedlyed connected with the twisting joint 22 that reverses force transmission mechanism.32 of above-mentioned tension-compression sensors bear pressure, and tension and compression joint 31 bears torsional moment and pressure simultaneously.
Continuation is referring to Fig. 1, Fig. 2, cooperation is referring to Fig. 9, Figure 10, Figure 11, operating head 4 in this utility model is connected the front end of tension and compression force transmission mechanism 3, comprise installation pullover 41 and sickle 42, install pullover 41 and fixedly connected with tension and compression joint 31, sickle 42 with install pullover 41 and nestedly link to each other and link to each other with the 31 nested transmissions of tension and compression joint.Installation wherein pullover 41 is the cylindrical tube shape structure, pullover 41 forward outer surface is installed is provided with two faces that scabble 411 that are symmetrical distribution.A kind of in broken bone object, circuit-closer or the screw thread screw tap of sickle 42, sickle 42 tail ends have and are used for protruding the V-arrangement link slot 421 that 314 nested transmissions link to each other with the V-arrangement of tension and compression joint 31, and the sickle front end is provided with cutting edge 422.
Cooperation is referring to Figure 12, and frame of reference 5 is connected on the tension and compression joint 31 in this utility model, comprises that pole 51, cross that order fuses carry ball-collecting rack 52 and infrared external reflection ball 53; Pole 51 lower ends are fixed on the tension and compression joint 31 of tension and compression force transmission mechanism, and the cross point that pole 51 upper ends and cross carry ball-collecting rack 52 is connected, infrared external reflection ball 53 totally 4 be connected to 4 angle point places that cross carries ball-collecting rack 52.
Claims (6)
1. a human body breast, lumbar surgery haptic information acquiring device is characterized in that, comprising:
Handle is made of pyriform afterbody that fuses and cylindrical shape head, is provided with the type groove of axial perforation in the handle;
Reverse force transmission mechanism, be inlaid in the type groove of handle, comprise torque sensor and twisting joint that movable cutting ferrule links to each other, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms with the cylindrical shape head and is rotatably connected;
The tension and compression force transmission mechanism, be connected the front end that reverses force transmission mechanism, comprise tension and compression joint and tension-compression sensor, tension and compression joint and twisting joint be nested to link to each other and forms removable the connection with twisting joint, the rear portion of tension and compression joint is provided with die cavity, tension-compression sensor is arranged in the die cavity of tension and compression joint and with the tension and compression joint fixedlys connected, and fixedlys connected with twisting joint in the rear portion of tension-compression sensor;
Operating head is connected the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs pulloverly to fixedly connected with the tension and compression joint, and sickle and installation are pullover nestedly to link to each other and link to each other with the nested transmission of tension and compression joint;
Frame of reference is connected on the tension and compression joint.
2. human body breast as claimed in claim 1, lumbar surgery haptic information acquiring device is characterized in that: the pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed hole and 8 screwed holes that are used to locate twisting joint of being used for fixing torsion sensor.
3. human body breast as claimed in claim 1, lumbar surgery haptic information acquiring device, it is characterized in that: the main body of described torque sensor is the cylinder bodily form, periphery is provided with axial anti-slip tank, and the cylinder tail end is connected with a lead, and this lead passes from the pyriform afterbody of handle; Described twisting joint is the multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is bigger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with the twice annular groove, die cavity in twisting joint back segment and the handle forms matched in clearance, by 8 attachment screws are screwed in from the screwed hole that 8 of the cylindrical shape head of handle are used to connect twisting joint, 8 attachment screws are cooperated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle.
4. human body breast as claimed in claim 1, lumbar surgery haptic information acquiring device, it is characterized in that: described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part, the head threads shaft part is fixedlyed connected with the tension and compression joint, the middle part is connected with lead for discoid section, it is protruding that this lead radially passes the tension and compression joint, and the rear threads shaft part is fixedlyed connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to the stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetrical distribution, and the chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is a thread spindle, postpones and be the V-arrangement protrusion in the top of thread spindle; By in 4 screw holes, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides on the twisting joint, realization tension and compression joint is connected with the removable of twisting joint.
5. human body breast as claimed in claim 1, lumbar surgery haptic information acquiring device, it is characterized in that: a kind of in broken bone object, circuit-closer or the screw thread screw tap of described sickle, the sickle tail end has and is used for protruding the V-arrangement link slot that nested transmission links to each other with the V-arrangement of tension and compression joint, and the sickle front end is provided with cutting edge; Described installation is pullover to be the cylindrical tube shape structure, pullover forward outer surface is installed is provided with two faces that scabble that are symmetrical distribution.
6. human body breast as claimed in claim 1, lumbar surgery haptic information acquiring device is characterized in that: described frame of reference comprises that pole, cross that order fuses carry ball-collecting rack and infrared external reflection ball; The pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and pole upper end is connected with the cross point that cross carries ball-collecting rack, the infrared external reflection ball totally 4 be connected to 4 angle point places that cross carries ball-collecting rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200478532U CN202027587U (en) | 2011-02-25 | 2011-02-25 | Force information collector for thoracolumbar operation of human body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200478532U CN202027587U (en) | 2011-02-25 | 2011-02-25 | Force information collector for thoracolumbar operation of human body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202027587U true CN202027587U (en) | 2011-11-09 |
Family
ID=44889904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200478532U Expired - Fee Related CN202027587U (en) | 2011-02-25 | 2011-02-25 | Force information collector for thoracolumbar operation of human body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202027587U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627918A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Axle hole reference on-site and quick leading out tool and method for visual precision measuring |
-
2011
- 2011-02-25 CN CN2011200478532U patent/CN202027587U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627918A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Axle hole reference on-site and quick leading out tool and method for visual precision measuring |
| CN105627918B (en) * | 2014-11-05 | 2019-01-08 | 北京航天计量测试技术研究所 | Quickly draw tooling and method in axis hole benchmark scene for precision visual measurement |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102646350B (en) | Centrum location device for virtual surgery force sense information acquisition | |
| US11357578B2 (en) | Surgical instrument and method | |
| US20220039836A1 (en) | Retractor/compression/distraction system | |
| CN110430831A (en) | Spinal implant system and method | |
| CN104905869B (en) | Navigation template for vertebral pedicle locating and real-time screw path monitoring and manufacturing method thereof | |
| CN110533763B (en) | Intelligent orthopedic external fixation system based on cloud platform | |
| EP2975599B1 (en) | Growing spine model | |
| CN102772244A (en) | Intraoperative navigation system used for implanting pedicle screw | |
| CN202027692U (en) | Clamping device for vertebral body specimen | |
| US10285715B2 (en) | Surgical instrument and method | |
| CN111938881B (en) | Intelligent intervertebral disc system capable of monitoring activity posture and stress thereof and monitoring method | |
| CN107252364B (en) | 3D printed humerus model and preparation method thereof | |
| CN202027587U (en) | Force information collector for thoracolumbar operation of human body | |
| CN102648870B (en) | Spinal pedicle screw implantation feedback force information collection device | |
| CN201684011U (en) | Percutaneous minimally invasive lumber vertebral pedicle screw fixing system and matching machine | |
| CN203252731U (en) | Personalized fixing auxiliary device in lumbar vertebra | |
| CN207012235U (en) | A kind of pedicle of vertebral arch fixed system installation tool | |
| CN101856264B (en) | Orthopedic surgery navigation template based on three-dimensional modeling | |
| CN105989769B (en) | A kind of minimally invasive spine surgical simulation force feedback surgery training device and method | |
| CN202699262U (en) | Minimally invasive sleeve type expander and extension arm pedicle screw | |
| CN111839709A (en) | Quantifiable distraction lifting device for lumbar spondylolisthesis reduction | |
| CN207236810U (en) | A kind of pedicle of vertebral arch fixed system is with strutting piece | |
| CN203153926U (en) | Vertebral-plate forming steel plate | |
| CN204814138U (en) | Chest lumbar vertebrae way of escape flexible fixation system | |
| CN205569056U (en) | Orthopedic pair of plug screw screw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111109 Termination date: 20120225 |