CN202776527U - Six-freedom-degree spinal operation guide machine - Google Patents
Six-freedom-degree spinal operation guide machine Download PDFInfo
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- CN202776527U CN202776527U CN 201220237186 CN201220237186U CN202776527U CN 202776527 U CN202776527 U CN 202776527U CN 201220237186 CN201220237186 CN 201220237186 CN 201220237186 U CN201220237186 U CN 201220237186U CN 202776527 U CN202776527 U CN 202776527U
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- freedom
- straight line
- degree
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- adjusting system
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Abstract
A six-freedom-degree spinal operation guide machine comprises a support mechanism, a locating mechanism and a six-freedom-degree parallel posture adjusting mechanism. The six-freedom-degree parallel posture adjusting mechanism is fixed on the locating mechanism. The six-freedom-degree parallel posture adjusting mechanism comprises an upper platform, a lower platform, six straight line pairs, an extensible rod and an operation sleeve. The six straight line pairs are evenly arranged along the upper platform and the lower platform with two straight line pairs being in one group. The upper ends of each straight line pair are connected with the upper platform through a ball-shaped pair. The lower ends of each straight line pair are connected with the lower platform through a ball-shaped pair. The extensible rod is fixed with the upper platform and bends and inclines downwards, and then is connected with the operation sleeve. According to the six-freedom-degree spinal operation guide machine, the weight of the posture adjusting mechanism is supported by the support mechanism, a convex portion of a human spine is located through the locating mechanism, the posture and the position of the pedicle screw trajectory of different spine sections are adjusted and located through the posture adjusting mechanism, so that the screw trajectory posture and the screw trajectory position are accurate, and safety and reliability are achieved.
Description
Technical field
This utility model relates to medical apparatus and instruments, particularly relates to a kind of six degree of freedom spinal operation conductor.
Background technology
Along with computer, microelectric technique and medical science applied fast development, various computer aided medicine technology and equipments emerge in an endless stream.Airmanship has begun to use widely in the art under the three-dimensional navigation guiding.The image that the doctor provides according to computer-aided equipment is determined position and the attitude of performing the operation.
In spinal operation, modal a kind of operation technique is the pedicle nail fixation, need to implant nail at the pedicle of vertebral arch position of spinal column both sides, is used for fixing spinal column.Implant before the nail, need to get out the nail road in pedicle of vertebral arch.And brill nail road process is very high to the requirement of precision and handling safety.
Traditional auxiliary facilities attitude is adjusted difficulty, and locates inaccurately, can't guarantee precision and the safety requirements of operation process.
Summary of the invention
Based on this, be necessary for traditional auxiliary facilities attitude adjustment difficulty, locate inaccurate problem, a kind of six degree of freedom spinal operation conductor is provided.
A kind of six degree of freedom spinal operation conductor comprises:
Be positioned at operation table top, can with the supporting mechanism of operation table relative sliding;
It is protruding to be used for position patient spinal column ridge, and the detent mechanism that is slidingly matched with supporting mechanism; And
The six-freedom parallel attitude-adjusting system, described six-freedom parallel attitude-adjusting system is fixed on the detent mechanism, described six-freedom parallel attitude-adjusting system comprises upper mounting plate, lower platform, six straight line pairs, expansion link and operating sleeve, described six straight line pairs evenly arrange take two as one group along upper mounting plate and lower platform, the upper end of each straight line pair is connected with upper mounting plate by a spherical pair, the lower end of each straight line pair is connected with lower platform by a spherical pair, described expansion link and described upper mounting plate are fixed, and are connected with described operating sleeve after the downward-sloping extension.
Among embodiment, described six-freedom parallel attitude-adjusting system also comprises pilot sleeve therein, and described pilot sleeve is connected with described expansion link, and is sheathed on outside the described operating sleeve.
Therein among embodiment, described supporting mechanism comprises guide rail, two crossbeams and two the first locking devices that are used for cross beam lock is scheduled guide rail, and described guide rail is located at the operation table both sides, and described two girder spaces are arranged, be set up on the described guide rail, and crossbeam and described guide rail are slidingly matched.
Therein among embodiment, described detent mechanism comprises location-plate, locating pin, is used for location-plate is locked in the second locking device of supporting mechanism and the 3rd locking device that is used for the lock in place nail, the two ends of described location-plate are located on described two crossbeams, and be slidingly matched with described crossbeam, described location-plate is provided with the locating hole of object-oriented spinal column, and described locating pin is passed described locating hole can be protruding fixing with the ridge of target spinal column.
Therein among embodiment, dismountable being fixed on the detent mechanism of described six-freedom parallel attitude-adjusting system.
Among embodiment, described straight line pair is the straight line hinge therein.
Among embodiment, described spherical pair is spherical linkage therein.
Above-mentioned six degree of freedom spinal operation conductor, support the weight of attitude-adjusting system by supporting mechanism, position by the ridge convex portion of detent mechanism to the human spine, by pedicle nail road attitude and position adjustment and the location of attitude-adjusting system to different spinal segment, make nail road attitude and position more accurate, safety and reliability.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of six-freedom parallel attitude-adjusting system of the present utility model;
Fig. 3 is six-freedom parallel attitude-adjusting system of the present utility model and locate mode sketch map thereof;
Fig. 4 is the sketch map that this utility model is in holding state;
Fig. 5 is the sketch map that this utility model is in adjusting, positioning states.
The specific embodiment
With shown in Figure 3, a kind of six degree of freedom spinal operation conductor comprises supporting mechanism 110, detent mechanism 120 and six-freedom parallel attitude-adjusting system 130 as shown in Figure 1;
Supporting mechanism 110 is positioned at operation table 2 tops, can with operation table 2 relative slidings;
Supporting mechanism 110 can be on operation table 2 slidable adjustment, play the effect of coarse localization, and cooperate six-freedom parallel attitude-adjusting system 130, to the pedicle nail road of different spinal segment carrying out attitude adjustment and location positioning, make attitude and the position in nail road 3 more accurate, safety and reliability.
Six-freedom parallel attitude-adjusting system 130 is fixed on the detent mechanism 120, and this guiding mechanism 130 consists of common six-freedom degree by a 6-SPS parallel institution in conjunction with an expansion link, realizes location and the attitude adjustment in spinal operation nail road 3.
As shown in Figure 2, particularly, the six-freedom parallel attitude-adjusting system 130 of present embodiment comprises upper mounting plate 131, lower platform 132, six straight line pairs 133, expansion link 135, pilot sleeve 136 and operating sleeve 137, described six straight line pairs 133 evenly arrange take two as one group along upper mounting plate and lower platform, the upper end of secondary (P is secondary) 133 of each straight line is secondary by a spherical secondary 134(S) be connected with upper mounting plate 131, the lower end of each straight line pair 133 is connected with lower platform 132 by one spherical secondary 134, described expansion link 135 is fixing with upper mounting plate 132, and downward-sloping extension is connected with operating sleeve 137 by pilot sleeve 136 afterwards, wherein pilot sleeve 136 is connected with expansion link 135, and is sheathed on outside the operating sleeve 137.There is multiple specification at the length of expansion link 135 and angle of inclination, are used for adapting to the operation for different spinal segment.
Be understandable that, therein among embodiment, described six-freedom parallel attitude-adjusting system 130 dismountable being fixed on the detent mechanism 120, this mode can realize by various structures, as 132 times quick-release arrangement being set by the lower platform at six-freedom parallel attitude-adjusting system 130.
Based on said structure, flexible and spherical secondary 134 rotation by straight line pair 133, can adjust upper mounting plate 131 and move and rotate along x, y, z direction of principal axis, and cooperate the expansion link 135 that automatically to adjust length, realize attitude adjustment and the location positioning in 137 pairs of nail roads 3 of terminal operating sleeve.
In the operation process, operating sleeve 137 gos deep into patient body by pilot sleeve 136, and arrives at pedicle of vertebral arch.Doctor's operation technique is undertaken by operating sleeve 137.
Be understandable that pilot sleeve 136 also can be simplified, expansion link 135 directly is connected with operating sleeve 137.
As shown in figures 1 and 3, therein among embodiment, described supporting mechanism 110 comprises guide rail 111, two crossbeams 112 and two the first locking devices 113 that are used for crossbeam 112 is locked in guide rail 111, described guide rail 111 is located at operation table 2 both sides, described two crossbeams 112 are spaced, and be set up on the described guide rail 111, and crossbeam 112 are slidingly matched with described guide rail 111, realize the slip of crossbeam 112 above operation table 2, play the effect of coarse localization.
Certainly, the slip of crossbeam 112 on operation table 2 also can realize by other structures, realizes by the sliding tray on pulley and the operation table 2 such as crossbeam 112; In addition, the quantity of crossbeam 112 also is not limited to two, as long as can realize the support to detent mechanism 120.
As shown in figures 1 and 3, therein among embodiment, described detent mechanism 120 comprises location-plate 121, locating pin 122, be used for the 3rd locking device 124 that location-plate 121 is locked in the second locking device 123 of supporting mechanism 110 and is used for lock in place nail 122, the two ends of described location-plate 121 are located on described two crossbeams 112, and be slidingly matched with described crossbeam 112, make location-plate 121 can flexible to patient's spinal column position, described location-plate 121 is provided with the locating hole of object-oriented spinal column, and described locating pin 122 is passed described locating hole can be protruding fixing with the ridge of target spinal column.
By location-plate 121 and locating pin 122, make the relative fixing of location-plate 121 and patient, reach pinpoint purpose, the patient body position changes the inaccurate problem of navigation that causes in can avoiding performing the operation; And the frame of reference of a location, adjustment is provided for attitude-adjusting system 130, provides the nail path by computer navigation information, and the pilot sleeve 136 that finally drives attitude-adjusting system 130 ends is adjusted to the path in given nail road 3.Certainly, the quantity of locating pin 122 can be one or more, specifically according to the adjustment of operation needs.
Among embodiment, described straight line secondary 133 is the straight line hinge therein.Certainly, also can cooperate spherical secondary 134 to realize that upper mounting plate 131 is in x, y, the axial movement of z by other structures.
Among embodiment, described spherical secondary 134 is spherical linkage therein.Certainly, also can cooperate straight line pair 133 by other structures, to realize that upper mounting plate 30 is in x axle, the axial rotation of y, z.
The work process of six degree of freedom spinal operation conductor is as follows:
As shown in Figure 4, before the operation, crossbeam 112 and location-plate 121 are in position of readiness, and namely crossbeam 112 is positioned at a side of a side rails 111, and location-plate 121 is positioned at a side of crossbeam 112.
When beginning to perform the operation, patient is placed on the operation table 2, and fixing.
Such as Fig. 1, Fig. 3 and shown in Figure 5, conductor is adjusting, positioning states at this moment, and crossbeam 112 is slid into operative site along bed side rails 111, namely needs the spinal column segment of performing the operation; Location-plate 121 is adjusted to top, spinal column position, utilizes locating pin 122, pass the epidermis otch, be fixed on the spinal column ridge protuberance position, realize accurately location; Then by the 3rd locking device 124 that is used for lock in place nail 122 on the location-plate 121 the two is fixed, and will for second locking device 123 of lock in place plate 121 with crossbeam 112, reach the first locking device 113 that is used for locking crossbeam 112 and bed side rails 111 and lock.Thereby whole location-plate 121 is fixed with the patient, and supported.
Then, utilize CT in the art or C type X-ray machine that location-plate 121 fixing spinal segment are carried out scanning in the art, set up the image coordinate of spinal segment and location-plate, obtain the position of 3-D view and the location-plate 121 of spinal segment, and determine to plant angle and the position of nail by 3-D view.
Afterwards, at location-plate 121 six-freedom parallel attitude-adjusting system 130 is installed, is utilized above-mentioned known locating information, make six-freedom parallel attitude-adjusting system 130 automatically be adjusted to the certain position position.Certainly, the collapsing length of the straight line pair 133 of six-freedom parallel attitude-adjusting system 130, spherical secondary 134 the anglec of rotation and the collapsing length of expansion link 135 also can be passive types, by manual adjustment.
The above embodiment has only expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to this utility model claim.Should be pointed out that for the person of ordinary skill of the art without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be as the criterion with claims.
Claims (7)
1. a six degree of freedom spinal operation conductor is characterized in that, comprising:
Be positioned at operation table top, can with the supporting mechanism of operation table relative sliding;
It is protruding to be used for position patient spinal column ridge, and the detent mechanism that is slidingly matched with supporting mechanism; And
The six-freedom parallel attitude-adjusting system, described six-freedom parallel attitude-adjusting system is fixed on the detent mechanism, described six-freedom parallel attitude-adjusting system comprises upper mounting plate, lower platform, six straight line pairs, expansion link and operating sleeve, described six straight line pairs evenly arrange take two as one group along upper mounting plate and lower platform, the upper end of each straight line pair is connected with upper mounting plate by a spherical pair, the lower end of each straight line pair is connected with lower platform by a spherical pair, described expansion link and described upper mounting plate are fixed, and are connected with described operating sleeve after the downward-sloping extension.
2. six degree of freedom spinal operation conductor according to claim 1 is characterized in that, described six-freedom parallel attitude-adjusting system also comprises pilot sleeve, and described pilot sleeve is connected with described expansion link, and is sheathed on outside the described operating sleeve.
3. six degree of freedom spinal operation conductor according to claim 2, it is characterized in that, described supporting mechanism comprises guide rail, two crossbeams and two the first locking devices that are used for cross beam lock is scheduled guide rail, described guide rail is located at the operation table both sides, described two girder spaces are arranged, be set up on the described guide rail, and crossbeam and described guide rail are slidingly matched.
4. six degree of freedom spinal operation conductor according to claim 3, it is characterized in that, described detent mechanism comprises location-plate, locating pin, is used for location-plate is locked in the second locking device of supporting mechanism and the 3rd locking device that is used for the lock in place nail, the two ends of described location-plate are located on described two crossbeams, and be slidingly matched with described crossbeam, described location-plate is provided with the locating hole of object-oriented spinal column, and described locating pin is passed described locating hole can be protruding fixing with the ridge of target spinal column.
5. the described six degree of freedom spinal operation of any one conductor in 4 according to claim 1 is characterized in that dismountable being fixed on the detent mechanism of described six-freedom parallel attitude-adjusting system.
6. six degree of freedom spinal operation conductor according to claim 1 is characterized in that, described straight line pair is the straight line hinge.
7. six degree of freedom spinal operation conductor according to claim 1 is characterized in that, described spherical pair is spherical linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220237186 CN202776527U (en) | 2012-05-24 | 2012-05-24 | Six-freedom-degree spinal operation guide machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220237186 CN202776527U (en) | 2012-05-24 | 2012-05-24 | Six-freedom-degree spinal operation guide machine |
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| CN202776527U true CN202776527U (en) | 2013-03-13 |
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| CN 201220237186 Expired - Lifetime CN202776527U (en) | 2012-05-24 | 2012-05-24 | Six-freedom-degree spinal operation guide machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104758040A (en) * | 2015-04-30 | 2015-07-08 | 山东威高骨科材料股份有限公司 | Steel plate for anterior cervial internal fixation and guiding device |
| CN107550569A (en) * | 2017-10-16 | 2018-01-09 | 鹰利视医疗科技有限公司 | A kind of vertebra minimally invasive robot |
| CN109498160A (en) * | 2018-12-29 | 2019-03-22 | 上海应用技术大学 | A kind of minimally invasive spine surgical robot |
| CN109908496A (en) * | 2019-03-27 | 2019-06-21 | 陕西华明普泰医疗设备有限公司 | A kind of control method of six degree of freedom radiation therapeutical bed |
| CN110114046A (en) * | 2016-11-28 | 2019-08-09 | 威博外科公司 | Reduce the robotic surgical system of unexpected vibration |
| CN111603346A (en) * | 2020-05-28 | 2020-09-01 | 上海长征医院 | Novel spinal surgery device based on mixed reality technology |
-
2012
- 2012-05-24 CN CN 201220237186 patent/CN202776527U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104758040A (en) * | 2015-04-30 | 2015-07-08 | 山东威高骨科材料股份有限公司 | Steel plate for anterior cervial internal fixation and guiding device |
| CN110114046A (en) * | 2016-11-28 | 2019-08-09 | 威博外科公司 | Reduce the robotic surgical system of unexpected vibration |
| US11602474B2 (en) | 2016-11-28 | 2023-03-14 | Verb Surgical Inc. | Surgical table base with high stiffness and adjustable support members with force feedback |
| US11813203B2 (en) | 2016-11-28 | 2023-11-14 | Verb Surgical Inc. | Robotic surgical table with relatively high resonant frequency structure to reduce efficiency of energy transmission between attached robotic arms |
| CN107550569A (en) * | 2017-10-16 | 2018-01-09 | 鹰利视医疗科技有限公司 | A kind of vertebra minimally invasive robot |
| CN107550569B (en) * | 2017-10-16 | 2023-08-04 | 鹰利视医疗科技有限公司 | Vertebra minimally invasive robot |
| CN109498160A (en) * | 2018-12-29 | 2019-03-22 | 上海应用技术大学 | A kind of minimally invasive spine surgical robot |
| CN109908496A (en) * | 2019-03-27 | 2019-06-21 | 陕西华明普泰医疗设备有限公司 | A kind of control method of six degree of freedom radiation therapeutical bed |
| CN109908496B (en) * | 2019-03-27 | 2020-09-15 | 陕西华明普泰医疗设备有限公司 | Control method of six-degree-of-freedom radiotherapy bed |
| CN111603346A (en) * | 2020-05-28 | 2020-09-01 | 上海长征医院 | Novel spinal surgery device based on mixed reality technology |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130313 |
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| CX01 | Expiry of patent term |