CN203609518U - Digitized spinal surgery device based on microgap positioning - Google Patents
Digitized spinal surgery device based on microgap positioning Download PDFInfo
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- CN203609518U CN203609518U CN201320806954.2U CN201320806954U CN203609518U CN 203609518 U CN203609518 U CN 203609518U CN 201320806954 U CN201320806954 U CN 201320806954U CN 203609518 U CN203609518 U CN 203609518U
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Abstract
The utility model relates to a digitized spinal surgery device based on microgap positioning. The device comprises a bearing platform, wherein a controller is arranged on the bearing platform, an X-axis guide rail is arranged on the bearing platform, and a movable component is connected to the X-axis guide rail in a sliding mode. The device is characterized in that a Y-axis guide rail is arranged on the movable component, a stand column is connected to the Y-axis guide rail in a sliding mode, a Z-axis guide rail is arranged on the stand column, a cross beam is connected to the Z-axis guide rail in a sliding mode, a universal port is formed in the cross beam, a navigation manipulator and a decompression combined manipulator are connected to the universal port, and a positioner is connected to the navigation manipulator. In this way, implementation of spinal surgery can be assisted, and a doctor can be helped with multiple kinds of spinal surgery aiming at spinal fractures, spinal tumors, scolioses, protrusion of the intervertebral disc, spinal stenosis and spondylolisthesis. The overall application range is wide, positioning accuracy is high, operation is simple and convenient, and safety and reliability are guaranteed.
Description
Technical field
This utility model relates to a kind of operation device, relates in particular to a kind of spinal column digitized operation device based on location, microgap.
Background technology
The at present annual whole world has thousands of spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis patient to carry out various spinal operations, as fixing in laminectomy for decompression, pedicle nail, vertebroplasty, Nuclectomy etc.Because the vital tissues such as spinal cord, blood vessel and internal organs are positioned at around canalis spinalis or vertebra, operate miss is inserted as pedicle nail and is penetrated pedicle of vertebral arch cortical bone, nucleus pulposus clamp gos deep into the catastrophic effects such as even death that may cause paralysing such as abdominal cavity.Therefore, accurately location, precisely operate in field of spinal surgery tool and be of great significance.A lot of for the method for spinal surgery location at present, insert as example with pedicle nail, roughly can be summarized as five kinds: 1 artificial vertebral surface bone mark location is aided with the method such as Electrophysiology and the electrical impedance monitoring placing directions such as the positive side of x-ray position perspective, somatosensory evoked potential and electromyogram, generally adopt clinically at present, precision is poor.It guides 2 computer assisted navigations based on global positioning system (GPS) principle, be stored in " virtual world coordinate system " by the data of obtaining after preoperative targeted vertebra CT, MRI 3-dimensional reconstruction, Intraoperative position device is based upon the locus of targeted vertebra and operating theater instruments " real-world coordinates system " in real time again, then inserts by the coupling guiding pedicle of these two coordinate systems.Due to be subject to image drift, tracing system disturbed, can not real-time dynamic monitoring etc. the impact of many factors, bibliographical information the method is used for breast lumbar vertebra, and complex operation is time-consuming.This method of 3 Digitalized guiding template and computer assisted navigation principle are similar, are preoperative need, by computer control according to the reserved pilot hole masterplate of vertebral surface shape processing, being buckled in vertebral surface guiding pedicle nail and inserting in art.Obviously, this method is subject to the impact of vertebral surface situation, need bone surface in a big way to appear, and surperficial convex-concave changes greatly, and the goodness of fit of template and bone surface is just higher, and guiding accuracy is also just higher.Do not appear or the Minimally Invasive Surgery such as the very little percutaneous that appears vertebral surface in, the method is difficult to application.4 operating robots are as the Spineassiant(spinal column assistant of Israel), the robotic surgical system of the operation guiding system based on C arm machine 2D image in art, the O arm guiding based on optically tracked operating robot-SPINEBOT, Germany of Korea S etc.Adopt computer assisted navigation principle or need guide by high-end image documentation equipment, not only in art ray to expose many costs also very expensive.(5) some other localization method in other prior aries, as framework location, owing to there being wound to be tending towards at present superseded.Based on the stereotactic surgery system of CT, MRI scanning in specific underframe, utilize scanning cover registration precision higher, but can only carry out at CT or MRI chamber, application is limited to; Adopt body surface mark registration, owing to can not guaranteeing in art and preoperative position is consistent and the movement of skin and positioning precision is lower, can only be used for the less demanding bone surgery of performance accuracy.
In view of this,, urgently for above-mentioned technical problem, a kind of spinal column digitized surgery systems based on location, microgap of the design that looks for another way, to realize precise positioning and operation, guarantees the safety of spinal operation and improves curative effect.
Utility model content
The purpose of this utility model is exactly in order to solve the above-mentioned problems in the prior art, and a kind of spinal column digitized operation device based on location, microgap is provided.
The purpose of this utility model is achieved through the following technical solutions:
Based on the spinal column digitized operation device of location, microgap, include carrying platform, on described carrying platform, be provided with controller, on described carrying platform, be provided with X-axis guide rail, on described X-axis guide rail, slidably connect moving assembly, wherein: on described moving assembly, be provided with Y-axis guide rail, on described Y-axis guide rail, slidably connect column, on described column, be distributed with Z axis guide rail, on described Z axis guide rail, slidably connect crossbeam, on described crossbeam, be provided with general-purpose interface, on described general-purpose interface, be connected with navigation instrument hands or decompression combination robot arm, described navigation instrument is connected with localizer on hand.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described localizer includes endoscope, in described endoscope, be connected with trocar sheath, in described trocar sheath, be provided with interior stationary pipes, in described interior stationary pipes, be connected with suction pump, in described interior stationary pipes, be distributed with instrument hole, in described interior stationary pipes, be provided with positioning component.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described positioning component includes positioning needle, the front end of described positioning needle is provided with sensing chip, and the tail end of described positioning needle is provided with spring.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described navigation instrument hands comprises robot arm body, on described robot arm body, be provided with interface, described robot arm body is also provided with guide pipe, on described guide pipe, be provided with holder, in described guide pipe, be connected with localizer.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described decompression combination robot arm includes robot arm body, robot arm body is provided with interface, in described robot arm body, be provided with the base of tool, in the described base of tool, be provided with cutter, on the described base of tool, be connected with cutter changement, described cutter changement periphery is provided with cutter locking device, the lower end of described robot arm body is provided with inner sleeve, described inner sleeve periphery is provided with outer sleeve, in described robot arm body, be also provided with endoscope and suction pump, described cutter comprises mill osteotome, soft tissue exsector, vertebral pulp cleaning cutter, on the described base of tool, be also provided with soleplate cleaner.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described outer sleeve includes sleeve pipe, described sleeve pipe is outside equipped with catch, is distributed with scope hole, suction pump hole and cutter holes on described inner sleeve.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described mill osteotome includes motor, and described motor connects bistrique by drive mechanism.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described soft tissue exsector includes cutter body, described cutter body is connected with motor by drive mechanism, described cutter body one end is provided with blade, and described cutter body periphery is distributed with and compresses pipe, and described compression pipe is outside equipped with suction catheter, described suction catheter end is provided with base, on described base, is distributed with boss.
Further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described vertebral pulp cleaning cutter includes cutter body, described cutter body is by Nei Zhou connection for transmission mechanism, on described drive mechanism, be connected with motor, described cutter body tip is distributed with suction catheter, and described cutter body periphery is provided with protective sheet.
Again further, the above-mentioned spinal column digitized operation device based on location, microgap, wherein: described soleplate cleaner includes cleaning head, described cleaning head is connected with motor by drive mechanism, described cleaning head includes guide rod, described guide rod periphery is distributed with fastener tube, and one end of described fastener tube is connected with nut, and the described fastener tube other end is connected with deformation sheet.
The advantage of technical solutions of the utility model is mainly reflected in: can assist the enforcement of spinal column class operation, especially can help medical personnel to carry out the operation of the multiple spinal operations such as spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis.Overall applicability scope is wide, and positioning precision is high, easy and simple to handle, safe and reliable.
Accompanying drawing explanation
The purpose of this utility model, advantage and disadvantage, by for illustration and explanation the non-limitative illustration by preferred embodiment below.
Fig. 1 is the side view of decompression combination robot arm general assembly structure.
Fig. 2 is the end view of decompression combination robot arm general assembly structure.
Fig. 3 is the top view of decompression combination robot arm general assembly structure.
Fig. 4 is positioning needle left side organigram.
Fig. 5 is positioning needle right side organigram
Fig. 6 is navigation instrument hands side surface configurations schematic diagram.
Fig. 7 is the side surface configurations schematic diagram of decompression combination robot arm.
Fig. 8 is the structural representation of mill osteotome.
Fig. 9 a is the structural representation of soft tissue exsector.
Fig. 9 b is the local enlarged diagram of Fig. 9 a.
Figure 10 is the structural representation of vertebral pulp cleaning cutter.
Figure 11 a is the structural representation of soleplate cleaner.
Figure 11 b is the local enlarged diagram of Figure 11 a.
Figure 12 is that neck 2-7 microgaps, vertebra left and right and rear surface datum mark are overlooked organigram.
Figure 13 is atlas " pedicle of vertebral arch " entry point and needle angle schematic diagram.
Figure 14 is microgap, target lumbar vertebra left and right and the rear surface datum mark organigram of bowing.
Figure 15 is target lumbar vertebra vertebrae plate resection scope schematic diagram.
Figure 16 is the work schematic diagram of mill osteotome.
Figure 17 is soft tissue exsector work schematic diagram.
Figure 18 is vertebral pulp cleaning cutter work schematic diagram.
Figure 19 is soleplate cleaner work schematic diagram.
Figure 20 is that microgap, atlas left and right and cantle surface datum mark are overlooked organigram.
Figure 21 is outer sleeve side surface configurations schematic diagram.
Figure 22 is that inner sleeve is overlooked organigram.
The specific embodiment
The spinal column digitized operation device based on location, microgap as shown in Fig. 1～22, includes carrying platform 1, is provided with controller 3 on carrying platform 1, on this carrying platform 1, is provided with X-axis guide rail.Meanwhile, slidably connect moving assembly 2 on X-axis guide rail, its unusual part is: on the moving assembly 2 that this utility model adopts, be provided with Y-axis guide rail, on this Y-axis guide rail, slidably connect column 7.And, on column 7, be distributed with Z axis guide rail, on Z axis guide rail, slidably connect crossbeam 8.Consider the facility of assembly and connection, on crossbeam 8, be provided with general-purpose interface 9.Like this, on general-purpose interface 9, can be connected with respectively navigation instrument hands 5 or decompression combination robot arm 6.Meanwhile, for being accurately guaranteed that subsequent procedures is implemented, on navigation instrument hands 5, be connected with localizer 4.
With regard to preferably embodiment of this utility model one, for the ease of correctly looking for affected part, localizer 4 includes endoscope 10.Specifically, in endoscope, be connected with trocar sheath 13, in trocar sheath 13, be provided with interior stationary pipes 12.Meanwhile, in described interior stationary pipes 12, be connected with suction pump 11, in interior stationary pipes 12, be distributed with instrument hole 15.Thus, can hold the apparatus such as electric knife, nucleus pulposus clamp passes through.In interior stationary pipes 12, be provided with positioning component.And positioning component includes positioning needle 45, the front end of described positioning needle 45 is provided with sensing chip 46, in having appropriate elastic consideration, is provided with spring 14 at the tail end of positioning needle.
Further, the navigation instrument hands 5 that this utility model adopts includes robot arm body, on this robot arm body, is provided with interface 18, is convenient to assembly and connection.Meanwhile, consider the facility of use, robot arm body is also provided with guide pipe 16, is provided with holder 17 on guide pipe 16.In guide pipe 16, be connected with localizer 4.Like this, in the time of practical operation, can hold pedicle nail, intervertebral fusion etc. by the existence of guide pipe 16 and pass through.
Again further, the decompression of employing combination robot arm 6 includes robot arm body.For the ease of assembling location, on robot arm body, be provided with interface 22.Meanwhile, in described robot arm body, be provided with the base of tool 21, in this base of tool 21, be provided with cutter.Consider the running needs that cutter alternately switches, on the base of tool, be connected with cutter changement 88.Stablizing while working independently in order to meet each cutter, cutter changement 88 peripheries are provided with cutter locking device 89.When practical operation, cutter lifting moving mechanism and changement can be with cutter to move up and down and commutate.Interface 22 docks with interface 9 and decompression combination robot arm 6 can be connected and fixed on crossbeam 8.And the lower end of robot arm body is provided with inner sleeve 91, be provided with outer sleeve 90 in inner sleeve 91 peripheries.Consider that operation is easy-to-use, in described robot arm body, be also provided with endoscope 19 and suction pump, moreover the cutter of use comprises mill osteotome 23, soft tissue exsector 24, one or more in vertebral pulp cleaning cutter 25, are also provided with soleplate cleaner 26 on the base of tool.Like this, can be used for laminectomy for decompression, also can be used for Nucleotomy etc.
For the ease of coordinating the enforcement of operation, the outer sleeve 90 of employing includes sleeve pipe, and sleeve pipe is outside equipped with catch 92, and catch 92 can stop the soft tissue such as skin, muscle.And, on described inner sleeve, be distributed with scope hole 93, suction pump hole 94 and cutter holes 95, to realize effective support or guiding.
Consider the difference of each tool function, its structure is also different, and specifically, mill osteotome 23 includes motor, and motor connects bistrique 27 by drive mechanism.Soft tissue exsector 24 includes cutter body, and cutter body is connected with motor 33 by drive mechanism 34, is provided with blade 30 in cutter body one end.Meanwhile, cutter body periphery is distributed with and compresses pipe 31, is outside equipped with suction catheter 32 at compression pipe.Corresponding with it, suction catheter 32 ends are provided with base 28, are distributed with boss 29 on base.And the vertebral pulp cleaning cutter 25 of employing includes cutter body, cutter body is by interior axle 37 connection for transmission mechanisms 39.On drive mechanism 39, be connected with motor 38, cutter body tip is distributed with suction catheter 36, and cutter body periphery is provided with protective sheet 35.The soleplate cleaner adopting includes cleaning 40, and cleaning 40 is connected with motor by drive mechanism.And cleaning head includes guide rod 42, guide rod 42 peripheries are distributed with fastener tube 43, and one end of fastener tube is connected with nut 44, is connected with deformation sheet 41 at fastener tube 43 other ends.
In conjunction with actual service condition of the present utility model, patient is fixed on carrying platform 1.By controller 3, moving assembly 2 drives the positioning needle 45 of localizer 4 along X-axis, Y-axis, Z axis translation, lifting or rotational motion, choose its coordinate figure of computer recording after microgap datum mark and surperficial datum mark to targeted vertebra left or right side microgap and rear surface, the CT scan data information of the preoperative targeted vertebra 47 of foundation again, by the digitized parameter of three-dimensional reconstruction Software Create targeted vertebra, by work such as manipulation software guiding navigation instrument hands 5, decompression combination robot arms 6.
Specifically, occupation mode 1, as shown in figure 12, pedicle is inserted as neck 2-7 vertebras, described location and operate each step and be specially:
1) send instruction by controller 3, mobile locator 4 and positioning needle 45, apart from target neck bone 47 inferior articular process solstics, left side P48, datum mark Z52 is got at 51 sclerotin edges, microgap, inferior articular process solstics, right side P49 line certain distance a50 left side, datum mark C54 is got at 53 sclerotin edges, microgap, right side, get target neck bone rear surface datum mark L57 take ZC line mid point 55 distances as b56, the CT scan data information of the coordinate of above-mentioned three datum marks of computer recording the preoperative target neck bone 47 of foundation, by the digitized parameter of three-dimensional reconstruction Software Create target neck bone 47.
2) localizer 4 is taken out from guide pipe 16.According to preoperative object of planning neck bone 47 insert path, described system determines that the left and right pedicle of vertebral arch of target neck bone 47 inserts point, placing direction and angle, manipulation software guiding navigation instrument hands 5 and guide pipe 16 thereof are inserted pedicle nail.
Occupation mode 2, as shown in Figure 20,13, pedicle is inserted as atlas 78, described location and operate each step and be specially:
1) send instruction by controller 3, under the perspective monitoring of C arm pusher side position, the positioning needle 45 of mobile locator 4 is to atlas 78 left and right pedicle of vertebral arch bisectors 79, be that datum mark Z82 is got at 81 inferior articular process sclerotin edges, microgap, a80 left side, datum mark C84 is got at 83 inferior articular process sclerotin edges, microgap, right side apart from this linear distance, get arch of posterior atlas surface datum mark L87 take ZC line mid point 85 distances as b86, the CT scan data information of the coordinate of above-mentioned three datum marks of computer recording the preoperative atlas 78 of foundation, by the digitized parameter of three-dimensional reconstruction Software Create atlas 78.
2) localizer 4 is taken out from guide pipe 16.Insert path according to the atlas pedicle of vertebral arch of preoperative planning, described system determines that the left and right pedicle of vertebral arch of atlas 78 inserts a little 58,59, placing direction and angle [alpha] 60, β 61, and manipulation software guides navigation instrument hands 5 and guide pipe 16 thereof to insert pedicle nail.
In the 4th kind of specific embodiment, please refer to figure as Figure 14 to 19, take waist laminectomy for decompression and Nucleotomy as example, operation comprises the steps:
1) mobile locator 4, positioning needle 45 and sensing chip 46 are touched apart from 65 sclerotin edges, target lumbar vertebra 62 D63 certain distance a64 microgap, superior articular process solstics, left side and are got datum mark Z66, get datum mark C69 apart from 68 sclerotin edges, target lumbar vertebra 62 D67 certain distance a64 microgap, superior articular process solstics, right side equally, after being b71 lumbar vertebra, DD line mid point 70 distances get surperficial datum mark L72 again, the CT scan data information of the coordinate that computer recording is above-mentioned 3 the preoperative target lumbar vertebra 62 of foundation, by the digitized parameter of three-dimensional reconstruction Software Create target lumbar vertebra 62,
2) according to the lumbar vertebra vertebrae plate resection scope 73 of preoperative planning, the base of tool 21 of decompression combination robot arm 6 declines, and manipulation software is accurately controlled the depth of cut of mill osteotome 23 bistriques 27, and bistrique 27 grinds vertebral plate sclerotin 74.
3) change soft tissue exsector 24, adjust the attitude of decompression combination robot arm 6 by controller 3, make the tissues such as ligamenta flava 75 be positioned on base 28, first motor 33 makes to compress pipe 31 by drive mechanism 34 ligamenta flava 75 soft tissues such as grade is fixed on base 28, then blade 30 rotations decline, ligamenta flava 75 soft tissues such as grade are cut off, and boss 29 will cut ligamenta flava 75 fragments such as soft tissue such as grade and head in suction catheter 32 and be sucked away.
4) change vertebral pulp cleaning cutter 25, the attitude of adjusting decompression combination robot arm 6 by controller 3 makes vertebral pulp cleaning cutter 25 move along path planning, in motor 38 and drive mechanism 39 drive, axle 37 rotates vertebral pulp is pulverized, by suction catheter 36, vertebral pulp fragment is siphoned away, the nucleus pulposus in planning region 76 is cut only.Protective sheet 35 can separate dura mater and vertebral pulp, can guarantee the safety of nervous tissue in Nucleotomy process.
5) change soleplate cleaner 26, the attitude of adjusting decompression combination robot arm 6 by controller 3 makes soleplate cleaner 26 move along path planning.Fastener tube 43 is adjusted to desirable tightness, deformation sheet 41 is kept after certain pressure soleplate, nut 44 is locked.Motor makes cleaning 40 rotation by drive mechanism, interior planning region 77 bilateral soleplate is cleaned out simultaneously.
Can find out by above-mentioned character express, adopt after this utility model, the enforcement that can assist the operation of spinal column class, especially can help medical personnel to carry out the operation of the multiple spinal operations such as spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis.Overall applicability scope is wide, and positioning precision is high, easy and simple to handle, safe and reliable.
These embodiment are only the prominent examples of application technical solutions of the utility model, and all technical schemes of taking to be equal to replacement or equivalent transformation and form, within all dropping on the claimed scope of this utility model.
Claims (10)
1. the spinal column digitized operation device based on location, microgap, include carrying platform, on described carrying platform, be provided with controller, on described carrying platform, be provided with X-axis guide rail, on described X-axis guide rail, slidably connect moving assembly, it is characterized in that: on described moving assembly, be provided with Y-axis guide rail, on described Y-axis guide rail, slidably connect column, on described column, be distributed with Z axis guide rail, on described Z axis guide rail, slidably connect crossbeam, on described crossbeam, be provided with general-purpose interface, on described general-purpose interface, be connected with navigation instrument hands and decompression combination robot arm, described navigation instrument is connected with localizer on hand.
2. the spinal column digitized operation device based on location, microgap according to claim 1, it is characterized in that: described localizer includes endoscope, in described endoscope, be connected with trocar sheath, in described trocar sheath, be provided with interior stationary pipes, in described interior stationary pipes, be connected with suction pump, in described interior stationary pipes, be distributed with instrument hole, in described interior stationary pipes, be provided with positioning component.
3. the spinal column digitized operation device based on microgap location according to claim 2, is characterized in that: described positioning component includes the front end of positioning needle described in positioning needle and is provided with sensing chip, and the tail end of described positioning needle is provided with spring.
4. the spinal column digitized operation device based on location, microgap according to claim 1, it is characterized in that: described navigation instrument hands comprises robot arm body, on described robot arm body, be provided with interface, described robot arm body is also provided with guide pipe, on described guide pipe, be provided with holder, in described guide pipe, be connected with localizer.
5. the spinal column digitized operation device based on location, microgap according to claim 1, it is characterized in that: described decompression combination robot arm includes robot arm body, robot arm body is provided with interface, in described robot arm body, be provided with the base of tool, in the described base of tool, be provided with cutter, on the described base of tool, be connected with cutter changement, described cutter changement periphery is provided with cutter locking device, the lower end of described robot arm body is provided with inner sleeve, described inner sleeve periphery is provided with outer sleeve, in described robot arm body, be also provided with endoscope and suction pump, described cutter comprises mill osteotome, soft tissue exsector, one or more in vertebral pulp cleaning cutter, on the described base of tool, be also provided with soleplate cleaner.
6. the spinal column digitized operation device based on location, microgap according to claim 5, it is characterized in that: described outer sleeve includes sleeve pipe, described sleeve pipe is outside equipped with catch, is distributed with scope hole, suction pump hole and cutter holes on described inner sleeve.
7. the spinal column digitized operation device based on location, microgap according to claim 5, is characterized in that: described mill osteotome includes motor, and described motor connects bistrique by drive mechanism.
8. the spinal column digitized operation device based on location, microgap according to claim 5, it is characterized in that: described soft tissue exsector includes cutter body, described cutter body is connected with motor by drive mechanism, described cutter body one end is provided with blade, described cutter body periphery is distributed with and compresses pipe, described compression pipe is outside equipped with suction catheter, and described suction catheter end is provided with base, on described base, is distributed with boss.
9. the spinal column digitized operation device based on location, microgap according to claim 5, it is characterized in that: described vertebral pulp cleaning cutter includes cutter body, described cutter body is by Nei Zhou connection for transmission mechanism, on described drive mechanism, be connected with motor, described cutter body tip is distributed with suction catheter, and described cutter body periphery is provided with protective sheet.
10. the spinal column digitized operation device based on location, microgap according to claim 5, it is characterized in that: described soleplate cleaner includes cleaning head, described cleaning head is connected with motor by drive mechanism, described cleaning head includes guide rod, described guide rod periphery is distributed with fastener tube, one end of described fastener tube is connected with nut, and the described fastener tube other end is connected with deformation sheet.
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| CN201320806954.2U CN203609518U (en) | 2013-12-09 | 2013-12-09 | Digitized spinal surgery device based on microgap positioning |
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| CN201320806954.2U CN203609518U (en) | 2013-12-09 | 2013-12-09 | Digitized spinal surgery device based on microgap positioning |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688341A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Digital spinal surgery device based on micro clearance positioning |
| CN105055030A (en) * | 2015-09-15 | 2015-11-18 | 苏州点合医疗科技有限公司 | Through pincer type spinal micro surgery mechanical arm |
| CN107582141A (en) * | 2017-08-23 | 2018-01-16 | 江小兰 | Dorsal nerve of penis Sequestration cutter device under a kind of microscope |
| WO2020207123A1 (en) * | 2019-04-11 | 2020-10-15 | 苏州点合医疗科技有限公司 | Detachable/collapsable double-gantry mechanical arm surgical robot |
-
2013
- 2013-12-09 CN CN201320806954.2U patent/CN203609518U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688341A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Digital spinal surgery device based on micro clearance positioning |
| CN104688341B (en) * | 2013-12-09 | 2017-08-25 | 苏州点合医疗科技有限公司 | A kind of vertebral column digital operation device positioned based on microgap |
| CN105055030A (en) * | 2015-09-15 | 2015-11-18 | 苏州点合医疗科技有限公司 | Through pincer type spinal micro surgery mechanical arm |
| CN107582141A (en) * | 2017-08-23 | 2018-01-16 | 江小兰 | Dorsal nerve of penis Sequestration cutter device under a kind of microscope |
| WO2020207123A1 (en) * | 2019-04-11 | 2020-10-15 | 苏州点合医疗科技有限公司 | Detachable/collapsable double-gantry mechanical arm surgical robot |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20140528 Effective date of abandoning: 20170825 |