CN203609519U - Decompression combined manipulator for digitized spinal surgery - Google Patents
Decompression combined manipulator for digitized spinal surgery Download PDFInfo
- Publication number
- CN203609519U CN203609519U CN201320807327.0U CN201320807327U CN203609519U CN 203609519 U CN203609519 U CN 203609519U CN 201320807327 U CN201320807327 U CN 201320807327U CN 203609519 U CN203609519 U CN 203609519U
- Authority
- CN
- China
- Prior art keywords
- robot arm
- spinal column
- storing apparatus
- decompression
- digitized
- 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 - Lifetime
Links
- 230000006837 decompression Effects 0.000 title claims abstract description 23
- 238000001356 surgical procedure Methods 0.000 title abstract description 9
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 7
- 210000001124 body fluid Anatomy 0.000 abstract description 3
- 239000010839 body fluid Substances 0.000 abstract description 3
- 210000000988 bone and bone Anatomy 0.000 description 5
- 210000001519 tissue Anatomy 0.000 description 4
- 238000002595 magnetic resonance imaging Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010019909 Hernia Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 230000001054 cortical effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007831 electrophysiology Effects 0.000 description 1
- 238000002001 electrophysiology Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000763 evoking effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002684 laminectomy Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 206010039722 scoliosis Diseases 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 206010041569 spinal fracture Diseases 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 238000002672 stereotactic surgery Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Landscapes
- Surgical Instruments (AREA)
Abstract
The utility model relates to a decompression combined manipulator for digitized spinal surgery. The manipulator comprises a manipulator body and is characterized in that a connecting component is arranged on the manipulator body, a knife containing device is arranged in the manipulator body, surgical knives are arranged in the knife containing device, a locking device is arranged on the periphery of the knife containing device, a guiding device is arranged below the knife containing device, a positioning component is arranged at the lower end of the manipulator body, and an observation component and a traction component are connected to the positioning component. Therefore, through the cooperation between the knife containing device and the locking device, switching and locking of the surgical knives are achieved, and requirements for automatic implementation in the digitized surgery are met. Meanwhile, due to the arrangement of the observation component and the traction component, operators can observe the surgery process in real time, body fluid tissue can be absorbed effectively, and then the surgery can be implemented more conveniently. Furthermore, the manipulator can be installed on various automatic surgical instruments.
Description
Technical field
This utility model relates to a kind of ensemble machine hands, and relating in particular to a kind of spinal column digitized operation has decompression combination robot arm.
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.But, in order to meet the use according to the order of sequence of each surgical knife tool in operation process, meet the needs that operational observations and automatization implement, need a kind of decompression combination robot arm.
Utility model content
The purpose of this utility model is exactly in order to solve the above-mentioned problems in the prior art, provides a kind of spinal column digitized operation to have decompression combination robot arm.
The purpose of this utility model is achieved through the following technical solutions:
The operation of spinal column digitized has decompression combination robot arm, include robot arm body, wherein: on described robot arm body, be provided with coupling assembling, in described robot arm body, be provided with cutter storing apparatus, in described cutter storing apparatus, be provided with surgical knife tool, described cutter storing apparatus periphery is provided with locking device, described cutter storing apparatus below is provided with guider, described robot arm body lower end is provided with positioning component, is connected with and observes assembly and attract assembly on described positioning component.
Further, above-mentioned spinal column digitized operation has decompression combination robot arm, wherein: described coupling assembling is for being connected interface.
Further, above-mentioned spinal column digitized operation has decompression combination robot arm, wherein: described cutter storing apparatus is the base of tool, on the described base of tool, is distributed with holding tank.
Further, above-mentioned spinal column digitized operation has decompression combination robot arm, wherein: described guider is steering mechanism.
Further, above-mentioned spinal column digitized operation has decompression combination robot arm, wherein: described positioning component includes inner sleeve, is provided with outer sleeve in inner sleeve periphery.
Further, above-mentioned spinal column digitized operation has decompression combination robot arm, wherein: described observation assembly is endoscope, and the oblique outside that is arranged on robot arm body of observation port of described endoscope.
Again further, above-mentioned spinal column digitized operation has decompression combination robot arm, and wherein: described attraction assembly is suction pump, positioning component is extended in the attraction termination of described suction pump.
The advantage of technical solutions of the utility model is mainly reflected in: rely on coordinating of cutter storing apparatus and locking device, can realize switching and the locking of surgical knife tool, meet the automatic enforcement needs in digitized operation process.Meanwhile, exist and observe assembly and attract assembly, convenient operation personnel Real Time Observation operation process, effectively draws body fluid tissue etc., improves the convenience that operation is implemented.Moreover this utility model simple structure, is easy to produce, and can generally be installed on various automatic operation apparatuses.
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 organigram that the operation of spinal column digitized has decompression combination robot arm.
| 1 | Robot arm body | 2 | Locking device |
| 3 | Be connected interface | 4 | The base of tool |
| 5 | Steering mechanism | 6 | Inner sleeve |
| 7 | Outer sleeve | 8 | Endoscope |
| 9 | Suction pump | ? | ? |
The specific embodiment
Spinal column digitized operation as shown in Figure 1 has decompression combination robot arm, includes robot arm body 1, and its unusual part is: on the robot arm body 1 that this utility model adopts, be provided with coupling assembling.Place for the ease of the safety of carrying out multiple surgical knife tools, in robot arm body 1, be provided with cutter storing apparatus, in this cutter storing apparatus, be provided with surgical knife tool.Meanwhile, be provided with locking device 2 in cutter storing apparatus periphery, stable when meeting thus each cutter and working independently, there will not be accidental release or job insecurity.And steady while working independently in order to meet each surgical knife tool is provided with the guider that steering mechanism 5 forms below cutter storing apparatus.Moreover for subsequent instrument is carried out to effective orientation direction, robot arm body 1 lower end is provided with positioning component, on positioning component, be connected with and observe assembly and attract assembly, be convenient to follow-up operation and implement.
With regard to preferably embodiment of this utility model one, consider that implementing apparatus with common operation carries out the assembling of fast and stable, realize modular installation, remove the secondary adjustment after assembling from, coupling assembling is for being connected interface 3.Meanwhile, consider that existing surgical knife tool is of a great variety, in order can effectively receiving, can not affect operation and implement to use in the time switching, the cutter storing apparatus of employing is the base of tool 4.And, in order to allow surgical knife tool effectively fit and be installed in storing apparatus, on the base of tool 4, be distributed with holding tank.
Further, consider the running needs that surgical knife tool alternately switches, the guider that this utility model adopts is cutter changement.Meanwhile, in order to carry out effective spacing guiding, positioning component includes inner sleeve 6, is provided with outer sleeve 7 in inner sleeve 6 peripheries.When practical operation, changement can drive surgical knife tool to move up and down and commutate.
Again further, consider in operation implementation process and need operative site to observe, adjust operation plan, observe in time the working effect of surgical knife tool, observing assembly is endoscope 8.Meanwhile, the oblique outside that is arranged on robot arm body 1 of the observation port of this endoscope 8.And, in order effectively to draw liquid and the tissue in operation, guaranteeing to implement smoothly, the attraction assembly of employing is suction pump 9, positioning component is extended in the attraction termination of suction pump 9.
Can find out by above-mentioned character express, adopt after this utility model, rely on coordinating of cutter storing apparatus and locking device, can realize switching and the locking of surgical knife tool, meet the automatic enforcement needs in digitized operation process.Meanwhile, exist and observe assembly and attract assembly, convenient operation personnel Real Time Observation operation process, effectively draws body fluid tissue etc., improves the convenience that operation is implemented.Moreover this utility model simple structure, is easy to produce, and can generally be installed on various automatic operation apparatuses.
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 (7)
1. the operation of spinal column digitized has decompression combination robot arm, include robot arm body, it is characterized in that: on described robot arm body, be provided with coupling assembling, in described robot arm body, be provided with cutter storing apparatus, in described cutter storing apparatus, be provided with surgical knife tool, described cutter storing apparatus periphery is provided with locking device, described cutter storing apparatus below is provided with guider, described robot arm body lower end is provided with positioning component, is connected with and observes assembly and attract assembly on described positioning component.
2. spinal column digitized operation according to claim 1 has decompression combination robot arm, it is characterized in that: described coupling assembling is for being connected interface.
3. spinal column digitized operation according to claim 1 has decompression combination robot arm, it is characterized in that: described cutter storing apparatus is the base of tool, on the described base of tool, is distributed with holding tank.
4. spinal column digitized operation according to claim 1 has decompression combination robot arm, it is characterized in that: described guider is steering mechanism.
5. spinal column digitized operation according to claim 1 has decompression combination robot arm, it is characterized in that: described positioning component includes inner sleeve, is provided with outer sleeve in inner sleeve periphery.
6. spinal column digitized operation according to claim 1 has decompression combination robot arm, it is characterized in that: described observation assembly is endoscope the oblique outside that is arranged on robot arm body of observation port of described endoscope.
7. spinal column digitized operation according to claim 1 has decompression combination robot arm, it is characterized in that: described attraction assembly is suction pump, and positioning component is extended in the attraction termination of described suction pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320807327.0U CN203609519U (en) | 2013-12-09 | 2013-12-09 | Decompression combined manipulator for digitized spinal surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320807327.0U CN203609519U (en) | 2013-12-09 | 2013-12-09 | Decompression combined manipulator for digitized spinal surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203609519U true CN203609519U (en) | 2014-05-28 |
Family
ID=50762207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320807327.0U Expired - Lifetime CN203609519U (en) | 2013-12-09 | 2013-12-09 | Decompression combined manipulator for digitized spinal surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203609519U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688344A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Decompression combined robot arm for digital spinal surgeries |
-
2013
- 2013-12-09 CN CN201320807327.0U patent/CN203609519U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688344A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Decompression combined robot arm for digital spinal surgeries |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220296335A1 (en) | System and method for anatomical markers | |
| CN104688341B (en) | A kind of vertebral column digital operation device positioned based on microgap | |
| US20230098080A1 (en) | Two degree of freedom system and method | |
| US9125556B2 (en) | Robotic guided endoscope | |
| KR20220123076A (en) | Alignment Techniques for Transdermal Access | |
| CA2994024C (en) | Handheld scanner for rapid registration in a medical navigation system | |
| Marcus et al. | Robotics in keyhole transcranial endoscope-assisted microsurgery: a critical review of existing systems and proposed specifications for new robotic platforms | |
| KR20220123087A (en) | Alignment interface for transdermal access | |
| CN103479430A (en) | Image guiding intervention operation navigation system | |
| CN110537980A (en) | puncture surgery navigation method based on motion capture and mixed reality technology | |
| WO2021030129A1 (en) | Systems, devices, and methods for surgical navigation with anatomical tracking | |
| CN203609518U (en) | Digitized spinal surgery device based on microgap positioning | |
| CN117064557B (en) | Surgical robot for orthopedic surgery | |
| CN203609519U (en) | Decompression combined manipulator for digitized spinal surgery | |
| CN203609520U (en) | Location device for spinal digital operation | |
| CN104688300B (en) | A kind of vertebral column digital operation clears up knife with nucleus pulposus | |
| CN203619629U (en) | Nucleus pulposus cleaning knife for digital spine operation | |
| CN203609517U (en) | End plate cleaning device for digitized spinal surgery | |
| CN104688301B (en) | Soft tissue exsector is used in a kind of vertebral column digital operation | |
| CN203619632U (en) | Soft tissue exsector for digitized operation on spinal column | |
| CN203677253U (en) | Navigational manipulator for digital spine surgery | |
| CN203252731U (en) | Personalized fixing auxiliary device in lumbar vertebra | |
| CN104688344A (en) | Decompression combined robot arm for digital spinal surgeries | |
| CN104688342A (en) | Positioning equipment for digital spinal surgeries | |
| EP4011312A1 (en) | Robotic surgical system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140528 |
|
| CX01 | Expiry of patent term |