CN205251686U - Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet - Google Patents
Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet Download PDFInfo
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- CN205251686U CN205251686U CN201521105842.XU CN201521105842U CN205251686U CN 205251686 U CN205251686 U CN 205251686U CN 201521105842 U CN201521105842 U CN 201521105842U CN 205251686 U CN205251686 U CN 205251686U
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Abstract
The utility model relates to a bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet, including the base, be connected with the elevating platform on the base, its characteristics are: through high adjusting device on the elevating platform, direction horizontal migration mechanism links to each other with operation table surface end to end, the base passes through longmen device and connects the robot, still be connected with major control system on the base, longmen device is including longmen frame, transverse connection has the crossbeam on the frame of longmen, direction horizontal migration mechanism about being provided with on the crossbeam, it links to each other with the robot to control direction horizontal migration mechanism, the robot is including vertical rail set, be connected with manipulator and flexible needle measuring mechanism on the vertical rail set, the last tracking mechanism that is provided with of operation table surface. From this, can realize that the function between simple cutter of manipulator and the pliers structure is switched freely, the convenience reduces pressure fast. Simultaneously, adopt to integrate the design, occupy smallly, satisfy safe efficient and use needs.
Description
Technical field
The utility model relates to a kind of bone surgery robot, relates in particular to that a kind of to dodge bushing type based on collet antiwindThe bone surgery robot of micro-wound pressure-reduced manipulator.
Background technology
Minimally invasive spine surgical is the new technology that development in recent years is got up, and its mode is varied, be shaped as cervical spinal canal expands,Fixing in artificial cervical intervertebral disc displacement, Undergoing Percutaneous Lumbar Discectomy, lumber spondylolisthesis reset, vertebroplasty etc., but its basic operativeMode can be summarized as two classes: a class is that pedicle is inserted, and comprises that pedicle puncture and pedicle are followed closely to insert etc.; AnotherClass is decompression, excises various nerves and causes pressure thing, comprises the spur of hyperplasia, plump ligamentum flavum, outstanding interverbebral disc etc. AlthoughThe therapeutic modality of spinal operation has varied, as fixing in fixing in spine fracture pedicle nail, spondylolishesis pedicle nail,Orthopedic surgery of scoliosis, vertebroplasty etc., but great majority all will be inserted fixing in screw or be worn by this approach of pedicle of vertebral archThorn can realize. So-called pedicle of vertebral arch be exactly connect people vertebra centrum and vertebral arch narrower, the bone that is irregular roundness column, half hollowProperty structure, left and right sides respectively has one, from lumbar vertebrae to cervical vertebra, its width and reducing highly gradually, it is around spinal cord, blood vessel and dirtyThe vital tissues such as device. Certainly, pedicle is inserted fixing in screw or puncture and is had certain risk, penetrates its cortex of boneLikely injured nerve, blood vessel and internal organs, cause the catastrophic effects such as paralysis.
At present still mainly by manually carrying out, there is accidentally drop injured nerve, vertebral plastic bone cement seepage in minimally invasive spine surgicalCause paralysis and ray to expose many equivalent risks. Micro-wound pressure-reduced operation can be divided into the way of escape and dypass, mainly adopts endoscopic techniqueRealize, the way of escape is MED (microendoscopicdiscectomy), adopts air dielectric, and dypass is foramen intervertebrale lens, adoptsAqueous medium. No matter the way of escape or dypass, decompression operation all faces that 1. apparatus is many, needs frequent switching conventionally to need ten to 20 kinds of handsArt apparatus (as electric knife, nucleus pulposus clamp, RF ablation cutter head, osteotome, rongeur, curet, trepan, abrasive drilling etc.); 2. high-speed grinding classApparatus, as abrasive drilling, milling cutter etc., is to process at present the requisite electrical equipment of bone tissue. This class apparatus is in spinal surgeryApply also more and more extensively, but also existing mill when deep organizing, there is tissue and be wound around the wind that causes neurotrosis in bistrique rotationDanger. In dypass intervertebral videoendoscopic surgery, soft tissue is often in floating state in aqueous medium, and abrasive drilling surrounding is as unshielded measure,More easily be wound around; 3. operational motion various (press from both sides, draw, cut, grind, bore, separate, melt etc.); 4. surgical target institutional framework is multipleAssorted (existing soft tissue, as muscle, manadesma, ligament etc., also has bone tissue); The multiple difficult problem such as 5. operative space is limited; 6. intervertebral foramenThe defect that mirror also exists more x-ray to expose.
Along with the development of the technology such as computer, information, machinery, Wicresoft's medical science, bone surgery robot is nearest at home and abroadForm study hotspot. In field of spinal surgery, at present You Duo money robot comes out, as SpineAssist, SPINEBOT,BiTESS II, Vector-Bot, TiRobot etc. Because spinal operation robot also exists above-mentioned all for spinal column pressure reduction operationMany technical bottlenecks, although passed through the certification of FDA and CFDA, these spinal operation robots taking SpineAssist as representative,Mainly still plant nail for pedicle, can't be used at present vertebral column minimally invasive decompression, function singleness, clinical value hasLimit.
Meanwhile, prior art 201210108847.2, provides a kind of bone surgery robot, and it comprises support, liftingAssembly, large arm, forearm and turning arm, lifting assembly is installed on support, and lifting assembly is rotationally connected by the first joint with large arm,Large arm and forearm are rotationally connected by second joint, and forearm and turning arm are rotationally connected by the 3rd joint; The first joint, secondThe axis of rotation in joint is parallel to gravity direction; The axis of rotation in the 3rd joint is perpendicular to gravity direction. Lifting assembly comprises silkBar, feed screw nut, connector and driving mechanism, feed screw nut is threaded onto screw mandrel, and feed screw nut is fixed in one end of connector, anotherEnd is rotationally connected with large arm, and driving mechanism is installed on support, and one end of screw mandrel is connected with driving mechanism, and the other end and support rotateConnect. The axis of rotation in the 3rd joint is parallel to the bearing of trend of forearm. Meanwhile, also comprise wrist assembly, wrist assembly passes throughThe 4th joint and turning arm are rotationally connected away from the one end in the 3rd joint. The axis of rotation in the 4th joint prolongs perpendicular to turning armStretch direction. Wrist assembly comprises operating theater instruments installed part and pitch arm, and pitch arm is connected with turning arm by the 4th joint, operationApparatus installed part is installed on pitch arm. Wrist assembly also comprises identification piece, and identification piece is installed on pitch arm pacifies away from operating theater instrumentsOne end of piece installing. Driving mechanism comprises shaft coupling, multi-stage speed-reducing case, servomotor and encoder, leading screw successively by shaft coupling,Multi-stage speed-reducing case is connected with the output shaft of servomotor, and encoder is installed on servomotor. The control of encoder and operating robotSystem processed is connected.
But, this technology be a little only multi-joint, be parallel to by the axis of rotation of the first joint, second jointGravity direction, by rotating the position of the first joint and second joint and the large arm of moving lifting assembly adjustment and forearm, canWhile making to perform the operation, bone surgery set covers all positions that need to carry out operation technique, has improved operative space utilization rate. CannotThe function realizing between simple cutter and clamp type structure is switched freely.
Also have a prior art, 201310495949.9 provide a kind of minimal access bone robot, are characterized in, micro-Wound bone surgery robot is by robot body, X-ray examination equipment, master control system, line aligner, cross aligner, two insertingMechanical hand and singly insert mechanical hand part composition, master control system is by console, computer, hand controller, outer scene display systemAnd motor driver composition, the display of described outer scene display system adopts liquid crystal display, wherein, will be set in peopleVirtual identifying same in virtual identifying in vertebra and external aligner carries out registration by x-ray, and guiding pedicle is insertedOr puncture. Virtual identifying can be dummy line section or other virtual forms. Robot body comprise operation chassis and two six fromBy degree mobile unit, can make respectively robot body connector and X-ray examination equipment move and rotate along X, Y, Z direction. MachineHuman body's connector left and right respectively has one, facilitates mechanical hand to peg graft. The positioning sliding block of line aligner can become various shapes, its external diameterBe greater than the external diameter of the backstay of locator. 2 length phases choosing on distance between two backstay tips and cantle arc bone lineDeng. Cross aligner metal registration ball can be also other various shapes, radiopaque material is made.
As can be seen here, the effect of this robot reality is only that positioning precision promotes, and does not need multi-coordinate mutually to mate,Easy and simple to handle, can reduce doctor's working strength, be applicable to multiple spinal operation. Equally, it cannot realize simple cutter and pincersFunction between formula structure is switched freely, also cannot fill up the gap that may occur in operating process.
In addition, separately there is a prior art, 201110401551.5, it provides a kind of surgical operation robot, its featureIt is to comprise: support; Linear motion unit, is fixed on described support; The first rotary joint, is fixed on described rectilinear motion listIn unit; First connecting rod, is fixedly connected with described the first rotary joint; The second rotary joint, is fixed on described first connecting rod; TheTwo connecting rods, are fixedly connected with described the second rotary joint; The 3rd rotary joint, is fixed on described second connecting rod; Third connecting rod,Be fixedly connected with described the 3rd rotary joint; And end rotary joint, be fixed on described third connecting rod; Described the first rotation is closedSave parallelly with the rotating shaft of the second rotary joint and the direction of motion of linear motion unit, end rotary joint comprises the 4th rotationJoint and the 5th rotary joint, the rotation of described the 4th rotary joint and described the 5th rotary joint is orthogonal. Described straight lineMoving cell adopts screw rod transmission or band transmission. Described linear motion unit, the first rotary joint, the second rotary joint,On three rotary joints, the 4th rotary joint and the 5th rotary joint, be equiped with positional detecting device. Described the first rotary joint,Some or all of in two rotary joints, the 3rd rotary joint, the 4th rotary joint and the 5th rotary joint is active drivingRotary joint. Described active driving rotary joint comprises higher level's connecting rod, subordinate's connecting rod, power source, deceleration device and brake apparatus,Described power source, deceleration device and brake apparatus are fixed between higher level's connecting rod and subordinate's connecting rod. Described power source is electronic dressPut, pneumatic means or hydraulically operated equipment. Described the first rotary joint, the second rotary joint, the 3rd rotary joint, the 4th rotation are closedJoint and the 5th rotary joint in some or all of be passive drive rotary joint. Described passive drive rotary joint comprisesLevel connecting rod, subordinate's connecting rod and be fixed on higher level's connecting rod and subordinate's connecting rod between brake apparatus. On described end rotary joint, establishBe equipped with optical mark point. On described end rotary joint, be fixed with a translational motion unit.
Find after in full by studying it carefully, being a little of this invention reality allow robot have an one-movement-freedom-degree withAnd five rotary freedoms, improve the actual facility of implementing, reducing gravity affects robot, when meeting reliability, to the greatest extentAmount is avoided contacting with patient body, removes secondary injury from. But above-mentioned advantage has also just been alleviated comparatively complicated surgical procedureIn a part, for the use procedure of the simple cutter of needs, the mutual interventional procedure of clamp type structure, do not play any skillArt enlightenment.
Because above-mentioned defect, the design people, actively research and innovation in addition, a kind ofly dodges cover based on collet to foundingThe bone surgery robot of the antiwind micro-wound pressure-reduced manipulator of tubular type, makes it have more the value in industry.
Summary of the invention
For solving the problems of the technologies described above, the purpose of this utility model is to provide that a kind of to dodge bushing type based on collet antiwindThe bone surgery robot of micro-wound pressure-reduced manipulator.
The bone surgery robot that dodges the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet of the present utility model, bagDraw together pedestal, on described pedestal, be connected with lifting platform, wherein: on described lifting platform, pass through arrangement for adjusting height, cephlad-caudal waterTranslation actuation mechanism is connected with operation table surface, and described pedestal connects robot body by gantry device, on described pedestal, also connectsHave master control system, described gantry device includes gantry frame, on described gantry frame, is horizontally connected with crossbeam, on described crossbeamBe provided with left and right directions horizontal mobile mechanism, described left and right directions horizontal mobile mechanism is connected with robot body, described machineHuman body includes vertical rail device, is connected with manipulator and flexible needle measuring mechanism on described vertical rail device, described inOn operation table surface, be provided with follower.
Further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, described arrangement for adjusting height includes the first guide rail, and described the first guide rail is by feed screw nut and the second motor phaseConnect, on described the second motor, brake apparatus is installed.
Further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, described arrangement for adjusting height includes the first guide rail, and described the first guide rail is by feed screw nut and the second motor phaseConnect, on described the second motor, brake apparatus is installed.
Further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, described vertical rail device includes vertical track base, on described vertical track base, is connected with vertical guide rail, described vertical guide railLower end be connected with two rotating shaft mechanisms, on described pair of rotating shaft mechanism, be provided with the bindiny mechanism for connecting manipulator.
Further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, described pair of rotating shaft mechanism is the rotating mechanism for driving α axle and β axle, described α axle moves around Y-axis, described β axle aroundX-axis motion, the tail end of described α axle is provided with the bindiny mechanism for connecting manipulator.
Further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, described manipulator includes base plate, and a side of described base plate is provided with connector, in opposite side is provided with, peepsMirror, is provided with main hoist on described base plate, is connected with hollow soft tissue cutter, described pedestal on described main hoistSecondary elevating mechanism is also installed on plate, on described secondary elevating mechanism, is connected with bone tissue cutter, described base plate below is provided withWater filling joint and water out adapter, the below end of described base plate is provided with changement, outside being connected with on described changementSleeve pipe, the lower end of described outer tube and side are respectively arranged with main aperture and secondary hole, make outer tube lower end be duck tongue shaped, described in being positioned atIn the main aperture of outer tube lower end, be provided with collet and spring leaf, when hollow soft tissue cutter or the decline of bone tissue cutter, push the end openWhen the main aperture of outer tube lower end is stretched out in holder, can make respectively corresponding simple cutter and use.
Further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, described flexible needle measuring mechanism includes guide pipe, described guide pipe top is provided with displacement transducer, described in leadIn pipe, be provided with probe, described guide pipe is externally connected with bindiny mechanism, and a side of described probe is distributed with gathering sill, described in leadTo the main extruding inclined-plane and secondary extruding inclined-plane that are provided with mirror image symmetry in groove, in described guide pipe, be provided with corresponding with it twoInclined-plane joint pin, described inclined-plane joint pin contacts with secondary extruding inclined-plane with corresponding main extruding inclined-plane respectively, and described inclined-plane connectsThe end that connects post is provided with spring, and the endoporus of described guide pipe is V-shaped, in the time moving on probe and main extruding inclined-plane, passes through inclined-planeJoint pin and the secondary extruding of spring pushing inclined-plane, make the endoporus of probe and guide pipe fit tightly.
Again further, above-mentioned bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletPeople, wherein, is provided with spicule, displacement transducer, obliquity sensor in described follower.
By such scheme, the utility model at least has the following advantages:
The function that 1, can realize between the simple cutter of manipulator and clamp type structure is switched freely, fast and easy decompression.
2, the Integration Design that has adopted soft tissue cutter, bone tissue cutter, endoscope, takies volume little.
3, easy-to-use, make each mechanism effectively realize cooperation each other, meet miniature backbone hand safely and efficientlyArt manipulator uses to be needed.
4, have wide range of applications, can be used for the disease treatments such as the protrusion of the intervertebral disc, spinal canal stenosis, intervertebral unstability disease.
5, can not only realize way of escape intervertebral disc operation, can also effectively realize the operation of dypass intervertebral spinal fusion, can optimize interverbebral discThe therapeutic modality of herniation.
6, unitary construction is simplified, and is easy to operative site and uses and follow-up maintenance.
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility modelArt means, and can being implemented according to the content of description, below with preferred embodiment of the present utility model and coordinate accompanying drawing detailedDescribe in detail bright as after.
Brief description of the drawings
Fig. 1 is this bone surgery robot entirety side of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletOrganigram.
Fig. 2 is this front structure of dodging the bone surgery robot of the antiwind micro-wound pressure-reduced manipulator of bushing type based on colletMake schematic diagram.
Fig. 3 is the side surface configurations schematic diagram of manipulator.
Fig. 4 is the front organigram of manipulator.
Fig. 5 is the antiwind principle schematic of manipulator.
Fig. 6 is the side surface configurations schematic diagram of flexible needle measuring mechanism.
Fig. 7 is the endoporus distribution schematic diagram in flexible needle measuring mechanism.
In figure, the implication of each Reference numeral is as follows.
1 gantry frame 2 crossbeams
3 operation table surface 4 lifting platforms
5 vertical 6 pairs of rotating shaft mechanisms of track base
7 bindiny mechanism's 8 followers
9 master control system 10 manipulators
11 pedestal 12 cross slide waies
13 first motor 14 first guide rails
15 feed screw nut 16 second motors
17 second guide rail 18 the 3rd motors
19 vertical guide rail 20 α axles
21 β axle 22 base plates
The hollow soft tissue cutter of 23 connector 24
25 main hoist 26 bone tissue cutters
27 secondary elevating mechanism 28 endoscopes
29 water filling joint 30 water out adapters
31 outer tube 32 changements
The 33 secondary holes of main aperture 34
35 collet 36 spring leafs
37 lower surface 38 flexible needle measuring mechanisms
39 probe 40 guide pipes
41 bindiny mechanism's 42 springs
43 secondary extruding inclined-plane, main extruding inclined-planes 44
45 inclined-plane joint pin 46 displacement transducers
47 endoporus
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail. BelowEmbodiment is used for illustrating the utility model, but is not used for limiting scope of the present utility model.
As Fig. 1 to 7 dodge the bone surgery robot of the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet, compriseHave pedestal 11, be connected with lifting platform 4 on it, unusual part of the present utility model is: on lifting platform 4, regulate by heightDevice, cephlad-caudal horizontal mobile mechanism are connected with operation table surface 3. Like this, can meet the level configurations need of different requirements of operationWant, and realize end to end (Y-axis) direction move horizontally adjusting. This pedestal 11 connects robot body by gantry device, for follow-upRobot manipulation facilitate. Certainly, consider automation control needs, on pedestal 11, be also connected with master control system 9. AndAnd in order effectively to carry each device, gantry device includes gantry frame 1, is horizontally connected with crossbeam 2 on it, on this crossbeam 2Be provided with left and right directions (X-axis) horizontal mobile mechanism, this left and right directions horizontal mobile mechanism is connected with robot body. Moreover,The impulse stroke of considering follow-up manipulator 10 maximizes, and robot body includes vertical rail device, connects organic on itTool hand 10 and flexible needle measuring mechanism 38. In order to optimize implementation result of the present utility model, manipulator 10 can be preferably, and collet is kept awayAllow the antiwind micro-wound pressure-reduced manipulator of bushing type. Certainly,, for operation implementation process is gathered, the control operation of manipulator 10 is realExisting effective monitoring is provided with follower 8 on operation table surface 3. Certainly, for comprehensive monitoring surgical target bone as far as possibleMotion change, is provided with spicule, displacement transducer, obliquity sensor in follower 8.
In conjunction with preferably embodiment of the utility model one, in order to meet stable horizontal operation needs, can not go outExisting unnecessary shake, affects operation technique, and the left and right directions horizontal mobile mechanism of employing includes cross slide way 12. Meanwhile,On the drive end of this cross slide way 12, be connected with the first motor 13. And cephlad-caudal horizontal mobile mechanism includes second and leadsRail 17, is connected with the 3rd motor 18 on its drive end. Certainly, consider the displacement operation facility of follow-up robot body, at horizontal strokeOn direction guiding rail 12, be provided with take-up housing, on this take-up housing, be connected with vertical rail device,
Further, consider between the operating period, need this practicality for the level height stable regulation of operation table surface 3The arrangement for adjusting height of novel employing includes the first guide rail 14, and this first guide rail 14 is by feed screw nut 15 and the second motor 16Be connected. Consider positioning control needs, on the second motor 16, brake apparatus is installed. Meanwhile, in order to have comparatively perfect standingFormula movement locus, the vertical rail device adopting includes vertical track base 5, is connected with vertical guide rail 19, this vertical guide rail 19 on itLower end be connected with two rotating shaft mechanisms 6. And, on two rotating shaft mechanisms 6, be provided with the bindiny mechanism for connecting manipulator 107. Like this, can meet disalignment to motion needs. Specifically, this pair of rotating shaft mechanism 6 comprised for driving α axle 20 HesThe rotating mechanism of β axle 21, α axle 20 is around Y-axis motion, and β axle 21, around X-axis motion, is considered with being connected of other parts and is located justProfit, the tail end of α axle 20 is provided with the bindiny mechanism 7 for connecting manipulator 10.
Again further, in order to have the implementation result of preferably performing the operation, meet the manipulation of different phase in surgical procedureNeed, the manipulator 10 that the utility model adopts includes base plate 22, and one side is provided with connector 23, and opposite side is provided withEndoscope 28. Meanwhile, main hoist 25 is installed on base plate 22, on this main hoist 25, is connected with hollow soft tissueCutter 24. Consider the integrated use of multicutter, secondary elevating mechanism 27 is also installed on base plate 22, on it, be connected with bone groupKnit cutter 26. And, consider the needs that go out, enter water flushing between daily implementation period, below base plate 22, be provided with water fillingJoint 29 and water out adapter 30.
Meanwhile, consider between the operating period for each cutter enter cutter, the angular adjustment of returning sword, the below end of base plate 22Be provided with changement 32. Specifically, consider that in actual implementation process, excision realizes guiding smoothly, commutation to soft tissueIn mechanism 32, be connected with outer tube 31. Specifically, in order effectively to take into account hollow soft tissue cutter 24 or bone tissue cutter 26Optimize and use, the lower end of outer tube 31 and side are respectively arranged with main aperture 33 and secondary hole 34, make outer tube 31 lower ends be duck tongue shaped.And the main aperture 33 that is positioned at described outer tube 31 lower ends is provided with collet 35 and spring leaf 36. Like this, at operation implementation periodBetween, when hollow soft tissue cutter 24 or bone tissue cutter 26 decline, when pushing collet 35 open and stretching out the main aperture 33 of outer tube 31 lower ends,Can make respectively corresponding simple cutter uses.
For example, in the time that hollow soft tissue cutter 24 is hollow shape Collation surgery cutter, can for muscle, ligament,The excisions such as nucleus pulposus. In the time that bone tissue cutter 26 is abrasive drilling or milling cutter, tissue can cut bone. Meanwhile, hollow soft tissue cutter 24Or bone tissue cutter 26 is while dropping to outer tube 31 lateral aperture 34 upper limb, can form clamp type structure with duck tongue and collet 35. ToolBody, can have following several form of expression:
When duck tongue and collet 35 stretch into soft tissue below as ligamentum flavum, hollow soft tissue cutter 24 can be clamped, be mentionedMelt excision.
In the time that duck tongue and collet 35 stretch into bone tissue below, bone tissue cutter 26 can excise bone tissue grinding.
In the time of bone tissue cutter 26 (as abrasive drilling or milling cutter) grinding bone tissue, hollow soft tissue cutter 24 first declines, under itEnd face 37 is close to bone tissue surface, then makes abrasive drilling or the milling cutter tissue that cuts bone that declines.
With this, can make hollow soft tissue cutter 24 in bone tissue cutter 26 surroundings, by soft tissue and bone tissue cutter 26Separate, avoid being wound around, realize neural protection.
Consider the measurement and positioning needs in robot automatic operation process, the flexible needle measuring mechanism 38 of employing includesGuide pipe 40, its top is provided with displacement transducer 46, is provided with probe 39 in guide pipe 40. Certainly, for other groupsPart is realized and is effectively connected location, is externally connected with bindiny mechanism 41 at guide pipe 40. Meanwhile, in order to eliminate gap, ensure to measure essenceDegree, a side of probe 39 is distributed with gathering sill, is provided with the main extruding inclined-plane 43 and secondary extruding inclined-plane of mirror image symmetry in gathering sill44. And, in guide pipe 40, be provided with two with it corresponding inclined-plane joint pins 45, inclined-plane joint pin 45 respectively with corresponding masterExtruding inclined-plane 43 contacts with secondary extruding inclined-plane 44. Consider the needs of follow-up extruding resilience, the end of inclined-plane joint pin 45 is establishedBe equipped with spring 42, and the endoporus 47 of guide pipe 40 is V-shaped. Like this, in the time moving on probe 39 and main extruding inclined-plane 43, pass through inclined-planeJoint pin 45 and the spring secondary extruding of 42 pushing inclined-plane 44, make probe 39 and the endoporus 47 of guide pipe 40 fit tightly, and can not existGap.
Operation principle of the present utility model is as follows:
With way of escape L4, L5 discectomy is example, and surgical operation step is as follows:
1, get positive small incision after waist, this collet is dodged to the antiwind micro-wound pressure-reduced manipulator 10 of bushing type and stretch into bodyIn, outer tube 31 is placed in lamina surface.
2,, according to the size of extent of disease, window carry out spinal canal decompression opens seam. People's power set and outer tube start the machine31 reversing arrangement 32, adjusts pose, can be convenient to like this outer tube 31 and decline, and can drive again outer tube 31 rotation and its lower endsThe commutation of duck tongue shaped structure. In the time that outer tube 31 drops to certain altitude, duck tongue shaped structure can extend vertebra from vertebral plate gap locationThe below of tabulare tissue.
3, start the hollow soft tissue cutter 24 that collet dodges the antiwind micro-wound pressure-reduced manipulator 10 of bushing type and first decline, makeBone tissue surface is close in its lower surface 37. Make again bone tissue cutter 26 tissue that cuts bone that declines. Like this, can thoroughly avoid abrasive drillingWhile boring, bistrique rotates the tissue that brings and is wound around the risk that causes neurotrosis. Operation, can output desirable bone so repeatedlyWindow also can be realized canalis spinalis nerve decompression.
4, ligamentum flavum excision, nerve appear. Collet is dodged to the antiwind micro-wound pressure-reduced manipulator 10 bone tissue cuttves of bushing typeTool 26 rises to after certain altitude, and start the machine people's lowering or hoisting gear and outer tube 31 transfers 32, can drive on outer tube 31Lower movement and the rotation of front end duck tongue shaped structure. Like this, when outer tube 31 drops to certain altitude, the duck tongue shaped structure of its front end canFor separating of ligamentum flavum and dural sac. When hollow soft tissue cutter 24 drops to outer tube 31 lateral aperture 34 upper limb, Ke YiyuDuck tongue and collet 35 form clamp type structure. When duck tongue and collet 35 stretch into soft tissue below as ligamentum flavum, start hollow soft tissueThe main hoist 25 of cutter 24 can be clamped.
5, the people's lowering or hoisting gear that starts the machine drives this clamp type structure to rise ligamentum flavum to be mentioned, now start low-temperature plasmaMelt cutter, can and fully appear nerve fiber by ligamentum flavum excision. Because these hollow soft tissue cutter 24 distances are neural etc. importantTissue has certain distance, so both can ensure soft tissue excision security, has improved again convenience and the reliability implemented.
6, nerve retracts, appears interverbebral disc. The people's lowering or hoisting gear that starts the machine drives collet to dodge the antiwind Wicresoft of bushing type10 liftings of decompression manipulator, make outer tube 31 drop to the side of dural sac, dodge the antiwind Wicresoft of bushing type subtract by colletThe integral inclination of press mechanical pressing hand 10, retracts nerve fiber to the midline, appears interverbebral disc.
7, discectomy. Start hollow soft tissue cutter 24 and main hoist 25, make hollow soft tissue cutter 24 timesFall, when pushing the outer certain distance of main aperture 33 that collet 35 stretches out outer tube 31 lower ends open and entering intervertenral space, now start low temperature etc. fromSon melts cutter, reconstruction of nucleus gelatinosus tissue can be excised.
Above-mentioned surgical procedure can be processed soft tissue can process again bone tissue, and what is more important can realize " simple cutterTool-clamp type structure " arbitrary conversion, without changing apparatus, thereby realize the safe and efficient of operation technique, effective rapidly.
With dypass L4, L5 discectomy is example, comprises the steps:
1, get waist small lateral incision, by operating robot navigation system, it is antiwind micro-that guiding collet is dodged bushing typeWound decompression manipulator 10, according to operating robot planning operation pathway, stretches in body, makes outer tube 31 punctures arrive target operationRegion.
2,, according to the size of extent of disease, worn sclerotin carries out intervertebral foramen shaping. People's lowering or hoisting gear and the end, start the machineOuter tube 31 reversing arrangements 32 of the antiwind micro-wound pressure-reduced manipulator 10 of bushing type are dodged in holder, can be convenient to like this outer tube 31 timesFall, can drive again the commutation of the duck tongue shaped structure of outer tube 31 rotations and its lower end. In the time that outer tube 31 drops to certain altitude,Duck tongue shaped structure can extend the below of targeted bone tissue.
3, start the hollow soft tissue cutter 24 that collet dodges the antiwind micro-wound pressure-reduced manipulator 10 of bushing type and first decline, makeBone tissue surface is close in its lower surface 37, then makes bone tissue cutter 26 tissue that cuts bone that declines. Like this, can thoroughly avoid abrasive drillingWhile boring, bistrique rotates the tissue that brings and is wound around the risk that causes neurotrosis. Operation so repeatedly, can worn target sclerotinAnd can realize intervertebral foramen shaping.
4, ligamentum flavum excision, nerve appear. Collet is dodged to the antiwind micro-wound pressure-reduced manipulator 10 bone tissue cuttves of bushing typeTool 26 rises to after certain altitude, and start the machine people's lowering or hoisting gear and outer tube 31 transfers 32, can drive on outer tube 31Lower movement and the rotation of front end duck tongue shaped structure. Like this, when outer tube 31 drops to certain altitude, the duck tongue shaped structure of its front end canFor separating of ligamentum flavum and dural sac. In the time that hollow soft tissue cutter 24 drops to outer tube 31 lateral aperture 34 upper limb, canForm clamp type structure with duck tongue and collet 35. When duck tongue and collet 35 stretch into soft tissue below as ligamentum flavum, start hollow soft groupThe main hoist 25 of knitting cutter 24 can be clamped, and the people's lowering or hoisting gear that starts the machine drives this clamp type structure to rise ligamentum flavumMention. Now, start Collation surgery cutter, can and fully appear nerve fiber by ligamentum flavum excision. Because this is hollow softThe important set such as tissue cutter 24 distances are neural are woven with certain distance, so both can ensure soft tissue excision security, improve againImplement convenience and reliability.
5, nerve retracts, appears interverbebral disc. The people's lowering or hoisting gear that starts the machine drives collet to dodge the antiwind Wicresoft of bushing type10 liftings of decompression manipulator, make outer tube 31 drop to the side of dural sac, dodge the antiwind Wicresoft of bushing type subtract by colletThe integral inclination of press mechanical pressing hand 10, retracts nerve fiber to the midline, appears interverbebral disc.
6, discectomy. Start hollow soft tissue cutter 24 and main hoist 25, make hollow soft tissue cutter 24 timesFall, when pushing the outer certain distance of main aperture 33 that collet 35 stretches out outer tube 31 lower ends open and entering intervertenral space, now start low temperature etc. fromSon melts cutter, reconstruction of nucleus gelatinosus tissue can be excised.
Same, above-mentioned surgical procedure can be processed soft tissue can process again bone tissue, can realize " simple cutter-pincersFormula structure " arbitrary conversion, without changing apparatus.
Also can find out by reference to the accompanying drawings by above-mentioned character express, adopt after the utility model, gather around and have the following advantages:
The function that 1, can realize between the simple cutter of manipulator and clamp type structure is switched freely, fast and easy decompression.
2, the Integration Design that has adopted soft tissue cutter, bone tissue cutter, endoscope, takies volume little.
3, easy-to-use, make each mechanism effectively realize cooperation each other, meet miniature backbone hand safely and efficientlyArt manipulator uses to be needed.
4, have wide range of applications, can be used for the disease treatments such as the protrusion of the intervertebral disc, spinal canal stenosis, intervertebral unstability disease.
5, can not only realize way of escape intervertebral disc operation, can also effectively realize the operation of dypass intervertebral spinal fusion, can optimize interverbebral discThe therapeutic modality of herniation.
6, unitary construction is simplified, and is easy to operative site and uses and follow-up maintenance.
The above is only preferred embodiment of the present utility model, is not limited to the utility model, it should be pointed out thatFor those skilled in the art, not departing under the prerequisite of the utility model know-why, can also doGo out some improvement and modification, these improve and modification also should be considered as protection domain of the present utility model.
Claims (8)
1. the bone surgery robot that dodges the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet, includes pedestal (11),On described pedestal (11), be connected with lifting platform (4), it is characterized in that: described lifting platform (4) upper by arrangement for adjusting height, end to endDirection horizontal mobile mechanism is connected with operation table surface (3), and described pedestal (11) connects robot body by gantry device, described inOn pedestal (11), be also connected with master control system (9), described gantry device includes gantry frame (1), on described gantry frame (1)Be horizontally connected with crossbeam (2), described crossbeam is provided with left and right directions horizontal mobile mechanism on (2), and described left and right directions level is movedActuation mechanism is connected with robot body, and described robot body includes vertical rail device, on described vertical rail device, connectsBe connected to manipulator (10) and flexible needle measuring mechanism (38), on described operation table surface (3), be provided with follower (8).
2. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 1People, is characterized in that: described left and right directions horizontal mobile mechanism includes cross slide way (12), the driving of described cross slide way (12)On moved end, be connected with the first motor (13), described cephlad-caudal horizontal mobile mechanism includes the second guide rail (17), described secondOn the drive end of guide rail (17), be connected with the 3rd motor (18), described cross slide way is provided with take-up housing on (12), described slide blockOn seat, be connected with vertical rail device.
3. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 1People, is characterized in that: described arrangement for adjusting height includes the first guide rail (14), and described the first guide rail (14) passes through feed screw nut(15) be connected with the second motor (16), on described the second motor (16), brake apparatus be installed.
4. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 1People, is characterized in that: described vertical rail device includes vertical track base (5), on described vertical track base (5), is connected with vertical guide rail(19), the lower end of described vertical guide rail (19) is connected with two rotating shaft mechanisms (6), is provided with for connecting on described pair of rotating shaft mechanism (6)The bindiny mechanism (7) of welding manipulator (10).
5. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 4People, is characterized in that: described pair of rotating shaft mechanism (6) is for driving the rotating mechanism of α axle (20) and β axle (21), described α axle(20) around Y-axis motion, described β axle (21) is around X-axis motion, and the tail end of described α axle (20) is provided with for connecting manipulator (10)Bindiny mechanism (7).
6. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 1People, is characterized in that: described manipulator (10) includes base plate (22), and a side of described base plate (22) is provided with connector(23), opposite side is provided with endoscope (28), and main hoist (25) is installed on described base plate (22), described main liftOn structure (25), be connected with hollow soft tissue cutter (24), secondary elevating mechanism (27) is also installed on described base plate (22), described inOn secondary elevating mechanism (27), be connected with bone tissue cutter (26), described base plate (22) below is provided with water filling joint (29) and goes outWater swivel (30), the below end of described base plate (22) is provided with changement (32), and described changement (32) is upper to be connectedHave outer tube (31), the lower end of described outer tube (31) and side are respectively arranged with main aperture (33) and secondary hole (34), make outer tube(31) lower end is duck tongue shaped, and the main aperture (33) that is positioned at described outer tube (31) lower end is provided with collet (35) and spring leaf(36),, when hollow soft tissue cutter (24) or bone tissue cutter (26) decline, push collet (35) open and stretch out outer tube (31) lower endMain aperture (33) time, can make respectively corresponding simple cutter and use.
7. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 1People, is characterized in that: described flexible needle measuring mechanism (38) includes guide pipe (40), and described guide pipe (40) top is provided withDisplacement transducer (46), is provided with probe (39) in described guide pipe (40), described guide pipe (40) is externally connected with bindiny mechanism(41), a side of described probe (39) is distributed with gathering sill, is provided with the main extruding inclined-plane of mirror image symmetry in described gathering sill(43) with secondary extruding inclined-plane (44), in described guide pipe (40), be provided with corresponding with it two inclined-plane joint pins (45), described inInclined-plane joint pin (45) contacts with secondary extruding inclined-plane (44) with corresponding main extruding inclined-plane (43) respectively, described inclined-plane joint pin(45) end is provided with spring (42), and the endoporus (47) of described guide pipe (40) is V-shaped, when probe (39) and main extruding inclined-plane(43), while moving on, by inclined-plane joint pin (45) and spring (42) pushing secondary extruding inclined-plane (44), make probe (39) and guide pipe(40) endoporus (47) fits tightly.
8. bone surgery machine of dodging the antiwind micro-wound pressure-reduced manipulator of bushing type based on collet according to claim 1People, is characterized in that: described follower is provided with spicule, displacement transducer, obliquity sensor in (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521105842.XU CN205251686U (en) | 2015-12-28 | 2015-12-28 | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521105842.XU CN205251686U (en) | 2015-12-28 | 2015-12-28 | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet |
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| Publication Number | Publication Date |
|---|---|
| CN205251686U true CN205251686U (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521105842.XU Withdrawn - After Issue CN205251686U (en) | 2015-12-28 | 2015-12-28 | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet |
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| Country | Link |
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| CN (1) | CN205251686U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476713A (en) * | 2015-12-28 | 2016-04-13 | 苏州点合医疗科技有限公司 | Orthopedic operation robot based on collet receding sleeve type anti-twining minimally-invasive decompression mechanical hand |
| CN106377316A (en) * | 2016-09-18 | 2017-02-08 | 上海交通大学 | Thyroid minimally invasive surgery operation equipment |
| CN107811797A (en) * | 2017-11-10 | 2018-03-20 | 唐佩福 | Orthopedic robot |
| CN111504766A (en) * | 2020-05-08 | 2020-08-07 | 强一半导体（苏州）有限公司 | MEMS probe single-rotating-shaft symmetric bending test structure and pitching arm thereof |
| WO2023092972A1 (en) * | 2021-11-25 | 2023-06-01 | 深圳市爱博医疗机器人有限公司 | Portal frame convenient for butt joint |
-
2015
- 2015-12-28 CN CN201521105842.XU patent/CN205251686U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476713A (en) * | 2015-12-28 | 2016-04-13 | 苏州点合医疗科技有限公司 | Orthopedic operation robot based on collet receding sleeve type anti-twining minimally-invasive decompression mechanical hand |
| CN106377316A (en) * | 2016-09-18 | 2017-02-08 | 上海交通大学 | Thyroid minimally invasive surgery operation equipment |
| CN107811797A (en) * | 2017-11-10 | 2018-03-20 | 唐佩福 | Orthopedic robot |
| CN107811797B (en) * | 2017-11-10 | 2023-09-26 | 中国人民解放军总医院 | Orthopedics robot |
| CN111504766A (en) * | 2020-05-08 | 2020-08-07 | 强一半导体（苏州）有限公司 | MEMS probe single-rotating-shaft symmetric bending test structure and pitching arm thereof |
| WO2023092972A1 (en) * | 2021-11-25 | 2023-06-01 | 深圳市爱博医疗机器人有限公司 | Portal frame convenient for butt joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160525 Effective date of abandoning: 20171226 |