CN206651872U - Spinal movement half restricts formula spinal operation robot - Google Patents
Spinal movement half restricts formula spinal operation robot Download PDFInfo
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- CN206651872U CN206651872U CN201621366050.2U CN201621366050U CN206651872U CN 206651872 U CN206651872 U CN 206651872U CN 201621366050 U CN201621366050 U CN 201621366050U CN 206651872 U CN206651872 U CN 206651872U
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Abstract
It the utility model is related to a kind of spinal movement half and restrict formula spinal operation robot, include trailing type fixed mount, X-axis displacement mechanism is installed on trailing type fixed mount, Y-axis displacement mechanism, Z axis displacement mechanism, rotating mechanism and motor are connected with X-axis displacement mechanism, rotating mechanism and motor are connected with Y-axis displacement mechanism, rotating mechanism and motor are connected with Z axis displacement mechanism, guide pipe and drive mechanism are also equipped with Y-axis displacement mechanism, contact pilotage, measure pin, piercing assembly, pressure relief assembly, each rotating mechanism and motor, control system is connected with guide pipe and drive mechanism.Possess three axle regulative modes, be advantageous to prevent robot from relative motion occurs with vertebra, the robotic surgery error brought by spinal movement reduced or eliminated, so as to improve operation precision.
Description
Technical field
A kind of operating robot is the utility model is related to, more particularly to a kind of spinal movement half restricts formula spinal operation machine
People.
Background technology
In recent years, some orthopedic surgery navigations and surgical robot system clinically obtain Preliminary Applications, such as with color
The SpineAssist of row, the SPINEBOT of South Korea and BiTESS II, Vector-Bot, the Neuroglide of Switzerland of Germany, I
TiRobo robot systems of state etc..
Multifreedom motion may occur when being breathed due to vertebrae with people, i.e., along X, Y, the displacement of Z-direction and angle
Tilt variation is spent, if can not be controlled very well this type games, it is likely that the precision of robotic surgery can be influenceed.
According to the movement relation of current robot and vertebra, two categories below can be classified as：
" 1. machine-bone " one is without the formula of restriction：I.e. robot is fixed together (such as Israel with vertebra
SpineAssist), robot together with vertebra with respiratory movement, to eliminate vertebra respiratory movement to robotic surgery precision
Influence.Motion of this mode robot to vertebra is without restrictive function.
Specifically, to avoid the interference to targeted vertebra, robot need to be generally fixed on to the vertebra at targeted vertebra both ends
On bone, not only increase wound and fixing intensity is also relatively limited, robot generally can not too greatly can not be too heavy.
" 2. machine-bone " split servo tracking type：Displacement sensing, without direct relation, is installed with vertebra on vertebra by robot
Device, robot is by tracking the motion of vertebra and corresponding sports, to reduce or eliminate the motion of vertebra to caused by operation precision
Influence.Motion of this mode robot to vertebra also without restrictive function, misses caused by reducing spinal movement by servo tracking
Difference, calculate it is complex, and can only track X, Y, Z-direction displacement change and be unable to the change of trail angle degree, still exist production
The possibility of raw larger error.
" 3. machine-bone " restricts formula completely：I.e. robot is made the motion of targeted vertebra by fixed mount or mechanism completely
About：Due to vertebra small volume, bone volume is limited, is difficult to provide rigidity very strong fixed mount or machine again under the conditions of Minimally Invasive Surgery
Structure, respiratory movement have very big strength again, control the motion of vertebra also not easy completely.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, restricted to found a kind of spinal movement half
Formula spinal operation robot, make it with more the value in industry.
Utility model content
In order to solve the above technical problems, the purpose of this utility model, which is to provide a kind of spinal movement half, restricts formula spinal operation
Robot.
Spinal movement of the present utility model half restricts formula spinal operation robot, includes trailing type fixed mount, its feature
It is：X-axis displacement mechanism, Y-axis displacement mechanism, Z axis displacement mechanism, the X-axis displacement are installed on the trailing type fixed mount
Rotating mechanism and motor are connected with mechanism, rotating mechanism and motor, the Z axis displacement are connected with the Y-axis displacement mechanism
Rotating mechanism and motor are connected with mechanism, guide pipe and drive mechanism, contact pilotage, survey are also equipped with the Y-axis displacement mechanism
Metering pin, piercing assembly, pressure relief assembly, control system is connected with each rotating mechanism and motor, guide pipe and drive mechanism
System.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the trailing type fixed mount bag
Cross bar is included, the both sides of the cross bar are provided with telescopic mast, and bearing is provided with the telescopic mast, and the bearing outside is provided with bullet
Spring.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the contact pilotage includes pin
Seat, the needle stand are provided with bar, moveable needle lock are provided with the bar.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the measurement pin includes
Shell, bayonet socket is provided with above the shell, displacement transducer is provided with the shell, institute's displacement sensors pass through bullet
Spring is connected with bar.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the guide pipe and driving
Mechanism includes catheter block, and pressure relief assembly riser guide, piercing assembly riser guide, the decompression are distributed with the catheter block
Puncture and motor are connected with component riser guide, endoscope riser guide is additionally provided with the catheter block, it is described interior
The side of sight glass riser guide is provided with conduit, and endoscope is connected with the conduit, is connected on the endoscope riser guide
There is motor, connecting rod is provided between endoscope and the endoscope riser guide, the side of the riser guide passes through at least
Two fixed bayonet connection reversing motors.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, set on the catheter block
There is binding groove.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the piercing assembly includes
There is tube body, cutting inner core and steel wire are provided with the tube body, described cut is connected with motor on inner core, on the steel wire
Axle is connected with, the lower end of the tube body forms minor details pipe, side opening is distributed with the minor details pipe, and/or be the minor details
End opening is distributed with the lower end of pipe.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the lower end of the minor details pipe
In spininess, inclined-plane is carried in side opening, is passed with guiding cutting inner core from side opening, the upper end of the tube body is provided with
Fixed bayonet socket, the upper end of the cutting inner core are provided with fixed bayonet socket.
Further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the pressure relief assembly includes
There is cutting outer tube, the top that cutting outer tube described in cutting inner core is provided with the cutting outer tube is provided with fixed bayonet socket, described
The top of cutting inner core is provided with fixed bayonet socket.
Yet further, above-mentioned spinal movement half restricts formula spinal operation robot, wherein, the control system is meter
Calculation machine, control mainboard is provided with the computer, driver and hand controller are connected with the control mainboard.
By such scheme, the utility model at least has advantages below：
The contact pilotage of robot and vertebral surface rigid contact, vertebra promote trailing type to fix with during respiratory movement by contact pilotage
Frame moves up and down along Z-direction, X, Y, Z displacement of robot and rotating mechanism and motor, guide pipe and drive mechanism, puncture group
Part, pressure relief assembly etc. also move therewith, while robot restricts vertebra in turn also by its own weight, lead and contact pilotage
The X of bone, the displacement of Y-direction and rotary motion, because the motion that human spine occurs with breathing is larger in Z-direction displacement, move
Can be also larger, the displacement in other directions and inclination angle are smaller, and kinetic energy is also smaller, therefore, in the dynamic of Z-direction release spinal movement
Can, other direction controlling displacements and angle tilt change, be advantageous to prevent robot from relative motion occurs with vertebra, reduce or
The robotic surgery error brought by spinal movement is eliminated, so as to improve operation precision.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.
Brief description of the drawings
Fig. 1 is the side structure schematic diagram that this spinal movement half restricts formula spinal operation robot.
Fig. 2 is the positive structure schematic that this spinal movement half restricts formula spinal operation robot.
Fig. 3 is the overlooking the structure diagram that this spinal movement half restricts formula spinal operation robot.
Fig. 4 is the structural representation of telescopic mast.
Fig. 5 is the structural representation for measuring pin.
Fig. 6 is the structural representation of piercing assembly.
Fig. 7 is the structural representation of pressure relief assembly.
Fig. 8 is the displacement structure schematic diagram of endoscope.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
Spinal movement half such as Fig. 1 to 8 restricts formula spinal operation robot, includes trailing type fixed mount 14, itself and crowd
Difference is：The utility model use trailing type fixed mount 14 on be provided with X-axis displacement mechanism 1, Y-axis displacement mechanism 9,
Z axis displacement mechanism 2.Simultaneously, it is contemplated that operate the facility of driving, rotating mechanism and motor 4, Y are connected with X-axis displacement mechanism 1
Rotating mechanism and motor 11 are connected with axial displacement mechanism 9, rotating mechanism and motor 3 are connected with Z axis displacement mechanism 2.In order to
Effectively realize that robotic assisted surgery is implemented, be also equipped with Y-axis displacement mechanism 9 guide pipe and drive mechanism 5, contact pilotage 13,
Measure pin 6, piercing assembly 15, pressure relief assembly 16.Furthermore, it is contemplated that coordinate the facility of control, each rotating mechanism and motor, lead
The (not shown) of control system 17 is connected with to pipe and drive mechanism.
From the point of view of one preferable embodiment of the utility model, trailing type fixed mount 14 includes cross bar 18.Consider
Possess preferable spacing, telescopic mast 8 is provided with the both sides of cross bar 18, bearing 48 is provided with telescopic mast 8, is arranged outside bearing 48
There is spring 49.
From the point of view of further, the contact pilotage 13 that the utility model uses includes needle stand 10, and needle stand 10 is provided with bar 20, on bar 20
It is provided with moveable needle lock 19.So, it is easy to that in actual use smoothly position adjustments can be carried out.The measurement pin of use
6 include shell 50, and bayonet socket 51 is provided with the top of shell 50, displacement transducer 23, displacement sensing are provided with shell 50
Device 23 is connected with bar 21 by spring 22.So, the data back of displacement sensor 23 can be relied on during actual use, is looked for
Preferable position.
From the point of view of further, it is oriented to possess preferable while in operation, guide pipe and drive mechanism 5 include catheter block 25,
Pressure relief assembly riser guide 26, piercing assembly riser guide 27 are distributed with catheter block 25.Meanwhile in order to realize independent driving.
Puncture and motor 28 are connected with pressure relief assembly riser guide 26.Also, during use can be more in view of doctor
The image of operative site is intuitively obtained, endoscope riser guide 53, endoscope riser guide 53 are additionally provided with catheter block 25
Side be provided with conduit 24, endoscope 52 is connected with conduit 24.Meanwhile in order to realize that the manpower-free of endoscope 52 is adjusted,
Motor 54 is connected with endoscope riser guide 53.Furthermore, it is contemplated that connect the steadiness of positioning, endoscope 52 and endoscope liter
Connecting rod 55 is provided between drop guide rail 53, the side of riser guide 27 is connected by two fixed bayonet sockets 30 with fixed bayonet socket 31
Reversing motor 29.Certainly, binding groove 32 is provided with order to carry out asepsis management to the robot after assembling, on catheter block 25, with
Just sterile sleeve is wrapped up.
From the point of view of being used in combination, the piercing assembly 15 that the utility model uses includes tube body 33, is set in tube body 33
It is equipped with cutting inner core 38 and steel wire 36, steel wire 37.Needed in view of the task driven for cutting inner core 38, be connected with motor thereon
41.Meanwhile axle 35 is connected with steel wire 37, the lower end of tube body 33 forms minor details pipe 34, and side, which is distributed with, on minor details pipe 34 opens
Mouthfuls 39, and/or be that end opening 40 is distributed with the lower end of minor details pipe 34.Specifically, in order to smoothly pierce through, the lower end of minor details pipe 34
In spininess, inclined-plane is carried in side opening 39, is passed with guiding cutting inner core 38 from side opening 39, the upper end of tube body 33 is set
Fixed bayonet socket 42 is equipped with, the upper end of cutting inner core 38 is provided with fixed bayonet socket 43.
Simultaneously, it is contemplated that the decompression in surgical procedure needs, and pressure relief assembly 16 includes cutting outer tube 44.Specifically,
Cutting inner core 45 is provided with cutting outer tube 44, the top of cutting outer tube 44 is provided with fixed bayonet socket 46.It is corresponding to be,
The top of cutting inner core 45 is provided with fixed bayonet socket 47.
Furthermore, it is contemplated that the needs that automatic programming is implemented, the control system 17 used are set for computer in computer
There is control mainboard, driver and hand controller are connected with control mainboard.
Operation principle of the present utility model is as follows：
Embodiment one
Three pieces of contact pilotages 13 are first contacted into fixation with surface after vertebra.Now, measure the afterbody of pin 6 bayonet socket 51 and guide pipe and
The fixation bayonet socket 30 of the afterbody of drive mechanism 5 connects.
Afterwards, instruction, the order measurement certain area coordinate acquisition in surface after vertebra of pin 6 are sent by hand controller.Coordinate is adopted
Removed after the completion of collection measurement pin 6, by the coordinate data of collection it is registering with preoperative CT data progress after, robot can be according to preoperative rule
The operation pathway drawn is adjusted automatically.
Then, guide pipe and drive mechanism 5 realize ideal pose, and the afterbody of tube body 33 of piercing assembly 15 is fixed into bayonet socket
42 are connected with the fixation bayonet socket 31 of guide pipe and the afterbody of drive mechanism 5, and the afterbody of cutting inner core 38 of piercing assembly 15 fixes bayonet socket
43 are connected with the fixation bayonet socket 30 of guide pipe and the afterbody of drive mechanism 5.
Finally, starting motor 28 and reversing motor 29, piercing assembly 15 can be pierced into disc tissue, using cutting
Cut inner core 38 and carry out disc tissue ablation or excision.
Embodiment two
First, three pieces of contact pilotages 13 are contacted into fixation with surface after vertebra, measures afterbody bayonet socket 51 and guide pipe and the drive of pin 6
The fixation bayonet socket 30 of the afterbody of motivation structure 5 connects.
Then, instruction is sent by hand controller, measures the certain area coordinate acquisition in surface after vertebra of pin 6, will after measurement
Measurement pin 6 remove, by coordinate acquisition data it is registering with preoperative CT data progress after.
Afterwards, robot is adjusted automatically according to the operation pathway of preoperative planning.Guide pipe and drive mechanism 5 realize reason
Think posture, cutting outer tube 44 afterbody of pressure relief assembly 16 is fixed into the fixing card of bayonet socket 46 and guide pipe and the afterbody of drive mechanism 5
Mouth 31 connects.Meanwhile cutting inner core 45 afterbody of pressure relief assembly 16 fixes consolidating for bayonet socket 47 and guide pipe and the afterbody of drive mechanism 5
Determine bayonet socket 30 to connect.
Finally, the tissues such as vertebral plate and nucleus pulposus can be completed by starting motor 28 and reversing motor 29, pressure relief assembly 16
Excision, realize decompression.
It is can be seen that by above-mentioned character express and with reference to accompanying drawing using after the utility model, gather around and have the following advantages：
The contact pilotage of robot and vertebral surface rigid contact, vertebra promote trailing type to fix with during respiratory movement by contact pilotage
Frame moves up and down along Z-direction, X, Y, Z displacement of robot and rotating mechanism and motor, guide pipe and drive mechanism, puncture group
Part, pressure relief assembly etc. also move therewith, while robot restricts vertebra in turn also by its own weight, lead and contact pilotage
The X of bone, the displacement of Y-direction and rotary motion, because the motion that human spine occurs with breathing is larger in Z-direction displacement, move
Can be also larger, the displacement in other directions and inclination angle are smaller, and kinetic energy is also smaller, therefore, in the dynamic of Z-direction release spinal movement
Can, other direction controlling displacements and angle tilt change, be advantageous to prevent robot from relative motion occurs with vertebra, reduce or
The robotic surgery error brought by spinal movement is eliminated, so as to improve operation precision.
Described above is only preferred embodiment of the present utility model, is not limited to the utility model, it is noted that
For those skilled in the art, on the premise of the utility model technical principle is not departed from, can also do
Go out some improvement and modification, these improvement and modification also should be regarded as the scope of protection of the utility model.
Claims (10)
1. spinal movement half restricts formula spinal operation robot, include trailing type fixed mount (14), it is characterised in that：It is described with
X-axis displacement mechanism (1), Y-axis displacement mechanism (9), Z axis displacement mechanism (2), the X-axis position are installed on dynamic formula fixed mount (14)
Rotating mechanism and motor (4) are connected with telephone-moving structure (1), rotating mechanism and motor are connected with the Y-axis displacement mechanism (9)
(11) rotating mechanism and motor (3), are connected with the Z axis displacement mechanism (2), is also equipped with the Y-axis displacement mechanism (9)
Guide pipe and drive mechanism (5), contact pilotage (13), measurement pin (6), piercing assembly (15), pressure relief assembly (16), each rotation
Control system (17) is connected with mechanism and motor, guide pipe and drive mechanism.
2. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The trailing type
Fixed mount (14) includes cross bar (18), and the both sides of the cross bar (18) are provided with telescopic mast (8), set in the telescopic mast (8)
Bearing (48) is equipped with, spring (49) is arranged with outside the bearing (48).
3. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The contact pilotage
(13) needle stand (10) is included, the needle stand (10) is provided with bar (20), and being provided with moveable pin on the bar (20) fixes
Device (19).
4. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The measurement pin
(6) include shell (50), bayonet socket (51) is provided with above the shell (50), displacement biography is provided with the shell (50)
Sensor (23), institute's displacement sensors (23) are connected with bar (21) by spring (22).
5. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The guide pipe
And drive mechanism (5) includes catheter block (25), pressure relief assembly riser guide (26) is distributed with the catheter block (25), punctures
Component riser guide (27), puncture and motor (28), the conduit are connected with the pressure relief assembly riser guide (26)
Endoscope riser guide (53) is additionally provided with seat (25), the side of the endoscope riser guide (53) is provided with conduit
(24) endoscope (52), is connected with the conduit (24), motor (54), institute are connected with the endoscope riser guide (53)
State and connecting rod (55) is provided between endoscope (52) and endoscope riser guide (53), the side of the riser guide (27) leads to
Cross at least two fixation bayonet socket (30,31) connection reversing motors (29).
6. spinal movement according to claim 5 half restricts formula spinal operation robot, it is characterised in that：The catheter block
(25) binding groove (32) is provided with.
7. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The puncture group
Part (15) includes tube body (33), and cutting inner core (38) and steel wire (36,37) are provided with the tube body (33), described to cut
Cut and motor (41) is connected with inner core (38), axle (35), the lower end structure of the tube body (33) are connected with the steel wire (37)
Into minor details pipe (34), side opening (39) is distributed with the minor details pipe (34), and/or is the lower end distribution of the minor details pipe (34)
There is end opening (40).
8. spinal movement according to claim 7 half restricts formula spinal operation robot, it is characterised in that：The minor details pipe
(34) lower end is in spininess, and inclined-plane is carried in side opening (39), is passed with guiding cutting inner core (38) from side opening (39),
The upper end of the tube body (33) is provided with fixed bayonet socket (42), and the upper end of the cutting inner core (38) is provided with fixed bayonet socket
(43)。
9. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The decompression group
Part (16) includes cutting outer tube (44), and cutting inner core (45), the cutting outer tube are provided with the cutting outer tube (44)
(44) top is provided with fixed bayonet socket (46), and the top of the cutting inner core (45) is provided with fixed bayonet socket (47).
10. spinal movement according to claim 1 half restricts formula spinal operation robot, it is characterised in that：The control
System (17) is computer, and control mainboard is provided with the computer, driver and manual control are connected with the control mainboard
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621366050.2U CN206651872U (en) | 2016-12-13 | 2016-12-13 | Spinal movement half restricts formula spinal operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621366050.2U CN206651872U (en) | 2016-12-13 | 2016-12-13 | Spinal movement half restricts formula spinal operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN206651872U true CN206651872U (en) | 2017-11-21 |
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ID=60314383
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621366050.2U Active CN206651872U (en) | 2016-12-13 | 2016-12-13 | Spinal movement half restricts formula spinal operation robot |
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| Country | Link |
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| CN (1) | CN206651872U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725858A (en) * | 2016-12-13 | 2017-05-31 | 苏州点合医疗科技有限公司 | A kind of spinal movement half restricts formula spinal operation robot |
| CN110251234A (en) * | 2019-07-10 | 2019-09-20 | 苏州点合医疗科技有限公司 | A kind of planer-type, which can be removed, receives mechanical arm spinal operation robot |
-
2016
- 2016-12-13 CN CN201621366050.2U patent/CN206651872U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725858A (en) * | 2016-12-13 | 2017-05-31 | 苏州点合医疗科技有限公司 | A kind of spinal movement half restricts formula spinal operation robot |
| CN106725858B (en) * | 2016-12-13 | 2023-11-24 | 苏州点合医疗科技有限公司 | Vertebra motion semi-restriction type spinal surgery robot |
| CN110251234A (en) * | 2019-07-10 | 2019-09-20 | 苏州点合医疗科技有限公司 | A kind of planer-type, which can be removed, receives mechanical arm spinal operation robot |
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