CN209018936U - A kind of medical robot for pyramid plastic operation - Google Patents
A kind of medical robot for pyramid plastic operation Download PDFInfo
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- CN209018936U CN209018936U CN201821106452.8U CN201821106452U CN209018936U CN 209018936 U CN209018936 U CN 209018936U CN 201821106452 U CN201821106452 U CN 201821106452U CN 209018936 U CN209018936 U CN 209018936U
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- medical robot
- plastic operation
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Abstract
The utility model belongs to technical field of medical equipment, is related to a kind of medical robot for pyramid plastic operation, the piercing mechanism including being installed on sixdegree-of-freedom simulation end, and the piercing mechanism includes translation mechanism, rotating mechanism and executing agency；The translation mechanism is mounted on the end of sixdegree-of-freedom simulation, carries out horizontal adjustment for the front-rear position to rotating mechanism and executing agency；The rotating mechanism is mounted on translation mechanism, for driving executing agency to be rotated；Described executing agency one end is detachably arranged on rotating mechanism, and centering pilot orifice plate of the other end on translation mechanism, the executing agency is used to carry out puncture procedure.The utility model structure is simple, easy to operate, and stability is good, and accuracy is high, operating time can be saved, reduces sufferer pain, and the labor intensity of medical staff can be reduced, it avoids medical staff's not raying to endanger simultaneously, there is very big market value, be worthy of popularization.
Description
Technical field
The utility model belongs to technical field of medical equipment, and in particular to a kind of medical machine for pyramid plastic operation
People.
Background technique
China has stepped into aging society, and the aged is numerous, and display has sufferers of osteoporosis face about 6 at present according to investigations,
9440000, it is very universal, there is researcher to carry out bone to women of 8142 ages of 6, Beijing etc. area between 20-89 years old close
Degree measurement, wherein the disease incidence of the osteoporosis of 50-59 years old backbone or femur is 15.5%.With Chinese aging and advanced age
The size of population of change increasingly increases, and the patient populations of osteoporosis and its compression fracture of vertabral body caused can also increase year by year therewith
It is long.
When osteoporosis, since patient's bone amount content is low, patient centrum can compress in the case where slightly or without violence acting on
Property fracture, i.e. referred to as osteoporotic vertebral fracture.Compression fracture of vertabral body can lead to centrum kyphosis deformity or chronic
Backache afterwards will lead to the dysfunction of digestion and respiratory system, most with strong feeling of pain, or even can be due to pressuring nerve
Lead to paralysis, lose self-care ability, seriously affect the quality of life of patient, is the most commonly seen and serious of osteoporosis initiation
One of complication.Vertebroplasty has become most common Minimally Interventional Therapy method in recent years.
Vertebroplasty is a kind of under the monitoring guidance of x-ray closed-circuit television, and pedicle, which punctures, reaches lesion centrum, to
Bone cement is perfused in centrum, the medical technology of sutura and gap is filled by bone cement streamer, the work of firm centrum can be played
With, alleviate or eliminate pain, ct fluoroscopy is needed during operation to observe patient to determine puncture position and angle, and during CT
Medical staff be permanently connected to radiation, although wearing vest if things go on like this can still influence body, and period is more
Secondary replacement syringe needle, work step is many and diverse, and working strength is high.
Utility model content
Purpose of the utility model is to solve shortcomings and deficiencies existing in the prior art, and providing one kind can assist
Medical staff carries out the medical robot of vertebral plasty puncturing operation, and medical staff's not raying can be protected to endanger, and big
The working strength of medical staff is alleviated greatly.
To achieve the above object, the technical scheme adopted by the utility model is a kind of doctor for pyramid plastic operation
Robot, the piercing mechanism including being installed on sixdegree-of-freedom simulation end are treated, the piercing mechanism includes translation mechanism, rotation
Mechanism and executing agency；
The translation mechanism is mounted on the end of sixdegree-of-freedom simulation, for the front and back to rotating mechanism and executing agency
Position carries out horizontal adjustment；
The rotating mechanism is mounted on translation mechanism, for driving executing agency to be rotated；
Described executing agency one end is detachably arranged on rotating mechanism, and centering of the other end on translation mechanism is led
To orifice plate, the executing agency is used to carry out puncture procedure.
Preferably, the translation mechanism includes uniaxial driver and first motor, and the screw rod of the single shaft driver passes through
First shaft coupling is connect with first motor.
Preferably, the uniaxial driver is fixed on the end of sixdegree-of-freedom simulation by " L " type connector, and described the
One motor is mounted on sixdegree-of-freedom simulation by the first fixing seat.
Preferably, the rotating mechanism includes the second motor and fixture, and the connecting shaft of the fixture passes through second shaft coupling
It is connect with the second motor, second motor is mounted on the connecting plate of uniaxial driver screw rod by the second fixing seat, described
Connecting plate can move forward and backward under the driving of first motor.
Preferably, the executing agency includes syringe needle and needle tubing, and the syringe needle and needle tubing are clamped in fixture, and needle
The connecting shaft of head, needle tubing and fixture is arranged concentrically.
Preferably, the centering pilot orifice plate is equipped with protrusion stepped hole, and the stepped hole is arranged concentrically with needle tubing.
Preferably, the centering pilot orifice plate is vertically set on the one end of uniaxial driver far from first motor.
Preferably, the first motor and the second motor are arranged in parallel, and described uniaxial driver is parallel with executing agency sets
It sets.
After adopting the above technical scheme, a kind of medical robot for pyramid plastic operation provided by the utility model has
Have it is following the utility model has the advantages that
The technical solution of the utility model can replace medical staff and wear compared with existing bone cement injection device
Needle-holding hand art reduces subjective error in operation probability, only needs doctor to replace injection needle during puncturing operation, and in replacement process
It does not need to carry out ct fluoroscopy, reduces the irradiation accumulation of medical staff in the course of surgery, improve the surgical procedure of medical staff
Environment, ensures the health of medical staff, and significantly reduces the working strength of medical staff；Using sixdegree-of-freedom simulation knot
Structure is capable of the adjustment height and angle of freedom and flexibility, and occupied area is small, flexible to operation；Using motor driven, have more preferable
Precision and accuracy, improve surgical quality and success rate, data observation and the record being also convenient in surgical procedure；The same position
Sliding and replacing syringe needle is set, without adjusting again, operating time is saved, reduces the pain of sufferer personnel, improve operation effect
Rate, and bone cement perfusion effect is more preferable.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the medical robot for pyramid plastic operation of the utility model；
Fig. 2 is the utility model piercing mechanism magnified partial view；
Fig. 3 is a kind of perspective view of the medical robot for pyramid plastic operation of the utility model.
Wherein: uniaxial driver 1, " L " type connector 2, sixdegree-of-freedom simulation 3, the first fixing seat 4, first motor 5,
Second fixing seat 6, the second motor 7, second shaft coupling 8, fixture 9, centering pilot orifice plate 10, needle tubing 11, syringe needle 12.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms should broadly understood, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figure 1-3, a kind of medical robot for pyramid plastic operation of the utility model, including it is installed on six certainly
By the piercing mechanism of 3 end of degree mechanical arm, piercing mechanism can freely be acted suitable to determine by sixdegree-of-freedom simulation 3
Puncture angle and position, piercing mechanism include translation mechanism, rotating mechanism and executing agency；
Translation mechanism includes uniaxial driver 1 and first motor 5, and uniaxial driver 1 is fixed on by " L " type connector 2
The end of sixdegree-of-freedom simulation 3 is all made of spiral shell between " L " type connector 2 and uniaxial driver 1 and sixdegree-of-freedom simulation 3
It tethers and connects, stability is high, and the right angle of " L " type connector 2 is additionally provided with reinforcing rib to enhance bonding strength, first motor 5
It is mounted on sixdegree-of-freedom simulation 3 by the first fixing seat 4, the screw rod of uniaxial driver 1 passes through first shaft coupling and first
Motor 5 connects；
Rotating mechanism includes the second motor 7 and fixture 9, and the second motor 7 is mounted on uniaxial driver by the second fixing seat 6
On the connecting plate of 1 screw rod, connecting plate can move forward and backward under the driving of first motor 5, to transport before and after driving the second motor 7
Dynamic, the connecting shaft of fixture 9 is connect by second shaft coupling 8 with the second motor 7, therefore rotating mechanism can be in first motor 5
While moving forward and backward under effect, fixture 9 can rotate under the driving of the second motor 7；
Executing agency includes syringe needle 12 and needle tubing 11, and syringe needle 12 and needle tubing 11 are clamped in fixture 9 that (fixture 9 can clamp
The needle tubing and syringe needle of a variety of different models), and the connecting shaft of syringe needle 12, needle tubing 11 and fixture 9 is arranged concentrically, it is ensured that
Syringe needle 12 and needle tubing 11 can while rotation under the driving of the second motor 7 with the concentric rotation of the second motor 7, fixture 9
To drive executing agency to rotate, therefore executing agency can be in the second electricity while can translate under the driving of first motor 5
It is rotated under the action of machine 7；
Syringe needle 12 and 11 one end of needle tubing are clamped in fixture 9, and the other end, which runs through, is vertically set on uniaxial 1 end of driver
Protrusion stepped hole on the centering pilot orifice plate 10 of (one end i.e. far from first motor 5), and syringe needle 12 and needle tubing 11 and protrusion
Stepped hole is arranged concentrically, and can be extended intensification protrusion stepped hole, can be played positioning and guiding role well.
First motor 5 and the second motor 7 are arranged in parallel, and uniaxial driver 1 is arranged in parallel with executing agency.
A kind of medical robot for pyramid plastic operation of the utility model will be in use, first step medical staff will first
Needle tubing 11 and syringe needle 12 through centering pilot orifice plate 10 and are installed in fixture 9, flexibly free by sixdegree-of-freedom simulation 3
Adjustment height and angle determine fixed, starting first motor 5, in the driving of first motor 5 after suitable puncture position
Under, the connecting plate on uniaxial 1 screw rod of driver drives the linear movement of the second motor 7, so that needle tubing 11 and syringe needle 12 be driven to carry out
Straight line precisely punctures, and needle tubing 11 and syringe needle 12 are inserted into clamping of the release fixture 9 to needle tubing 11 after patient body, inverts first motor
5 make the connecting plate on uniaxial 1 lead screw of driver that the second motor 7 be driven to return to initial position, and needle tubing 11 is separated with syringe needle 12, needle
Pipe 11 stays in patient body, and syringe needle 12 stops first motor 5 after returning to initial position with the second motor 7 and fixture 9；Then it opens
The operation of beginning second step, medical staff replace syringe needle 12, and the syringe needle changed has reamer, carry out second of puncture procedure first motor
5 and second motor 7 start together, drive the rotation of reamer syringe needle to penetrate bone, release of needle special fixture 9, by reamer syringe needle point
From uniaxial driver 1 drives rotating mechanism to keep in the center, and medical staff is inserted into balloon catheter for expanding vertebra by needle tubing 11, expands
Sacculus Shi Gu inner tissue vacating space is opened to inject bone cement, and last third time operates, and medical staff replaces bone cement injection needle
Head is clamped with fixture 9, starts first motor 5, and bone cement is pushed by bone cement injection needle head.
A kind of medical robot for pyramid plastic operation provided by the utility model and existing bone cement injection device
It compares, can replace medical staff and carry out puncturing operation, reduce subjective error in operation probability, only need doctor more during puncturing operation
Injection needle is changed, and does not need to carry out ct fluoroscopy in replacement process, reduces the irradiation product of medical staff in the course of surgery
Tired amount, improves the surgical procedure environment of medical staff, ensures the health of medical staff, and significantly reduce the work of medical staff
Make intensity；It is capable of the adjustment height and angle of freedom and flexibility using sixdegree-of-freedom simulation structure, occupied area is small, easy to operate
Flexibly；Using motor driven, there is better precision and accuracy, improve surgical quality and success rate, be also convenient for surgical procedure
In data observation and record；The same position translation replacement syringe needle saves operating time, reduces without adjusting again
The pain of sufferer personnel improves procedure efficiency, and bone cement perfusion effect is more preferable.
In conclusion the utility model structure is simple, easy to operate, stability is good, and accuracy is high, when can save operation
Between, sufferer pain is reduced, and the labor intensity of medical staff can be reduced, while medical staff's not raying being avoided to endanger, had
Very big market value, is worthy of popularization.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (8)
1. a kind of medical robot for pyramid plastic operation, the puncture including being installed on sixdegree-of-freedom simulation (3) end
Mechanism, it is characterised in that: the piercing mechanism includes translation mechanism, rotating mechanism and executing agency；
The translation mechanism is mounted on the end of sixdegree-of-freedom simulation (3), for the front and back to rotating mechanism and executing agency
Position carries out horizontal adjustment；
The rotating mechanism is mounted on translation mechanism, for driving executing agency to be rotated；
Described executing agency one end is detachably arranged on rotating mechanism, centering pilot hole of the other end on translation mechanism
Plate (10), the executing agency are used to carry out puncture procedure.
2. a kind of medical robot for pyramid plastic operation according to claim 1, it is characterised in that: the translation
Mechanism includes uniaxial driver (1) and first motor (5), and the screw rod of the single shaft driver (1) passes through first shaft coupling and the
One motor (5) connection.
3. a kind of medical robot for pyramid plastic operation according to claim 2, it is characterised in that: the single shaft
Driver (1) is fixed on the end of sixdegree-of-freedom simulation (3) by " L " type connector (2), and the first motor (5) passes through
First fixing seat (4) is mounted on sixdegree-of-freedom simulation (3).
4. a kind of medical robot for pyramid plastic operation according to claim 2, it is characterised in that: the rotation
Mechanism includes the second motor (7) and fixture (9), and the connecting shaft of the fixture (9) passes through second shaft coupling (8) and the second motor
(7) it connects, second motor (7) is mounted on the connecting plate of uniaxial driver (1) screw rod by the second fixing seat (6), institute
Stating connecting plate can move forward and backward under the driving of first motor (5).
5. a kind of medical robot for pyramid plastic operation according to claim 4, it is characterised in that: the execution
Mechanism includes syringe needle (12) and needle tubing (11), and the syringe needle (12) and needle tubing (11) are clamped in fixture (9), and syringe needle
(12), the connecting shaft of needle tubing (11) and fixture (9) is arranged concentrically.
6. a kind of medical robot for pyramid plastic operation according to claim 5, it is characterised in that: the centering
Guide hole plate (10) is equipped with protrusion stepped hole, and the stepped hole is arranged concentrically with needle tubing (11).
7. a kind of medical robot for pyramid plastic operation according to claim 5, it is characterised in that: the centering
Guide hole plate (10) is vertically set on the one end of uniaxial driver (1) far from first motor (5).
8. a kind of medical robot for pyramid plastic operation according to claim 2, it is characterised in that: described first
Motor (5) and the second motor (7) are arranged in parallel, and the single shaft driver (1) is arranged in parallel with executing agency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821106452.8U CN209018936U (en) | 2018-07-13 | 2018-07-13 | A kind of medical robot for pyramid plastic operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821106452.8U CN209018936U (en) | 2018-07-13 | 2018-07-13 | A kind of medical robot for pyramid plastic operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209018936U true CN209018936U (en) | 2019-06-25 |
Family
ID=66868368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821106452.8U Active CN209018936U (en) | 2018-07-13 | 2018-07-13 | A kind of medical robot for pyramid plastic operation |
Country Status (1)
| Country | Link |
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| CN (1) | CN209018936U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023279267A1 (en) * | 2021-07-06 | 2023-01-12 | 深圳市鑫君特智能医疗器械有限公司 | Automatic vertebroplasty apparatus and orthopedic surgical robot system |
-
2018
- 2018-07-13 CN CN201821106452.8U patent/CN209018936U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023279267A1 (en) * | 2021-07-06 | 2023-01-12 | 深圳市鑫君特智能医疗器械有限公司 | Automatic vertebroplasty apparatus and orthopedic surgical robot system |
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