CN209122443U - A kind of minimally invasive spine surgical robot - Google Patents
A kind of minimally invasive spine surgical robot Download PDFInfo
- Publication number
- CN209122443U CN209122443U CN201721421736.1U CN201721421736U CN209122443U CN 209122443 U CN209122443 U CN 209122443U CN 201721421736 U CN201721421736 U CN 201721421736U CN 209122443 U CN209122443 U CN 209122443U
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- CN
- China
- Prior art keywords
- guide rail
- minimally invasive
- surgical robot
- invasive spine
- spine surgical
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Abstract
The utility model provides a kind of minimally invasive spine surgical robot, being related to medical instruments field includes operating bed, linear guide, circle arc support pedestal, arc guide rail, rotating mechanism, six-degree-of-freedom parallel connection mechanism and needling mechanism, linear guide is arranged on operating bed, circle arc support pedestal is slidably connected with linear guide, arc guide rail is set to circle arc support pedestal, and rotating mechanism, six-degree-of-freedom parallel connection mechanism and needling mechanism are sequentially connected and are movably disposed on arc guide rail.The utility model can be by control module with remote control mode operation robot, and doctor can avoid X-ray radiation and endanger caused by body；Carry out Minimally Invasive Surgery using operating robot, can achieve safety, precisely, efficiently, height it is repeatable and other effects, have that operation wound is small, intraoperative blood loss is few, the hospital stays is short, the post-operative recovery advantages such as faster.
Description
Technical field
The utility model relates to medical instruments fields, and in particular to a kind of minimally invasive spine surgical robot.
Background technique
Spinal puncture is one of common inspection method of Neurological Clinics, and can be not only used for diagnosis can be used for treating again, is grasped
Make it is simple and easy, it is also safer.In order to safely and effectively implement this operation, doctor need to understand lumbar puncture contraindication,
Relevant anatomy and the method that utmostly reduction complication is caused danger.Understand the indication of lumbar puncture, contraindication and
Correct operating method can minimize dangerous incidence.
Although lumbar puncture is seldom caused danger, once occur, can be very serious, it could even be possible to jeopardizing the life of patient
Life.But if misoperation, less serious case aggravates the state of an illness, and severe one even jeopardizes the life of patient, and doctor mainly still passes through at present
Spinal puncture is manually completed, it is higher to doctor's Capability Requirement, even veteran doctor, may also can only be generated with feel
Fault.In addition, doctor can be exposed in short-term in X-ray radiation during spinal puncture, and although dosage is smaller every time, spoke
The amount of penetrating can be accumulated gradually.With the raising required medical level, traditional spinal surgery since risk is high, injury is big,
It has been increasingly difficult to introduce robotic assisted surgery to meet the needs of patient and have become a kind of inevitable trend.
Utility model content
In view of the above drawbacks of the prior art, the technical problem to be solved by the utility model is to provide one kind being capable of machine
Tool positioning, minimally invasive spine surgical robot easy to use.
The utility model provides a kind of minimally invasive spine surgical robot, including operating bed, linear guide, circle arc support base
Seat, arc guide rail, rotating mechanism, six-degree-of-freedom parallel connection mechanism and needling mechanism, the linear guide are arranged in the operating bed
On, the circle arc support pedestal is slidably connected with the linear guide, and the arc guide rail is set to the circle arc support pedestal,
The rotating mechanism, the six-degree-of-freedom parallel connection mechanism and needling mechanism are sequentially connected and are movably disposed at the circular arc and lead
On rail.
Further, the linear guide includes at least two tracks, is respectively fixedly disposed at the two sides of the operating bed,
Straight-line guide rail slide block is slidably disposed in the linear guide.
Further, the circle arc support pedestal is crossed on the straight line of the linear guide of the operating bed two sides
On guide rail slide block, under use state, patient is between the circle arc support pedestal and the operating bed, the circle arc support base
Seat is mobile around patient for minimally invasive spine surgical robot.
Further, the straight-line guide rail slide block contains retaining mechanism, and the retaining mechanism is preferably manual locking mechanism,
The circle arc support pedestal is fixedly connected with the straight-line guide rail slide block, and the circle arc support pedestal can be along the linear guide
Sliding.
Preferably, the arc guide rail is installed on the circle arc support pedestal, and the arc guide rail is provided with arc guide rail
Sliding block, the arc guide rail sliding block is by the first stepping motor driven.
Further, first stepper motor drives pinion gear, the pinion gear by the first worm type of reduction gearing
Circular motion can be carried out around the external tooth of the circle arc support pedestal.
Further, first stepper motor output shaft connects first worm type of reduction gearing, the first step
Into motor output shaft after first worm type of reduction gearing deceleration, the first worm type of reduction gearing output end output is turned round
Square, the pinion gear are installed on the first worm type of reduction gearing output end.
Preferably, first stepper motor uses the stepper motor of Serial No. 57HB76-401A 4.4A.
Preferably, the rotating mechanism is installed on arc guide rail sliding block, and the rotating mechanism is driven by second stepper motor.
Further, the second stepper motor is connected to the second worm type of reduction gearing by synchronous belt, and then drives L
Type connector.
Further, the second stepper motor drives through the second worm type of reduction gearing output shaft output torque
It is fixed on the L-type connector of the second worm type of reduction gearing output shaft, and then drives the rotation of end effector mechanism.
Preferably, the second stepper motor uses the stepper motor of Serial No. 42HB76-403A 2.3A.
Preferably, first worm type of reduction gearing and second worm type of reduction gearing use model NMRV30
Worm type of reduction gearing.
Preferably, the synchronous belt model HTD3M-270.
Further, the L-type connector of the upper mounting plate of the six-degree-of-freedom parallel connection mechanism and rotating mechanism connects.
Further, the needling mechanism is connect with the lower platform of the six-degree-of-freedom parallel connection mechanism, the six degree of freedom
Parallel connection platform is used for the adjusting of end needling mechanism posture, and the needling mechanism executes inserting needle movement.
Further, the minimally invasive spine surgical robot further includes control module, the control module and the backbone
Micro-wound operation robot communication connection, doctor can control the minimally invasive spine surgical by the control module with remote control mode
Robot.
Compared with prior art, the advantage of the utility model has:
1, for the utility model by control module with remote control mode operation robot, doctor can avoid X-ray radiation pair
It is endangered caused by body, control module is preferably force feedback equipment；
2, carry out Minimally Invasive Surgery using operating robot, can achieve safe, accurate, efficient, highly repeatable and other effects；
3, carry out Minimally Invasive Surgery using operating robot, operation wound is small, intraoperative blood loss is few, the hospital stays is short, postoperative
Restore the advantages such as faster.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of minimally invasive spine surgical robot of the utility model；
Fig. 2 is arc guide rail sliding block and rotating mechanism driving part schematic diagram；
Wherein, 1- operating bed, 2- linear guide, 3- circle arc support pedestal, 4- arc guide rail, 5- rotating mechanism, 6- six is certainly
By degree parallel institution, 7- needling mechanism, the first stepper motor of 8-, the first worm type of reduction gearing of 9-, 10- pinion gear, 11- second
Stepper motor, 12- synchronous belt, the second worm type of reduction gearing of 13-, 14-L type connector.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Type embodiment is further described.
As shown in Figure 1, a kind of minimally invasive spine surgical robot, including operating bed 1, linear guide 2, circle arc support pedestal 3,
7,2 arc guide rail 4, rotating mechanism 5, six-degree-of-freedom parallel connection mechanism 6 and needling mechanism linear guides 2 are arranged at 1 liang of operating bed
Side, straight-line guide rail slide block are slidably disposed in linear guide 2.The straight line that circle arc support pedestal 3 is crossed on 1 two sides of operating bed is led
On the straight-line guide rail slide block of rail 2, under use state, patient is between circle arc support pedestal 3 and operating bed 1, circle arc support base
Seat 3 is fixedly connected with straight-line guide rail slide block, and circle arc support pedestal 3 can be slided along linear guide 2, and straight-line guide rail slide block can be by
Manual locking is in linear guide 2.
As depicted in figs. 1 and 2, arc guide rail 4 is installed on circle arc support pedestal 3, and it is sliding that arc guide rail 4 is provided with arc guide rail
Block, arc guide rail sliding block are driven by the first stepper motor 8, and the first stepper motor 8 exports the first worm type of reduction gearing of axis connection
9, for 8 output shaft of the first stepper motor after the deceleration of the first worm type of reduction gearing 9,9 output end of the first worm type of reduction gearing is defeated
Torque out, pinion gear 10 are installed on 9 output end of the first worm type of reduction gearing, and pinion gear 10 can be around circle arc support pedestal 3
External tooth carries out circular motion.First stepper motor uses the stepper motor of Serial No. 57HB76-401A 4.4A.
As depicted in figs. 1 and 2, rotating mechanism 5 is installed on arc guide rail sliding block, and rotating mechanism 5 is by second stepper motor 11
Driving, second stepper motor 11 are fixed on the second worm gear snail through 13 output shaft output torque of the second worm type of reduction gearing, drive
The L-type connector 14 of 13 output shaft of bar retarder, and then drive the rotation of end effector mechanism.Second stepper motor uses series
Number be 42HB76-403A 2.3A stepper motor.First worm type of reduction gearing and the second worm type of reduction gearing use model
For the worm type of reduction gearing of NMRV30, synchronous belt model HTD3M-270.
As shown in Fig. 2, the upper mounting plate of six-degree-of-freedom parallel connection mechanism 6 is connect with the L-type connector 14 of rotating mechanism 5, inserting needle
Mechanism 7 is connect with the lower platform of six-degree-of-freedom parallel connection mechanism 6, and Six Degree-of-Freedom Parallel Platform 6 is for 7 posture of end needling mechanism
It adjusts, needling mechanism 7 executes inserting needle movement.
Minimally invasive spine surgical robot further includes control module, control module and minimally invasive spine surgical robot communication link
It connects, doctor can control minimally invasive spine surgical robot by control module with remote control mode, and control module is not shown on the diagram.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (10)
1. a kind of minimally invasive spine surgical robot, which is characterized in that including operating bed (1), linear guide (2), circle arc support base
Seat (3), arc guide rail (4), rotating mechanism (5), six-degree-of-freedom parallel connection mechanism (6) and needling mechanism (7), the linear guide
(2) it is arranged on the operating bed (1), the circle arc support pedestal (3) is slidably connected with the linear guide (2), the circle
Arc guide rail (4) is set to the circle arc support pedestal (3), the rotating mechanism (5), the six-degree-of-freedom parallel connection mechanism (6) and
Needling mechanism (7) is sequentially connected and is movably disposed on the arc guide rail (4).
2. minimally invasive spine surgical robot as described in claim 1, which is characterized in that the linear guide (2) includes at least
Two tracks, are respectively fixedly disposed at the two sides of the operating bed (1), and straight-line guide rail slide block is slidably disposed in the straight line
Guide rail (2).
3. minimally invasive spine surgical robot as claimed in claim 2, which is characterized in that the circle arc support pedestal (3) is across setting
On the straight-line guide rail slide block of the linear guide (2) of the operating bed (1) two sides, under use state, patient is located at
Between the circle arc support pedestal (3) and the operating bed (1).
4. minimally invasive spine surgical robot as claimed in claim 3, which is characterized in that the straight-line guide rail slide block contains locking
Mechanism, the circle arc support pedestal (3) are fixedly connected with the straight-line guide rail slide block, and the circle arc support pedestal (3) being capable of edge
Linear guide (2) sliding.
5. minimally invasive spine surgical robot as described in claim 1, which is characterized in that the arc guide rail (4) is installed on institute
It states circle arc support pedestal (3), the arc guide rail (4) is provided with arc guide rail sliding block, and the arc guide rail sliding block is by the first step
It is driven into motor (8).
6. minimally invasive spine surgical robot as claimed in claim 5, which is characterized in that first stepper motor (8) passes through
First worm type of reduction gearing (9) drives pinion gear (10), and the pinion gear (10) can be around the circle arc support pedestal (3)
External tooth carries out circular motion.
7. minimally invasive spine surgical robot as described in claim 1, which is characterized in that the rotating mechanism (5) is installed on circle
Arc guide rail sliding block, the rotating mechanism (5) are driven by second stepper motor (11).
8. minimally invasive spine surgical robot as claimed in claim 7, which is characterized in that the second stepper motor (11) passes through
Synchronous belt (12) is connected to the second worm type of reduction gearing (13), and then drives L-type connector (14).
9. minimally invasive spine surgical robot as claimed in claim 8, which is characterized in that the six-degree-of-freedom parallel connection mechanism (6)
Upper mounting plate connect with the L-type connector (14) of rotating mechanism (5), the needling mechanism (7) and the six-degree-of-freedom parallel
The lower platform of structure (6) connects.
10. minimally invasive spine surgical robot as described in claim 1, which is characterized in that the minimally invasive spine surgical robot
It further include control module, the control module and the minimally invasive spine surgical robot communicate to connect, and doctor can be by described
Control module controls the minimally invasive spine surgical robot with remote control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721421736.1U CN209122443U (en) | 2017-10-31 | 2017-10-31 | A kind of minimally invasive spine surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721421736.1U CN209122443U (en) | 2017-10-31 | 2017-10-31 | A kind of minimally invasive spine surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209122443U true CN209122443U (en) | 2019-07-19 |
Family
ID=67226429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721421736.1U Expired - Fee Related CN209122443U (en) | 2017-10-31 | 2017-10-31 | A kind of minimally invasive spine surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209122443U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802348A (en) * | 2017-10-31 | 2018-03-16 | 嘉兴复尔机器人有限公司 | A kind of minimally invasive spine surgical robot |
-
2017
- 2017-10-31 CN CN201721421736.1U patent/CN209122443U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802348A (en) * | 2017-10-31 | 2018-03-16 | 嘉兴复尔机器人有限公司 | A kind of minimally invasive spine surgical robot |
| CN107802348B (en) * | 2017-10-31 | 2023-11-10 | 嘉兴复尔机器人有限公司 | Minimally invasive spinal surgery robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190719 Termination date: 20211031 |