CN211156048U - Minimally invasive surgical drill for orthopedic spine - Google Patents
Minimally invasive surgical drill for orthopedic spine Download PDFInfo
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- CN211156048U CN211156048U CN201921173568.8U CN201921173568U CN211156048U CN 211156048 U CN211156048 U CN 211156048U CN 201921173568 U CN201921173568 U CN 201921173568U CN 211156048 U CN211156048 U CN 211156048U
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Abstract
The utility model discloses an orthopedics backbone wicresoft operation bores, including diaphragm, washing case, first mounting bracket, base and high temperature ultraviolet disinfection case, the universal wheel is all installed at the both ends of base bottom, and the top central point department of base installs the pivot through the bearing frame, the bottom plate is installed on the top of pivot, and the top of bottom plate is provided with first rod cover, the first rod cover internally mounted on bottom plate top has second driving motor, the vertical screw thread lead screw that installs of second driving motor's output, hydraulic pressure telescopic link is installed to hydraulic cylinder's output. The utility model discloses a slide rail and the cooperation of first slider, the connected mode of recycle spread groove and connecting block can realize a plurality of positions of drill bit, and the work of angle has greatly made things convenient for doctor's operation, has avoided taking the ache of operation brill arm for a long time, has alleviateed doctor's ground burden.
Description
Technical Field
The utility model relates to an operation technical field specifically is an orthopedics backbone wicresoft operation bores.
Background
An orthopedic spine minimally invasive surgery drill is a part of a set of instruments used in orthopedic spine minimally invasive surgery and is used for grinding off a part of blocked vertebra bone so as to perform surgery. The existing orthopedic spine minimally invasive surgical drill is widely used, but the existing orthopedic spine minimally invasive surgical drill has many problems or defects.
First, the current orthopedics backbone minimal access surgery bores, around the operation, to the drill bit cleaning and disinfection, need dismantle, the installation drill bit, the process is numerous and diverse, time-wasting, the manpower, constantly dismantle the in-process, can wear and tear the drill bit, make the life of drill bit reduce.
Secondly, in the process of spine surgery, the existing orthopedic spine minimally invasive surgery drill needs to slightly move a drill bit, the slight movement amount is difficult to control, the precise surgery on the affected part cannot be performed, local nerve injury is easy to cause, and the safety of a patient cannot be guaranteed.
Thirdly, the existing orthopedic spine minimally invasive surgery drill needs to be held by a doctor, and in the surgery process, the surgery drill is held for a long time to cause arm ache, so that the burden of the doctor in the surgery process is increased, and the surgery efficiency is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an orthopedic spine minimally invasive surgery drill, which aims to solve the problems that before and after the surgery proposed in the background technology, the drill bit is cleaned and disinfected, needs to be disassembled and is installed, the process is complicated, the time and the labor are wasted, and the drill bit can be abraded in the continuous disassembling process, so that the service life of the drill bit is shortened; the micro-moving drill is required, the micro-moving amount of the drill is difficult to control, the precise operation on the affected part cannot be carried out, the local nerve injury is easy to cause, and the safety of a patient cannot be ensured; the problem that the operation efficiency is influenced because the operation drill is held for a long time to cause the ache of the arm, the burden of a doctor in the operation process is increased.
In order to achieve the above object, the utility model provides a following technical scheme: a minimally invasive surgical drill for an orthopedic spine comprises a transverse plate, a cleaning box, a first mounting frame, a base and a high-temperature ultraviolet disinfection box, universal wheels are mounted at two ends of the bottom end of the base, a rotating shaft is mounted at the central position of the top end of the base through a bearing seat, a bottom plate is mounted at the top end of the rotating shaft, a first rod sleeve is arranged at the top end of the bottom plate, a second driving motor is mounted inside the first rod sleeve at the top end of the bottom plate, a threaded lead screw is vertically mounted at the output end of the second driving motor, a second rod sleeve matched with the threaded lead screw is arranged on the outer side of the threaded lead screw, a vertical rod is mounted at the top end of the second rod sleeve, a hydraulic cylinder is transversely arranged at the upper end of one side of the vertical rod, a hydraulic telescopic rod is mounted at the output end of the hydraulic cylinder, a, and the inside slide rail that is provided with of second mounting bracket, be provided with between two slide rails with slide rail assorted first slider, the bottom of first slider is provided with the spread groove, and inside being provided with of spread groove with spread groove assorted connecting block, the bottom welding of connecting block has the third rod cover, and the inside slide bar that runs through third rod cover bottom and mounting bracket that is provided with of third rod cover, and the bottom of slide bar installs first driving motor, the axle sleeve is installed to first driving motor's output, and the drill bit is installed through the stopper in the inside of axle sleeve, the input of first driving motor, second driving motor and hydraulic cylinder passes through the wire and is connected with the control panel output electricity.
Preferably, the bottom in the third rod cover outside is provided with the mounting bracket, and the inside both sides of mounting bracket all are provided with the mounting groove to the inside of mounting groove all installs the rocker through the bearing is vertical, second bevel gear is all installed to the intermediate position of rocker lateral wall, transversely install the horizontal pole through the bearing between one side of two inside mounting grooves of mounting bracket, and the both ends of horizontal pole all are provided with first bevel gear, horizontal pole lateral wall intermediate position department is provided with the gear, slide bar outside one end be provided with gear assorted tooth's socket, the handle is installed to one side that the mounting bracket was kept away from, and the third rod cover on mounting bracket top keeps away from handle one side and sets up the scale to the length of scale is less than the length of third rod cover.
Preferably, the inner side wall of the first rod sleeve is provided with a sliding groove, the sliding grooves are internally provided with second sliding blocks, and one side of each second sliding block is connected with the second rod sleeve.
Preferably, one side of the inside of the base is provided with a high-temperature ultraviolet disinfection box, the bottom end of the inside of the high-temperature ultraviolet disinfection box is provided with a heating pipe, the two sides of the inside of the high-temperature ultraviolet disinfection box are uniformly provided with ultraviolet lamps, and the input ends of the heating pipe and the ultraviolet lamps are electrically connected with the output end of the control panel through wires.
Preferably, the inside bottom intermediate position department of base is provided with first mounting bracket, and the inside bottom of first mounting bracket is provided with the normal saline savings box, the internally mounted of the first mounting bracket in normal saline savings box top has the water pump, the normal saline savings box passes through the input intercommunication of pipe and water pump, and the output of water pump runs through first mounting bracket one side through the pipe and installs the shower nozzle, the inside one side bottom of base is provided with sewage collecting box, and the inside of sewage collecting box top base is provided with washs the case, and the top of sewage collecting box and the washing bottom of the case portion intercommunication, the input of water pump passes through the wire and is connected with the control panel output electricity.
Preferably, the upper end of pivot evenly is provided with the through-hole, the upper end of bearing frame both sides all is provided with the bolt with through-hole assorted.
Compared with the prior art, the beneficial effects of the utility model are that: the orthopedic spine minimally invasive surgery drill is reasonable in structure and has the following advantages:
1. move to the high temperature ultraviolet disinfection incasement through the drill bit, accomplish the disinfection to the drill bit this moment, repetitive operation accomplishes vertically, lateral shifting moves the drill bit to wasing the incasement, and the normal saline in with normal saline savings box is taken out through the water pump of installation this moment and is sprayed through the shower nozzle, can wash the drill bit, has realized around the operation, need not to dismantle, and disinfection and cleaning process can be accomplished to the installation drill bit, has practiced thrift the time, and the manpower also increases the life of drill bit.
2. Through the manual regulation rocker, utilize first bevel gear, the second bevel gear on the rocker to realize the switching-over rotation to gear through the middle of the horizontal pole lateral wall and the meshing transmission of the tooth's socket of slide bar lateral wall one side, thereby realize the micromotion of drill bit, can be according to the reading of scale, the micromotion volume of accurate drill bit, thereby improved the operation ground success rate greatly, also guaranteed patient's safety.
3. The handle is held through doctor's hand, through the cooperation of slide rail and first slider, recycles the connected mode of spread groove and connecting block, can realize a plurality of positions of drill bit, the work of angle, very big operation that has made things convenient for the doctor has avoided taking the ache of operation drill arm for a long time, has alleviateed doctor's burden.
Drawings
Fig. 1 is a schematic front view of a cross-sectional structure of the present invention;
fig. 2 is a schematic top view of the cross-sectional structure of the present invention;
fig. 3 is a schematic front view of the present invention;
FIG. 4 is an enlarged schematic view of the structure at A of FIG. 1 according to the present invention;
FIG. 5 is an enlarged schematic view of the structure of FIG. 1 at B according to the present invention;
fig. 6 is a block diagram of the circuit system of the present invention.
In the figure: 1. a transverse plate; 2. a slide rail; 3. a first slider; 4. a first drive motor; 5. a limiting block; 6. A shaft sleeve; 7. a drill bit; 8. a cleaning tank; 9. a first mounting bracket; 10. a sewage collecting tank; 11. a base; 12. a universal wheel; 13. heating a tube; 14. a saline storage box; 15. an ultraviolet lamp; 16. a water pump; 17. a high-temperature ultraviolet disinfection box; 18. a second drive motor; 19. a chute; 20. a second slider; 21. a first rod sleeve; 22. a threaded lead screw; 23. a second rod sleeve; 24. a vertical rod; 25. a control panel; 26. A hydraulic cylinder; 27. a hydraulic telescopic rod; 28. a through hole; 29. a rotating shaft; 30. a bearing seat; 31. a bolt; 32. a base plate; 33. connecting grooves; 34. connecting blocks; 35. a third rod sleeve; 36. a slide bar; 37. a second mounting bracket; 38. a handle; 39. a first bevel gear; 40. a cross bar; 41. mounting grooves; 42. a second bevel gear; 43. a gear; 44. a tooth socket; 45. a rocker; 46. a graduated scale; 47. and a third mounting bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides an embodiment: an orthopedic spine minimally invasive surgery drill comprises a transverse plate 1, a cleaning box 8, a first mounting frame 9, a base 11 and a high-temperature ultraviolet disinfection box 17, universal wheels 12 are mounted at two ends of the bottom end of the base 11, the high-temperature ultraviolet disinfection box 17 is arranged at one side inside the base 11, a heating pipe 13 is arranged at the bottom end inside the high-temperature ultraviolet disinfection box 17, ultraviolet lamps 15 are uniformly arranged at two sides inside the high-temperature ultraviolet disinfection box 17, input ends of the heating pipe 13 and the ultraviolet lamps 15 are electrically connected with an output end of a control panel 25 through wires, a drill bit 7 is moved into the high-temperature ultraviolet disinfection box 17, the drill bit 7 is disinfected at the moment, the first mounting frame 9 is arranged at the middle position of the bottom end inside the base 11, a physiological saline storage box 14 is arranged at the bottom end inside the first mounting frame 9, a water pump 16 is mounted inside the, the type of the water pump 16 is ISGD, the normal saline storage box 14 is communicated with the input end of the water pump 16 through a guide pipe, the output end of the water pump 16 penetrates through one side of the first mounting frame 9 through the guide pipe to be provided with a spray head, the bottom end of one side inside the base 11 is provided with the sewage collecting box 10, the inside of the base 11 above the sewage collecting box 10 is provided with the cleaning box 8, the top end of the sewage collecting box 10 is communicated with the bottom end of the cleaning box 8, the input end of the water pump 16 is electrically connected with the output end of the control panel 25 through a wire, the drill bit 7 is moved into the cleaning box 8, the normal saline in the normal saline storage box 14 is pumped out through the installed water pump 16 and is sprayed through the spray head, the drill bit 7 can be cleaned, the central position of the top end of the base 11 is provided with a rotating shaft 29 through a bearing seat 30, the upper, different positions can be manually rotated, cleaning and disinfection during surgery are facilitated, fixing of the device is achieved through matching of the through hole 28 and the plug pin 31, the bottom plate 32 is installed at the top end of the rotating shaft 29, the top end of the bottom plate 32 is provided with the first rod sleeve 21, the inner side wall of the first rod sleeve 21 is provided with the sliding groove 19, the sliding groove 19 is internally provided with the second sliding block 20, one side of the second sliding block 20 is connected with the second rod sleeve 23, the situation that the second rod sleeve 23 matched with the threaded screw rod 22 rotates together and cannot lift is avoided, the first rod sleeve 21 at the top end of the bottom plate 32 is internally provided with the second driving motor 18, the type of the second driving motor 18 is Y90S-2, the output end of the second driving motor 18 is vertically provided with the threaded screw rod 22, the outer side of the threaded screw rod 22 is provided with the second rod sleeve 23 matched with the threaded screw rod 22, the top end of the second rod, and the upper end of one side of the vertical rod 24 is transversely provided with a hydraulic cylinder 26, the output end of the hydraulic cylinder 26 is provided with a hydraulic telescopic rod 27, the output end of the hydraulic telescopic rod 27 is welded with a transverse plate 1, both sides of the bottom end of the transverse plate 1 are provided with third mounting frames 47, slide rails 2 are arranged inside the third mounting frames 47, a first slide block 3 matched with the slide rails 2 is arranged between the two slide rails 2, the bottom end of the first slide block 3 is provided with a connecting groove 33, a connecting block 34 matched with the connecting groove 33 is arranged inside the connecting groove 33, the bottom end of the connecting block 34 is welded with a third rod sleeve 35, the bottom end of the outer side of the third rod sleeve 35 is provided with a second mounting frame 37, both sides inside the second mounting frame 37 are provided with mounting grooves 41, the inside of each mounting groove 41 is vertically provided with, a cross bar 40 is transversely installed between one side of two installation grooves 41 in the second installation frame 37 through a bearing, two ends of the cross bar 40 are respectively provided with a first bevel gear 39, a gear 43 is arranged in the middle position of the outer side wall of the cross bar 40, one end of the outer side of the sliding bar 36 is provided with a tooth groove 44 matched with the gear 43, one side of the second installation frame 37 far away from the 25 is provided with a handle 38, a scale 46 is arranged on one side of a third bar sleeve 35 far away from the handle 38 at the top end of the second installation frame 37, the length of the scale 46 is smaller than that of the third bar sleeve 35, the rocker 45 can be manually adjusted, the first bevel gear 39 and the second bevel gear 42 on the rocker 45 are used for realizing reversing rotation, the meshing transmission of the gear 43 in the middle of the outer side wall of the cross bar 40 and the tooth groove 44 on one side of the outer side wall of the sliding bar 36 is, thereby the success rate of operation ground has been improved greatly, patient's safety has also been guaranteed, and the inside slide bar 36 that runs through third rod cover 35 bottom and the inside of second mounting bracket 37 that is provided with of third rod cover 35, and first driving motor 4 is installed to the bottom of slide bar 36, this first driving motor 4's model is Y315S-4, axle sleeve 6 is installed to first driving motor 4's output, and the drill bit 7 is installed through stopper 5 in the inside of axle sleeve 6, first driving motor 4, the input of second driving motor 18 and hydraulic cylinder 26 passes through the wire and is connected with control panel 25 output electricity.
The working principle is as follows: when the bone spine minimally invasive surgery drill is used, the bone spine minimally invasive surgery drill can be moved to a designated position by using the mounted universal wheel 12, a power supply is plugged, the drill bit 7 is rotated to one side close to the control panel 25 by manually rotating the bottom plate 32, the hydraulic cylinder 26 is controlled to be started at the moment, the hydraulic telescopic rod 27 is driven to stretch and retract, so that the drill bit 7 is moved to a position right above the high-temperature ultraviolet disinfection box 17, the second driving motor 18 is controlled to be started at the moment, the second driving motor 18 drives the threaded lead screw 22 to rotate, the lifting of the drill bit 7 is realized due to the matching between the threads of the second rod sleeve 23 and the threaded lead screw 22, when the drill bit 7 is moved into the high-temperature ultraviolet disinfection box 17, the disinfection of the drill bit 7 is completed at the moment, then the longitudinal and transverse movement of the drill bit 7 is completed by repeating the operations, so that the drill bit 7 is moved to a position needing surgery, a surgery, the connection mode of the connecting groove 33 and the connecting block 34 is utilized again, the work of a plurality of positions and angles of the drill bit 7 can be realized, the operation of a doctor is greatly facilitated, the ache of holding the arm of the surgical drill for a long time is avoided, the burden of the doctor is lightened, when the drill bit 7 needs to go deep into the spine for work, the rocker 45 can be manually adjusted, the reversing rotation is realized by utilizing the first bevel gear 39 and the second bevel gear 42 on the rocker 45, the micro-shift of the drill bit 7 is realized by the meshing transmission of the gear 43 in the middle of the outer side wall of the cross bar 40 and the tooth space 44 on one side of the outer side wall of the slide bar 36, the micro-shift of the drill bit 7 can be accurate according to the reading of the graduated scale 46, the success rate of the operation place is greatly improved, the safety of a patient is also ensured, after the operation is finished, the longitudinal and transverse movements are finished by repeated operation, the drill bit 7 is moved into the, the drill bit 7 may be cleaned.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an orthopedics backbone wicresoft operation is bored, includes diaphragm (1), washing case (8), first mounting bracket (9), base (11) and high temperature ultraviolet disinfect box (17), its characterized in that: the universal wheels (12) are installed at two ends of the bottom end of the base (11), the top center position of the base (11) is provided with a rotating shaft (29) through a bearing seat (30), a bottom plate (32) is installed at the top end of the rotating shaft (29), a first rod sleeve (21) is arranged at the top end of the bottom plate (32), a second driving motor (18) is installed inside the first rod sleeve (21) at the top end of the bottom plate (32), a threaded lead screw (22) is vertically installed at the output end of the second driving motor (18), a second rod sleeve (23) matched with the threaded lead screw (22) is arranged on the outer side of the threaded lead screw (22), a vertical rod (24) is installed at the top end of the second rod sleeve (23), a hydraulic cylinder (26) is transversely arranged at the upper end of one side of the vertical rod (24), and a hydraulic telescopic rod (27) is installed at the, and the output end of the hydraulic telescopic rod (27) is welded with a transverse plate (1), both sides of the bottom end of the transverse plate (1) are provided with third mounting frames (47), a sliding rail (2) is arranged inside the third mounting frames (47), a first sliding block (3) matched with the sliding rail (2) is arranged between the two sliding rails (2), the bottom end of the first sliding block (3) is provided with a connecting groove (33), a connecting block (34) matched with the connecting groove (33) is arranged inside the connecting groove (33), the bottom end of the connecting block (34) is welded with a third rod sleeve (35), a sliding rod (36) penetrating through the bottom end of the third rod sleeve (35) and the inside of the second mounting frame (37) is arranged inside the third rod sleeve (35), a first driving motor (4) is installed at the bottom end of the sliding rod (36), and a shaft sleeve (6) is installed at the output end of the first, and the drill bit (7) is installed in the shaft sleeve (6) through the limiting block (5), and the input ends of the first driving motor (4), the second driving motor (18) and the hydraulic cylinder (26) are electrically connected with the output end of the control panel (25) through a lead.
2. The minimally invasive surgical drill for an orthopedic spine according to claim 1, wherein: the bottom of the outer side of the third rod sleeve (35) is provided with a second mounting frame (37), two mounting grooves (41) are formed in two sides of the inner portion of the second mounting frame (37), a rocker (45) is vertically mounted in each mounting groove (41) through a bearing, a second bevel gear (42) is mounted in the middle of the outer side wall of each rocker (45), a cross rod (40) is transversely mounted between one side of each two mounting grooves (41) in the second mounting frame (37) through a bearing, two ends of each cross rod (40) are provided with first bevel gears (39), a gear (43) is arranged in the middle of the outer side wall of each cross rod (40), a tooth groove (44) matched with the gear (43) is formed in one end of the outer side of the sliding rod (36), one side, far away from 25, of the second mounting frame (37) is provided with a handle (38), and a graduated scale (46) is arranged on one side, far away from the handle (38), and the length of the scale (46) is less than the length of the third sleeve (35).
3. The minimally invasive surgical drill for an orthopedic spine according to claim 1, wherein: the inner side wall of the first rod sleeve (21) is provided with a sliding groove (19), a second sliding block (20) is arranged inside the sliding groove (19), and one side of the second sliding block (20) is connected with a second rod sleeve (23).
4. The minimally invasive surgical drill for an orthopedic spine according to claim 1, wherein: the inside one side of base (11) is provided with high temperature ultraviolet disinfection case (17), and the inside bottom of high temperature ultraviolet disinfection case (17) is provided with heating pipe (13), the inside both sides of high temperature ultraviolet disinfection case (17) evenly are provided with ultraviolet lamp (15), the input of heating pipe (13) and ultraviolet lamp (15) passes through the wire and is connected with control panel (25) output electricity.
5. The minimally invasive surgical drill for an orthopedic spine according to claim 1, wherein: a first mounting frame (9) is arranged at the middle position of the bottom end in the base (11), and the bottom end in the first mounting rack (9) is provided with a physiological saline storage box (14), a water pump (16) is arranged in the first mounting rack (9) above the physiological saline storage box (14), the physiological saline storage box (14) is communicated with the input end of the water pump (16) through a conduit, and the output end of the water pump (16) penetrates through one side of the first mounting rack (9) through a guide pipe and is provided with a spray head, a sewage collecting box (10) is arranged at the bottom end of one side inside the base (11), a cleaning box (8) is arranged inside a base (11) above the sewage collecting box (10), the top end of the sewage collecting box (10) is communicated with the bottom end of the cleaning box (8), the input end of the water pump (16) is electrically connected with the output end of the control panel (25) through a lead.
6. The minimally invasive surgical drill for an orthopedic spine according to claim 1, wherein: the upper end of pivot (29) evenly is provided with through-hole (28), the upper end of bearing frame (30) both sides all is provided with bolt (31) with through-hole (28) assorted.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201921173568.8U CN211156048U (en) | 2019-07-24 | 2019-07-24 | Minimally invasive surgical drill for orthopedic spine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201921173568.8U CN211156048U (en) | 2019-07-24 | 2019-07-24 | Minimally invasive surgical drill for orthopedic spine |
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CN211156048U true CN211156048U (en) | 2020-08-04 |
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CN201921173568.8U Expired - Fee Related CN211156048U (en) | 2019-07-24 | 2019-07-24 | Minimally invasive surgical drill for orthopedic spine |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111887930A (en) * | 2020-08-27 | 2020-11-06 | 宝鸡市中医医院 | Minimally invasive surgical drill for orthopedic spine |
CN112754593A (en) * | 2021-01-18 | 2021-05-07 | 宗成永 | Minimally invasive surgical drill for orthopedic spine |
CN113143395A (en) * | 2021-04-23 | 2021-07-23 | 燕山大学 | Minimally invasive surgery robot for grinding vertebral lamina of spine |
-
2019
- 2019-07-24 CN CN201921173568.8U patent/CN211156048U/en not_active Expired - Fee Related
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111887930A (en) * | 2020-08-27 | 2020-11-06 | 宝鸡市中医医院 | Minimally invasive surgical drill for orthopedic spine |
CN111887930B (en) * | 2020-08-27 | 2022-07-05 | 宝鸡市中医医院 | Minimally invasive surgical drill for orthopedic spine |
CN112754593A (en) * | 2021-01-18 | 2021-05-07 | 宗成永 | Minimally invasive surgical drill for orthopedic spine |
CN112754593B (en) * | 2021-01-18 | 2021-09-03 | 青岛大学附属医院 | Minimally invasive surgical drill for orthopedic spine |
CN113143395A (en) * | 2021-04-23 | 2021-07-23 | 燕山大学 | Minimally invasive surgery robot for grinding vertebral lamina of spine |
CN113143395B (en) * | 2021-04-23 | 2022-03-22 | 燕山大学 | Minimally invasive surgery robot for grinding vertebral lamina of spine |
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CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20200804 Termination date: 20210724 |