TWM647711U - Multi-axis positioning auxiliary medical device for spinal endoscopy - Google Patents

Abstract

A multi-axis positioning auxiliary medical device for spinal endoscopy, including a multi-axis movement telescopic control unit and a medical device unit. The multi-axis movement telescopic control unit includes a movement platform component with a Stewart platform structure, and a A telescopic moving component connected to one end of the motion platform component. The medical device unit includes an extending outer sleeve that passes through the telescopic moving component, a movable inner sleeve that is disposed in the extending outer sleeve, and a movable inner sleeve that is installed in the extending outer sleeve. The endoscope module of the movable inner cannula, when the movement platform component moves, can move the telescopic moving component and position it on the affected part of the patient, and drive the movable inner cannula relative to the extension by the telescopic moving component The outer tube telescopically moves to allow the operator to adjust the focal length of the endoscope module to perform surgical operations.

Description

Multi-axis positioning auxiliary medical device for spinal endoscopy

The present invention relates to an auxiliary medical device, in particular to a multi-axis positioning auxiliary medical device for spinal endoscopy that is suitable for being installed on a patient's body and providing the operator with surgical operations.

Generally, endoscopic surgery is preceded by taking a mobile X-ray (C-arm fluoroscopy X-rat) to confirm the location where the patient wants to undergo surgery. Before performing the surgery, based on the location confirmed on the X-ray, the patient's skin is Draw positioning points so that the surgeon can perform surgery according to the positioning points. During surgery, first draw an appropriate wound from the positioning points and establish a working channel for endoscopic surgery. The operator holds the endoscope and enters through the working channel. When entering the patient's body, the endoscope is a device with extremely slender optical fibers and lenses that enters the human body through the working channel and reaches the surgical treatment site. The high-resolution image imaging system is used to conduct the image in the body to the endoscope. Observation is carried out on the screen. Since the imaging system has a magnifying effect, it can provide the operator with the ability to adjust the surgical position or the field of view of the surgical site through the image. It can also perform operations inside the human body using tiny and precise surgical instruments and endoscopic images. Excision and suturing of the affected area. With the advancement of medical technology in recent years, the Da Vinci arm has been developed to assist the surgeon in performing surgery. During the operation, through the 3D field of view and the 360-degree movement of the robotic arm up and down, left and right, front and back, it is much better than ordinary endoscopic surgery. It can quickly position the affected part for surgery, and the operator can operate the robotic arm through the screen and joystick to perform the surgery.

As mentioned above, although the Da Vinci arm can use 3D images and robotic arms to provide the surgeon with images and use the joystick to operate the robotic arm to perform surgical operations, it is used in operations such as abdominal cavity and tumor resection. However, for this type of nerve distribution, the nerve distribution is relatively small. For delicate spinal areas, the location and direction of the nerve roots need to be confirmed before surgery, and during the surgery, the nerve roots are specially protected to avoid damage to the spinal nerves caused by the operator using a joystick to operate the robotic arm due to hand feel problems. . At the same time, during spinal surgery, bony structure removal procedures such as laminectomy, laminotomy, facetectomy, and foraminotomy are often required. Or foraminoplasty and other procedures require the use of power equipment such as electric drills or osteotomes, and cannot be completed using the mechanical structure of the Da Vinci robotic arm.

From the above description, it can be seen that the positioning of general endoscopic surgery and the Da Vinci arm do have the following shortcomings when performing surgery:

1. The positioning angle of the affected part cannot be obtained immediately: As mentioned before, the general positioning method before endoscopic surgery is to use mobile X-ray (C arm fluoroscopy X-ray) to confirm the location of the affected area, and first mark the positioning point on the patient's skin during the surgery to The surgeon performs the operation according to the positioning point. During the operation, an appropriate wound is first drawn from the positioning point and a working channel for endoscopic surgery is established. The operator holds the endoscope and enters the patient's body through the working channel. After the endoscope enters the patient's body, the image transmitted back through the endoscope requires the operator to adjust the camera angle of the endoscope. Therefore, it is impossible to immediately confirm whether the position of the surgical site is correct.

2. Handheld endoscopes are easy to shake and cannot last long: After confirming the location of the affected area, the operator usually performs the operation with a hand-held endoscope. When the surgical tissue resection range is large or there are many sections, it takes time to clear. The operation of the endoscope is also difficult during surgical resection. It is particularly important that hand movements should not be shaken during the operation, and the position of the endoscope lens will also interfere with the entry and exit of surgical instruments and surgical actions. Therefore, when the operation period is long, if the surgeon needs to hold the endoscope for observation while operating, It may bring unknown surgical risks.

3. The existing Da Vinci robotic arm is not suitable for spinal surgery: According to literature reports (Weinstein JN, Tosteson TD, Lurie JD, et al. Surgical versus Nonsurgical Therapy for Lumbar Spinal Stenosis. New Engl J Medicine. 2008;358(8):794-810. doi:10.1056/nejmoa0707136), for the lumbar spine For pain and neuropathic claudication caused by stenosis, surgical intervention can quickly relieve pain and restore function. However, the existing Da Vinci robotic arm cannot be combined with spinal endoscopic surgical instruments, and the Da Vinci robotic arm can only move up and down, left and right in a 3D manner. , forward and backward movement and positioning, but for spinal surgery, the patient will be placed prone before surgery depending on the site of surgery, so that the operator can easily perform the operation at a fixed point during the surgery, and the Da Vinci robotic arm needs to be larger The instrument operation space is large, and it lacks pitch, yaw, roll and other movements at fixed points, making it difficult to be suitable for spinal surgeries such as discectomy and lumbar stenosis decompression.

Therefore, how to provide the operator with multi-axis and multi-angle mobile positioning of the auxiliary robotic arm when performing spinal surgery, combined with the operation of endoscopic spinal surgery, precise positioning and stable operation to avoid damaging nerves during the operation. Leading to unnecessary risks such as nerve damage to patients is an urgent goal for relevant technical personnel.

In view of this, the purpose of the present invention is to provide a multi-axis positioning auxiliary medical device for spinal endoscopy. The multi-axis positioning auxiliary medical device for spinal endoscopy is suitable for being placed on the patient's affected part and provides the operator with the ability to perform surgical operations. , the multi-axis positioning auxiliary medical device for spinal endoscopy includes a multi-axis motion telescopic control unit and a medical device unit.

The multi-axis motion telescopic control unit includes a motion platform component with a Stewart platform structure, and a telescopic moving component connected to one end of the moving platform component. The medical device unit includes an extension extending through the telescopic moving component. The outer sleeve, a movable inner sleeve provided in the extended outer sleeve, and an endoscope module installed in the movable inner sleeve can make the telescopic moving assembly move and position when the movement platform assembly moves. to the affected part of the patient, and the telescopic moving component is used to drive the movable inner tube to telescopically move relative to the extended outer tube, so that the operator can adjust the focal length of the endoscope module to perform surgical operations.

Another technical means of the present invention is that the endoscope multi-axis positioning auxiliary device further includes a robotic arm control unit connected to the opposite end of the motion platform assembly. The robotic arm control unit includes a robot that can move in a wide range. Movable arm module.

Another technical means of the present invention is that the telescopic moving component includes a motor connected to the movement platform component, a rotating telescopic frame connected to the motor, and a first rotating platform protruding from the rotating telescopic frame. and a second rotary table located on the rotary telescopic frame and spaced apart from the first rotary table. When the motor drives the rotary telescopic frame to rotate, the first and second rotary tables will approach or move away from each other.

Another technical means of the present invention is that the multi-axis motion telescopic control unit further includes a quick-release module detachably disposed between the motion platform component and the motor to separate the motion platform component and the telescopic moving component. .

Another technical means of the present invention is that the medical device unit further includes a suction module disposed on the movable inner sleeve and surrounding a liquid transmission channel. The suction module can pass through the liquid transmission channel. Enter the patient's affected area to inject and withdraw fluids.

Another technical means of the present invention is that the medical instrument unit further includes an instrument module disposed in the movable inner sleeve and surrounding a tool penetration channel. The instrument module has a plurality of surgical instruments and can be passed through The tool passes through a channel and enters the patient's affected area to perform tissue resection and clamping.

Another technical means of the present invention is that the endoscope module has an endoscope channel provided in the movable inner sleeve. The endoscope module can enter the patient's affected part through the endoscope channel to perform illumination. And take photos.

Another technical means of the present invention is that the multi-axis motion telescopic control unit further includes a driving component provided on the medical device unit. The driving component is electrically connected to the movable arm module and can drive the medical device unit. Actuation of multiple surgical instruments.

Another technical means of the present invention is that the endoscope multi-axis positioning auxiliary device further includes an integrated control unit electrically connected to the multi-axis motion telescopic control unit, the robotic arm control unit, and the medical device unit, respectively. The integrated control unit includes a power module that can provide operating power for each of the aforementioned units, and a medical system module that can integrally control the actions of each of the aforementioned units.

Another technical means of the present invention is that the medical system module has an output component that is electrically connected to the endoscope module and can display a camera image, and an output component that is electrically connected to the medical system module and can be used by the operator. Input component for issuing operation instructions.

The beneficial effect of this new model is that the multi-axis positioning auxiliary medical device for spinal endoscopic surgery adopts the multi-axis movement mechanism of the Stewart platform, which can assist in all-round mobile positioning during surgery, and can be combined with endoscopic spinal surgery. Operation, precise positioning and stable operation can avoid unnecessary risks such as nerve damage to the patient due to inaccurate positioning during the operation, effectively reducing the surgical burden on the operator, allowing him to concentrate on performing the operation stably. It can also provide better technical training for surgeons.

The relevant patent application features and technical contents of this new model will be clearly presented in the following detailed description of a preferred embodiment with reference to the drawings.

Referring to Figures 1, 2, and 3, a preferred embodiment of the new multi-axis positioning auxiliary medical device 5 for spinal endoscopy is shown. The multi-axis positioning auxiliary medical device 5 for spinal endoscopy is suitable for being installed on the affected part of patient A. The upper part is used for the surgeon to perform surgical operations. The multi-axis positioning auxiliary medical device 5 for spinal endoscopy includes a multi-axis movement telescopic control unit 51, a medical instrument unit 52, a robotic arm control unit 53, and an integrated control unit 54.

The integrated control unit 54 is arranged on a console B and is supported on a plane of the console B. The robot arm control unit 53 is connected to the integrated control unit 54 and is located above the console B. The multi-axis The motion telescopic control unit 51 is provided on the robot arm control unit 53 , and the medical instrument unit 52 is provided on the multi-axis motion telescopic control unit 51 .

First of all, it should be noted that during discectomy and decompression of lumbar stenosis, patient A was placed in a prone position during the laminar approach. If you simply want to perform discectomy, in order to avoid destroying too many normal structures, it is recommended to open the interlaminar space as much as possible, and use a lifting frame (Wilson frame) or fat pad to bend the operating table to arch the back; For decompression surgery, the back can be folded forward and flat. Therefore, Figure 1 shows a patient A and an operating table C in a prone position. The affected part of the operation D is the location of the spine. The multi-axis motion telescopic control unit 51 of the multi-axis positioning auxiliary medical device 5 for spinal endoscopic The medical device unit 52 is positioned above the affected area.

The multi-axis motion telescopic control unit 51 includes a motion platform component 511, a telescopic moving component 512 connected to one end of the moving platform component 511, and a telescopic moving component detachably disposed between the moving platform component 511 and the telescopic moving component 512. A quick release module 513 and a driving component 514 provided on the medical device unit 52 .

In this preferred embodiment, the motion platform component 511 is a Stewart motion platform structure that can perform six degrees of freedom motion: forward and backward, up and down, left and right, pitch, yaw, and roll. The multi-axis angular motion is provided to the operator when operating the spinal endoscopic multi-axis positioning auxiliary medical device 5 for surgery. The multi-axis angular motion function of the motion platform assembly 511 is used to assist in positioning the affected part of the surgery. Due to Stewart The moving platform structure is a known movable platform structure, and the detailed technology will not be described again here.

The telescopic moving component 512 includes a motor 5121 connected to the motion platform component 511, a rotating telescopic frame 5122 connected to the motor 5121, a first rotating platform 5123 protruding from the rotating telescopic frame 5122, and a A second rotating platform 5124 is provided on the rotating telescopic frame 5122 and spaced apart from the first rotating platform 5123. When the motor 5121 drives the rotary telescopic frame 5122 to rotate, the first rotary table 5123 and the second rotary table 5124 will approach or move away from each other. In actual implementation, the rotary telescopic frame 5122 may not be provided in the telescopic moving assembly 512. The motor 5121 drives the first rotating stage 5123 to rotate relative to the second rotating stage 5124, or a plurality of motors 5121 and a plurality of first rotating stages 5123 are provided, and the plurality of motors 5121 drives the plurality of first rotating stages 5123, so as to The plurality of first rotating stages 5123 can rotate relative to the second rotating stage 5124 respectively, and should not be limited to this.

The quick release module 513 is between the motion platform component 511 and the telescopic moving component 512, and its main function is to serve as a bridge connecting the two. The mechanism of the quick release module 513 can be a common rotating buckle. Or a combined structure of electromagnetic magnetic attraction, and the driving component 514 is a control module. The driving component 514 can control the activity of the surgical tool and can destroy or remove human tissue. Since the quick-release module 513 and the The structural design of the driving component 514 is well known in the industry and is not the focus of this case. It can have many variations, so it will not be described in detail here.

Please refer to Figures 4 and 5. The medical device unit 52 includes an extending outer sleeve 521 that is passed through the telescopic moving component 512 and used to be fixed on the surgical affected part D. A movable inner cannula 522, an endoscope module 523 installed on the movable inner cannula 522 for observing the condition of the surgical affected part D, and a suction module installed on the movable inner cannula 522 for sucking liquid. A set 524, and an instrument module 525 provided in the movable inner cannula 522 for performing surgery.

The endoscope module 523 is provided with a lighting element (not shown in the figure) and an image lens (not shown in the figure). The endoscope module 523 has an inner view provided on the movable inner tube 522 . Endoscope channel 5231, the lighting element and the image lens are arranged in the movable inner sleeve 522 and are located at the bottom exit of the endoscope channel 5231. The endoscope module 523 can enter the surgery through the endoscope channel 5231. The affected part D is illuminated and photographed. The suction module 524 has a liquid transmission channel 5241 disposed on the movable inner sleeve 522 and surrounding it, and a liquid injection and suction device (not shown) connected to the liquid transmission channel 5241. The suction module 524 can inject and extract liquid in the surgical affected part D through the liquid transmission channel 5241. The instrument module 525 has a tool insertion channel 5251 provided in the movable inner cannula 522, and a plurality of surgical instruments 5252 that can be arranged in the tool insertion channel 5251. The surgical instruments 5252 can be scalpels and injection needles. , surgical clamps, and electric drills... and other tools.

The robot arm control unit 53 includes a movable arm module 531 that can move in a wide range. Preferably, the movable arm module 531 is a three- to seven-axis robot arm and is installed on the console B. In fact, During implementation, the movable arm module 531 can use other types of robotic arms, and the movable arm module 531 can be directly installed on the operating table C, and should not be limited to this. The integrated control unit 54 includes a power module 541 that can provide operating power for the multi-axis motion telescopic control unit 51, the medical device unit 52, and the robotic arm control unit 53, and a medical module that can integrate the actions of the aforementioned units. System Module 542. Preferably, the medical system module 542 has an input component 5421 that is electrically connected to the medical system module 542 and allows the operator to issue operating instructions, and an input component 5421 that is electrically connected to the endoscope module 523 and can display the camera. The output component 5422 of the screen, preferably, the operator can issue instructions in the input component 5421, so that the medical system module 542 controls the movement of the movement platform component 511, so that the telescopic movement component 512 drives the movable inner casing phase. 522 performs a telescopic movement on the extended outer tube 521 to provide the operator with a camera view of the endoscope module 523 from the output component 5422. The medical system module 542 is electrically connected to the driving component 514. The driving component 514 can control the movement of each surgical instrument 5252 so that the operator can watch the surgical image while performing endoscopic surgery. For example, when the surgical instrument 5252 is an electrocautery surgical tool, the driving component 514 can control the current. , to provide the operator with the ability to operate the medical system module 542 to electrically cauterize the affected part of patient A. If the surgical instrument 5252 is a clip surgical tool, the driving component 514 can control the clamping and releasing of the clip to provide the operator with the ability to operate. The medical system module 542 is used to clamp the affected part of patient A. Since there are many types of surgical tools, they will not be described in detail here. In addition, the driving component 514 can also control the motor to control the first rotating table 5123 and The distance of the second rotating stage 5124 is used to control the position of the movable inner tube 522 relative to the extended outer tube 521, thereby adjusting the image focal length of the endoscope module 523, or the driving assembly 514 and the extraction unit. The suction module 524 is electrically connected to control the injection and suction of liquid by the suction module 524. In actual implementation, the structure of the driving component 514 should be configured to match different surgical tools and should not be limited to this.

In the preparation work before the operation, the operation of the power module 541 can be started first, and the above-mentioned units can be electrically connected and controlled through the integrated control unit 54, and the movable arm module 531 can be moved to a large range above the operating table C. , and the multi-axis motion telescopic control unit 51 slowly drives the medical instrument unit 52 to be positioned above the surgical affected part D of the patient A. When the movement platform component 511 moves, the telescopic moving component 512 can use multiple The axis angle is moved and positioned on the affected part D of the patient A to be operated on, and the telescopic moving component 512 is used to drive the rotating telescopic frame 5122 to perform a telescopic action, so that the movable inner cannula 522 can move relative to the extended outer cannula 521 Moving up and down, the endoscope module 523 can be connected to the medical system module to output a picture. When the operator views the surgical affected part D through the output picture of the endoscope module 523, he can control the telescopic moving component 512 Rotate and adjust the first and second rotating stages 5123 and 5124 toward or away from each other to further adjust the imaging focal length of the endoscope module 523, and then display the image position of the surgical affected part D according to the output component 5422, and operate the input The component 5421 issues an instruction on the image coordinates of the affected part D, causing the movable arm module 531 to move the medical instrument unit 52 to a large range above the operating table C. The motion platform component 511 then follows the control instructions of the medical system module 542. The multi-axis motion telescopic control unit 51 is used to displace and adjust the multi-axis motion angle to the affected part D to complete the preparation for the pre-surgery operation.

Referring to Figures 1 to 7, after understanding the various mechanisms and operating functions of the multi-axis positioning auxiliary medical device 5 for spinal endoscopic use of the present invention, this preferred embodiment takes an intervertebral disc herniation surgery 9 as an example, and the detailed description is as follows. :

First, a pre-surgery preparation step 91 is performed. The power module 541 can be started to operate, and the integrated control unit 54 is electrically connected to each electronic device to control the aforementioned functional units, and the movable arm module 531 can be moved in a wide range. to the top of the operating table C, and the multi-axis motion telescopic control unit 51 precisely drives the medical instrument unit 52 to be positioned above the surgical affected part D of the patient A.

Next, a positioning step 92 is performed, a positioning mark is drawn on the skin surface above the surgical affected part D, an endoscope module 523 with a standard aperture is used, and the instrument module 525 of the medical instrument unit 52 is used to clamp K -pin the driver or the 21 to 18-gauge surgical needle, and then control the multi-axis movement telescopic control unit 51 to finely drive the medical instrument unit 52 to the position. During the movement of the medical device unit 52, real-time images can also be viewed through the medical system module 542 and instructions can be issued.

Then, a step 93 of establishing a working channel is performed, and a wound of 8 mm to 10 mm is made on the skin. The depth of the wound exceeds the fascial layer. The operator can confirm the depth of the operation and the operation segment through the output component 5422 of the medical system module 542. Correct, and after the position is confirmed, an instruction is issued to control the driving assembly 514 to drive the medical device unit 52 to slowly screw in the extended outer tube 521 until it encounters resistance and stop. At this time, the endoscope module 523 Inserted to complete the establishment of the working channel E for surgery.

Preferably, when the extending outer sleeve 521 is screwed into the surgical affected part D, the extending outer sleeve 521 can be used to separate and block soft tissue and bleeding points. When the bottom end of the extending outer sleeve 521 does not reach the surgical treatment point, The extended outer sleeve 521 can be slightly rotated to squeeze the ligamentum flavum I to increase the tension of the ligament, and then the instrument module 525 can be controlled to cut the ligamentum flavum I, and the above actions can be repeated to slowly remove the bottom of the extended outer sleeve 521. The end of the extended outer sleeve 521 can be inserted deep into the intervertebral disc G. Preferably, the bottom end of the extended outer sleeve 521 can be screwed into the front of the vertebra F, and the spinal nerve H can be slightly stirred, and the extension can be slowly rotated clockwise or counterclockwise. The outer sleeve 521 can protect the spinal nerve H outside the bevel or side of the extended outer sleeve 521 to avoid accidental injury to the spinal nerve H during the operation.

Next, a surgical resection step 94 is performed. Since the intervertebral disc herniation J at the protrusion of the intervertebral disc G will compress the spinal nerve H, when the intervertebral disc herniation J is started to be removed, the surgical working channel E can be viewed through the screen of the output component 5422. And whether the medical device unit 52 has been placed, start the driving component 514 and issue instructions to cause the endoscope module 523 to start lighting and image transmission to transmit back the image inside the working channel E. The suction module 524 Using the liquid transmission channel 5241 to inject physiological saline can eliminate tissue fluid on the surface of the affected part D and ensure a clear surgical image. Next, start the rotating telescopic frame 5122 to move and adjust the first rotating table 5123 and the second rotating table 5123. The rotating stages 5124 move closer to, farther away from, or rotate toward each other to adjust the focal length of the camera lens of the endoscope module 523, allowing the operator to confirm the image of the surgically affected part D from the output component 5422, and through the input component 5421 Issue an operation command to start the instrument module 525, and insert the surgical instrument 5252, such as a scalpel, a surgical clamp, an electric drill, etc., into the surgical affected part D through the tool penetration channel 5251. The output component 5422 can output the surgical image, This allows the operator to use the surgical instruments 5252 and other surgical tools to gradually remove the intervertebral disc herniation J, and the resected object can also be clamped and transported out. During the process, if there is blood covering the surgical site D, the suction can be operated The module 524 injects physiological saline into the surgically affected part D through the liquid transmission channel 5241 to clean the surface blood, so that the surgically affected part D is more clearly displayed in the output component 5422. This is repeated until the intervertebral disc herniation J is removed.

Then, a suturing step 95 is performed. After the resection operation of the intervertebral disc herniation J is completed, the operator can use the image returned by the output component 5422 to perform suturing under the microscope through the endoscope module 523 and the instrument module 525. , preferably, all surgical operation processes can be transmitted back to the medical system module 542 to store records through the camera of the endoscope module 523, as the implementation file of the surgical technology case, for subsequent other operators to perform similar operations. When referring to surgical cases, the actual application of camera transmission should be based on actual surgical implementation cases and should not be limited to this.

Finally, an instrument removal and disinfection step 96 is performed. The new quick-release module 513 is detachably disposed between the motion platform assembly 511 and the motor 5121 to quickly separate the motion platform assembly 511 from the telescopic assembly. After the operation is completed, the quick-release module 513 can be used to separate the connected telescopic moving assembly 512 and the medical instrument unit 52 used in spinal surgery, so that the medical instrument unit 52 can be quickly removed from the moving assembly 512. The multi-axis motion telescopic control unit 51 is removed to facilitate cleaning, sterilization and disinfection of the medical device unit 52 .

It is worth mentioning that the above description is based on the implementation of intervertebral disc herniation surgery 9 as an example. In actual implementation, the new multi-axis positioning auxiliary medical device 5 for spinal endoscopic surgery can also be used as an auxiliary surgery or medical treatment for other operations. Machinery and equipment. In addition, whether the quick-release module 513 should be installed should be judged based on the actual environment of the site, the medical behavior being performed, and the required sterilization and cleaning requirements. It depends on the scope of medical equipment sterilization and medical behavior standards, and should not be based on This is the limit.

Based on the above description, it can be seen that the multi-axis positioning auxiliary medical device 5 for spinal endoscopy of the present invention does have the following functions:

1. Assisted surgery with multi-axis and multi-angle positioning: It is known that when using the Da Vinci robotic arm for positioning, it can only use up and down, left and right, and front and back, and it also requires a large range of movement space to cooperate with the surgery. In this case, by using the motion platform component 511 of the Stewart platform, It allows the controlled robotic arm to perform multi-axis movements in a small space, such as rotation or flipping, and other positioning in various directions, which is helpful for positioning the D position of the affected part during surgery with a complex structure.

2. Endoscopic surgery and surgery can be combined: Since the present invention provides a precise multi-axis and multi-angle positioning mechanism, integrates the endoscope module 523 into the movable inner tube 522, and has an exclusive endoscope channel 5231, it is easier to perform the operation during the operation. It will not interfere with other surgical instruments in a limited space, and can provide stable positioning, imaging and lighting functions. The operator can also use the output component 5422 to view the internal image of the surgical affected part D in real time and adjust the image. The focal length not only reduces the burden on the operator during surgery, but also makes it easy to capture images and save surgical process data.

3. Suitable for spinal surgeries such as discectomy, spinal stenosis decompression, and endoscopic spinal fusion: Based on the above, since spinal surgery is complicated due to the intricate distribution of the vertebrae and nervous system, the surgeon must be particularly careful about the surgical positioning of the affected part when performing this type of surgery. This new multi-axis positioning auxiliary medical device for spinal endoscopic surgery 5 It is very suitable for assisting the surgical positioning of the affected part of the spine. There is no need to reserve a large space for instrument operation during the operation. The equipment has a dedicated endoscope channel 5231, a liquid transmission channel 5241, and a tool threading channel 5251. Each mechanism is interconnected with each other. There will be no interference between them. In addition to reducing the burden on the operator when performing the operation, it can also provide better technical development for the operator.

To sum up, for more complex spinal surgeries, the multi-axis positioning auxiliary medical device 5 for spinal endoscopic surgery can accurately use the motion platform assembly 511 to perform surgical positioning of the affected part, and use the extended outer sleeve 521 to screw in When operating the working channel E, the spinal nerve H is protected outside the bevel of the extended outer cannula 521 without being damaged, so that when the operator uses the endoscopic module 523 to perform surgery, he can pass through the channel in the movable inner cannula 522 Perform surgical fluid injection and aspiration, as well as use the surgical instrument 5252 to perform surgical operations such as resection, clamping, and suturing, reducing the surgical burden on the operator, allowing him to concentrate on performing surgical operations stably, and avoid unnecessary surgical risks. , so the purpose of this new model can indeed be achieved.

However, the above is only a preferred embodiment of the present invention, and should not be used to limit the scope of the present invention, that is, any simple equivalent changes and modifications may be made based on the patent scope of the present invention and the description of the new invention. , are still within the scope of this new patent.

A:Patient

B:Console

C:Operating table

D:Surgical affected area

E: working channel

F: vertebrae

G: intervertebral disc

H: spinal nerves

I: ligamentum flavum

J: Intervertebral disc herniation

5: Multi-axis positioning auxiliary medical device for spinal endoscopy

51:Multi-axis motion telescopic control unit

511: Motion platform components

512:Telescopic mobile component

5121: Motor

5122: Rotating telescopic stand

5123:The first rotary table

5124:Second rotary table

513:Quick release module

514:Drive components

52:Medical device unit

521:Extended outer sleeve

522: Movable inner casing

523:Endoscope module

5231:Endoscope channel

524:Suction module

5241: Liquid transmission channel

525:Instrument module

5251: Tool penetration channel

5252:Surgical instruments

53: Robot arm control unit

531: Movable arm module

54: Integrated control unit

541:Power module

542:Medical system module

5421:Input component

5422:Output component

9: Disc herniation surgery

91: Preparatory steps before surgery

92: Positioning steps

93: Steps to establish working channel

94: Surgical resection procedures

95:Sewing steps

96: Instrument removal and disinfection procedures

Figure 1 is a three-dimensional schematic diagram, which is a preferred embodiment of the new multi-axis positioning auxiliary medical device for spinal endoscopy, illustrating the multi-axis positioning auxiliary medical device for spinal endoscopy when performing surgery on a patient. Setting mode; Figure 2 is a partial perspective view illustrating the arrangement of the medical device unit and the telescopic moving component in the preferred embodiment; Figure 3 is a partial perspective view illustrating the connection between the motion platform component and the telescopic moving component in the preferred embodiment; Figure 4 is a schematic three-dimensional cross-sectional view illustrating the arrangement of various parts of the medical device unit in the preferred embodiment; Figure 5 is a schematic block diagram of a module illustrating the functional module of the electrical connection between various parts of the multi-axis positioning auxiliary medical device for spinal endoscopy in the preferred embodiment; Figure 6 is a schematic three-dimensional cross-sectional view illustrating the implementation of the spinal endoscope using the endoscopic module of the multi-axis positioning auxiliary medical device to enter the surgical site in the preferred embodiment; and FIG. 7 is a flow chart illustrating the steps of performing an intervertebral disc herniation surgery using the multi-axis positioning auxiliary medical device using the above-mentioned spinal endoscope in the preferred embodiment.

A:Patient

B:Console

C:Operating table

D:Surgical affected area

5: Multi-axis positioning auxiliary medical device for spinal endoscopy

51:Multi-axis motion telescopic control unit

511: Motion platform components

512:Telescopic mobile component

514:Drive components

52:Medical device unit

53: Robot arm control unit

531: Movable arm module

54: Integrated control unit

541:Power module

542:Medical system module

5421:Input component

5422:Output component

Claims (10)

A multi-axis positioning auxiliary medical device for spinal endoscopy, suitable for being placed on the patient's affected part and providing the operator with surgical operations, which includes: A multi-axis motion telescopic control unit includes a motion platform component with a Stewart platform structure, and a telescopic moving component connected to one end of the motion platform component; and A medical device unit, including an extending outer sleeve passed through the telescopic moving component, a movable inner sleeve provided in the extending outer sleeve, and an endoscope module installed in the movable inner sleeve, When the movement platform component moves, the telescopic moving component can be moved and positioned on the patient's affected area, and the telescopic moving component can drive the movable inner sleeve to telescopically move relative to the extended outer sleeve for the operator to adjust the inner sleeve. The focal length of the sight glass module is used to perform surgical operations. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 1 further includes a robotic arm control unit connected to the opposite end of the motion platform component, and the robotic arm control unit includes an movable arm that can move in a wide range Arm module. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 1, wherein the telescopic moving component includes a motor connected to the movement platform component, a rotating telescopic frame connected to the motor, and a protrusion on the The first rotary table on the rotary telescopic frame, and the second rotary table located on the rotary telescopic frame and spaced apart from the first rotary table. When the motor drives the rotary telescopic frame to rotate, the first and second rotary tables The stations will move closer or further away from each other. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 3, wherein the multi-axis movement telescopic control unit further includes a quick-release module detachably disposed between the movement platform assembly and the motor. Separate the motion platform component and the telescopic moving component. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 2, wherein the medical device unit further includes a suction module disposed on the movable inner sleeve and surrounding a liquid transmission channel, and the suction module The suction module can enter the patient's affected area through the liquid transmission channel to inject and extract liquid. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 5, wherein the medical device unit further includes an instrument module disposed in the movable inner sleeve and surrounding a tool insertion channel, and the device The module has a plurality of surgical instruments, which can be used to penetrate the channel and enter the patient's affected area to perform tissue resection and clamping. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 5, wherein the endoscope module has an endoscope channel provided in the movable inner sleeve, and the endoscope module can be The endoscopic channel enters the patient's affected area to perform illumination and photography. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 6, wherein the multi-axis movement telescopic control unit further includes a driving component provided on the medical device unit, the driving component and the movable arm module It is electrically connected and can drive a plurality of surgical instruments of the medical device unit. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 2 further includes an integrated control unit electrically connected to the multi-axis motion telescopic control unit, the robotic arm control unit, and the medical device unit, and the The integrated control unit includes a power module that can provide operating power for each of the aforementioned units, and a medical system module that can integrally control the actions of each of the aforementioned units. The multi-axis positioning auxiliary medical device for spinal endoscopy as described in claim 9, wherein the medical system module has an output component that is electrically connected to the endoscope module and can display a camera image, and an output component connected to the medical system module. The system module is electrically connected to an input component that allows the operator to issue operating instructions.

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