WO2019076070A1

WO2019076070A1 - Spinal minimally invasive robot

Info

Publication number: WO2019076070A1
Application number: PCT/CN2018/090971
Authority: WO
Inventors: 康建平; 刘泽
Original assignee: 鹰利视医疗科技有限公司
Priority date: 2017-10-16
Filing date: 2018-06-13
Publication date: 2019-04-25
Also published as: CN107550569A; CN107550569B

Abstract

A spinal minimally invasive robot, comprising a control unit (7), as well as a pre-positioning mechanism (2), a fine positioning mechanism (3), an operating mechanism (4) and a position acquisition system (5) that are disposed on a frame (1), wherein the pre-positioning mechanism (2) comprises a drive part (21), a transmission part (221) and a positioning block (222); the drive part (21) is in transmission connection to the transmission part (221), and the positioning block (222) is fixedly connected to the transmission part (221); the fine positioning mechanism (3) comprises a bottom disc (31), a top disc (32) and a telescopic rod component (33); the telescopic rod component (33) comprises a telescopic drive system (331) and a plurality of telescopic rods (332) which are connected; two ends of each telescopic rod (332) are rotationally connected to the bottom disc (31) and the top disc (32); the bottom disc (31) is fixedly connected to the positioning block (222); the telescopic rod drive system (331) is electrically connected to a connection end corresponding to the control unit (7); the operating mechanism (4) comprises a connection rod (41), and one end of the connection rod (41) is fixedly connected to the top disc (32); and the position acquisition system (5) comprises a navigation system and a display (53), and the navigation system and the display (53) are respectively electrically connected to the connection end corresponding to the control unit (7). The spinal minimally invasive robot may provide rapid accurate positioning for a surgical instrument.

Description

Spinal minimally invasive robot

Technical field

The invention relates to a robot, in particular to a spinal minimally invasive robot, belonging to the technical field of medical equipment.

Background technique

It is well known that spinal diseases are the bones of the spine, intervertebral discs, ligaments, muscles, and then compression, traction and stimulation of the spinal cord, spinal nerves, blood vessels, autonomic nerves, and complex and diverse symptoms. Spinal minimally invasive surgery is performed for spinal lesions. The general term for precision minimally invasive surgery with minimal damage to the human body and the shortest recovery cycle. Spinal-related diseases, including disc herniation, spinal stenosis, spinal fractures, spinal deformity shift, spinal tumors, etc., are common and frequently-occurring diseases, causing great pain to patients.

Traditional open surgery and other minimally invasive procedures, such as disc herniation, pedicle screw orthopedics, disc fusion, etc., in the pre-operative preparation, need to use X-ray machine (C-arm machine) multiple times The film observation confirms the relative position of the instrument and the surgical site to ensure the safety and reliability of the patient's surgical procedure. The long-term accumulation effect of X-ray frequent exposure will cause harm to the health of medical staff. In order to reduce the damage of radiation, medical personnel need to hide outside the operating room for protection before each photograph, which objectively causes preoperative preparation time to be too long and prolonged. The operation time of patients with local anesthesia.

technical problem

The technical problem to be solved by the present invention is that, in the prior art, open surgery and other various minimally invasive operations require multiple observations by X-ray machine to confirm the relative position of the instrument and the surgical site in the pre-operative preparation, thereby The technical problem of health injury caused by medical personnel provides a minimally invasive spinal canal that can quickly locate the surgical instrument accurately.

Technical solution

In order to achieve the above object, the technical solution of the present invention is: a spinal minimally invasive robot, which is innovative in that it comprises a frame, a pre-positioning mechanism, a fine positioning mechanism, an operating mechanism, a position collecting system and a control unit, and the predetermined position The mechanism, the fine positioning mechanism, the operating mechanism and the position collecting system are all arranged on the rack;

The pre-positioning mechanism includes a driving member, a transmission member and a positioning block, the driving member is drivingly connected with the transmission member, and the positioning block is fixedly connected with the transmission member;

The fine positioning mechanism comprises a chassis, a top plate and a telescopic rod assembly, the telescopic rod assembly comprises a telescopic rod drive system and a plurality of telescopic rods, the plurality of telescopic rods being connected to the telescopic rod drive system, and the plurality of telescopic rods Both ends are rotatably connected to the chassis and the top plate, the chassis is fixedly connected to the positioning block, and the telescopic rod driving system is electrically connected to the corresponding connecting end of the control unit;

The operating mechanism includes a connecting rod, and one end of the connecting rod is fixedly connected with the top plate;

The position acquisition system includes a navigation system and a display, and the navigation system and the display are electrically connected to respective connection ends of the control unit.

In the above technical solution, the operating frame locking mechanism further includes a slide rail, a sliding seat, a second gas spring assembly, a second gas spring release system, a button, a second electromagnet and a clamping fixture. The sliding rail and the button are fixedly connected to the frame, and the sliding seat is slidably connected to the sliding rail, and one end of the second gas spring assembly is hingedly connected to the sliding seat and fixedly connected to one end of the second gas spring releasing system. The other end of the second gas spring assembly is hingedly connected to the clamping fixture, and the other end of the second gas spring release system is fixedly connected with the second electromagnet; the button and the second electromagnet are respectively connected to the control unit The terminal is electrically connected.

In the above technical solution, the frame has a pre-positioning mechanism bracket, and the pre-positioning mechanism is mounted on a pre-positioning mechanism bracket of the rack.

In the above technical solution, the pre-positioning mechanism further includes a base, and the transmission member is a screw rod, and the driving member is a motor; the base is mounted on the pre-positioning mechanism bracket, and one end of the screw rod and the output of the motor The shaft drive is connected, and the other end is rotatably connected with the base, and the positioning block is slidably engaged with the base by the screw.

In the above technical solution, the pre-positioning mechanism further includes a driving wheel and a driven wheel disposed on the pre-positioning mechanism bracket, the driving member is a motor, the transmission member is a timing belt; and the driving shaft of the motor is equipped with a driving wheel And the driving wheel is connected to the driven wheel through the timing belt, and the positioning block is disposed on the timing belt.

In the above technical solution, the fine positioning mechanism further includes a first electromagnet, and the telescopic rod driving system of the telescopic rod assembly is a first gas spring release system, and the telescopic rod is a first gas spring, and the plurality of first gas The springs are all connected to the first gas spring release system, and the two ends of the plurality of first gas springs are respectively rotatably connected to the chassis and the top plate through respective ball bearings, and the first electromagnet is connected to the first gas spring release system. And the first electromagnet is electrically connected to the corresponding connection end of the control unit; the operating mechanism further comprises an operation button, and the operation button is mounted on the connecting rod and electrically connected to the corresponding connection end of the control unit.

In the above technical solution, the operating mechanism further includes a medical device clamping member, the medical device clamping member being detachably connected to the other end of the connecting rod; one end of the connecting rod has a connecting head, and the connecting rod is The connector is fixedly connected to the top plate.

In the above technical solution, the navigation system of the position collecting system comprises a navigator, a locator and a human body locator for being arranged on the human body, the navigator is arranged on the frame, and the locator is fixed on the connecting rod. And the navigator receives the positioning signal from the positioner and the human body positioner, and the navigator is electrically connected to the corresponding connection end of the control unit.

In the above technical solution, the rack has a position collecting system bracket, and the position collecting system bracket includes a fixing base and a connecting arm, one end of the connecting arm is hingedly connected with the fixing base, and the navigation device and the connecting arm The other end is rotated and the navigator is located above the fine positioning mechanism

Beneficial effect

The positive effect of the present invention is: after adopting the spinal minimally invasive robot of the present invention, since the present invention comprises a frame, a pre-positioning mechanism, a fine positioning mechanism, an operating mechanism, a position collecting system and a control unit, the predetermined positioning mechanism, The fine positioning mechanism, the operating mechanism and the position collecting system are all arranged on the rack;

The position collecting system includes a navigation system and a display, and the navigation system and the display are respectively electrically connected to corresponding connection ends of the control unit;

In use, the rack is rigidly coupled to the operating bed of the X-ray machine to ensure that the present invention does not move during use, the patient is hovering on the operating bed of the X-ray machine, and the control unit pre-stores the photograph taken by the patient. CT photograph, the surgical instrument is mounted at the other end of the connecting rod of the operating mechanism, the driving member of the predetermined position mechanism controls the transmission member to drive the positioning block at a suitable height above the patient, and the navigation system of the position collecting system collects the spine of the patient Positioning information and sending the collected content to the control unit, the control unit determines the surgical position of the patient's spine according to the collected content, and displays the surgical position of the patient's spine, and then displays the corresponding control on the display. The command control telescopic rod drive system drives the telescopic rod for fine positioning, and the doctor performs the operation according to the display of the display. The invention is particularly suitable for minimally invasive surgery of the spine (also suitable for other minimally invasive surgery to assist precise positioning), and the combination of initial positioning and precise positioning greatly improves the positioning efficiency and is beneficial for safely avoiding healthy tissue of the patient during surgery.

DRAWINGS

1 is a schematic structural view of a specific embodiment of the present invention;

Figure 2 is a perspective view showing the structure of the pre-positioning mechanism of the present invention;

Figure 3 is a perspective view showing the structure of the fine positioning mechanism of the present invention;

Figure 4 is another perspective view of Figure 3;

Figure 5 is a perspective view showing the operation mechanism of the present invention;

Figure 6 is a perspective view showing the structure of the operating bed locking mechanism of the present invention;

Fig. 7 is a schematic perspective view showing the state of use of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention will be further described below in conjunction with the drawings and the given embodiments, but is not limited thereto.

As shown in Figures 1, 2, 3, 4, 5, 6, and 7, a minimally invasive spinal robot includes a frame 1, a predetermined position mechanism 2, a fine positioning mechanism 3, an operating mechanism 4, a position acquisition system 5, and a control The unit 7, the pre-positioning mechanism 2, the fine positioning mechanism 3, the operating mechanism 4 and the position collecting system 5 are all disposed on the frame 1;

The pre-positioning mechanism 2 includes a driving member 21, a transmission member 221 and a positioning block 222. The driving member 21 is drivingly connected with the transmission member 221, and the positioning block 222 is fixedly connected with the transmission member 221;

The fine positioning mechanism 3 includes a chassis 31, a top plate 32 and a telescopic rod assembly 33. The telescopic rod assembly 33 includes a telescopic rod drive system 331 and a plurality of telescopic rods 332, and the plurality of telescopic rods 332 are driven by the telescopic rods. The system 331 is connected, and both ends of the plurality of telescopic rods 332 are rotatably connected with the chassis 31 and the top plate 32. The chassis 31 is fixedly connected with the positioning block 222, and the connecting end of the telescopic rod driving system 331 and the control unit 7 is connected. Electrical connection

The operating mechanism 4 includes a connecting rod 41, and one end of the connecting rod 41 is fixedly connected to the top plate 32;

The position acquisition system 5 comprises a navigation system and a display 53, which are each electrically connected to a respective connection of the control unit 7.

As shown in FIG. 6, in order to facilitate the rigid connection with the operating bed when the invention is used, the movement of the operating table is prevented, and the operating table locking mechanism 6 is further provided on the frame 1 to include a slide rail 61, a slide 62, and a a two-gas spring assembly 63, a second gas spring release system 64, a button 65, a second electromagnet 66, and a clamp mount 67, the slide rail 61 and the button 65 are both fixedly coupled to the frame 1, and the slide 62 is The slide rail 61 is slidably connected, one end of the second gas spring assembly 63 is hingedly connected to the slide 62 and fixedly connected to one end of the second gas spring release system 64, and the other end of the second gas spring assembly 63 and the clamp mount 67 is hingedly connected, the other end of the second gas spring release system 64 is fixedly connected to the second electromagnet 66; the button 65 and the second electromagnet 66 are electrically connected to respective connection ends of the control unit 7, respectively. Of course, the operating bed locking mechanism of the present invention is not limited thereto, and other structures may be employed. For example, the operating bed locking mechanism includes a connecting rod and a U-shaped fixing base, and one end of the connecting rod and the frame 1 hinged connection, the other end is rotatably connected with the U-shaped fixing seat, and the U-shaped fixing seat is provided with fastening screws.

Embodiments of the invention

As shown in FIG. 1, in order to make the structure of the present invention more rational, compact, and easy to assemble, the frame 1 has a pre-positioning mechanism bracket 11 that is mounted on the pre-positioning mechanism bracket 11 of the chassis 1. .

As shown in FIG. 2, in order to enable linear movement, the pre-positioning mechanism 2 further includes a base 223, and the transmission member 221 is a screw, and the driving member 21 is a motor; the base 223 is mounted on the pre-positioning mechanism bracket 11 In one end, one end of the screw rod is drivingly connected to the output shaft of the motor, and the other end is rotatably connected to the base 223, and the positioning block 222 is slidably engaged with the base 223 through the screw rod. The linear module formed by the base 223, the screw rod and the positioning block may also be a commercially available product, and the driving member for driving the screw rod may also be a handle, and the screw rod is rotated by rotating the handle.

Of course, the structure of the pre-positioning mechanism 2 is not limited thereto, and other structures may be selected. For example, the pre-positioning mechanism 2 further includes a driving wheel and a driven wheel disposed on the pre-positioning mechanism bracket 11. The driving member 21 is a motor, the transmission member 221 is a timing belt; the output shaft of the motor is equipped with a driving wheel, and the driving wheel is connected to the driven wheel through a timing belt, and the positioning block 222 is disposed on the timing belt. Of course, the drive member 21 can also be a handle.

As shown in FIGS. 3 and 4, the fine positioning mechanism 3 further includes a first electromagnet 34, and the telescopic rod drive system 331 of the telescopic rod assembly 33 is a first gas spring release system, and the telescopic rod 332 is a first gas spring. The plurality of first gas springs are all connected to the first gas spring release system, and both ends of the plurality of first gas springs are rotatably connected to the chassis 31 and the top plate 32 through respective ball bearings, the first electromagnet 34 is connected to the first gas spring release system, and the first electromagnet 34 is electrically connected to the corresponding connection end of the control unit 7; the operating mechanism 4 further includes an operation button 43, and the operation button 43 is mounted on the connecting rod 41 and The respective terminals of the control unit 7 are electrically connected. In use, the doctor holds the surgical instrument at the other end of the connecting rod 42 and presses the operation button 43. At this time, the first electromagnet 34 outputs a switching signal to the control unit 7, and is controlled by the control unit 7 to output a corresponding control signal. The gas spring release system drives the gas spring to achieve precise positioning of the surgical instrument. When the doctor releases the operation button 43, at this time, the surgical instrument is located above the patient's surgical position, and the surgical instrument does not shift during the process.

As shown in FIG. 4, in order to facilitate the installation of the electromagnet, the fine positioning mechanism 3 further includes an electromagnet mount 342, and the first electromagnet 34 is connected to the positioning block through the electromagnet mount 342.

As shown in FIG. 5, in order to facilitate fixing and replacing different types of surgical instruments, the operating mechanism 4 further includes a medical device holding member 42 detachably coupled to the other end of the connecting rod 41; One end of the connecting rod 41 has a connecting head 411, and the connecting head 411 of the connecting rod 41 is fixedly connected to the top plate 32.

As shown in FIG. 1, in order to facilitate collecting the position information of the patient's spine, the navigation system of the position collecting system 5 includes a navigator 51, a locator 52, and a human body locator 54 for being disposed on the human body, the navigator 51. The positioning device 52 is fixed on the connecting rod 41, and the navigator 51 receives the positioning signals from the positioner 52 and the human body positioner 54, and the navigator 51 is electrically connected to the corresponding connecting end of the control unit 7. In use, the human body locator 54 is placed at the tail of the patient's spine as the origin of the patient's surgical position information. In order to obtain the surgical position information of the patient more accurately, the control unit 7 collects the positioner 52 relative to the human body positioner 54. Location information.

As shown in FIG. 1 , in order to facilitate the installation of the position acquisition system, the frame 1 has a position acquisition system bracket 12 , and the position acquisition system bracket 12 includes a fixed base 121 and a connecting arm 122 , and one end of the connecting arm 122 is The fixed base 121 is hingedly connected, the navigator 51 is rotatably coupled to the other end of the connecting arm 122, and the navigator 51 is located above the fine positioning mechanism 3.

The control unit includes an electrically connected microprocessor and a motor driver, and the motor is electrically coupled to the motor driver, the electromagnet, the button, the gas spring release system, and the navigator being electrically coupled to respective terminals of the microprocessor.

The working process of the invention: rigidly connecting the frame to the operating bed of the X-ray machine, ensuring that the invention does not move during use, the patient is lying on the operating bed of the X-ray machine, and the control unit stores the patient's CT image photographing, the surgical instrument attached to the other end of the connecting rod of the operating mechanism, said predetermined bit driving member controlling the drive member drive mechanism is positioned so that the block is located at height above the patient for the operation of the location acquisition system navigation system Collecting the patient's spinal position information and sending the collected content to the control unit, the control unit determines the surgical position of the patient's spine based on the collected content and the CT photo of the patient, and displays it on the display, and then the control unit The corresponding control command is output to control the telescopic rod drive system to drive the telescopic rod for fine positioning, and the doctor performs the operation according to the display of the display. The invention is particularly suitable for minimally invasive surgery of the spine (also suitable for other minimally invasive surgery to assist precise positioning), and the combination of initial positioning and precise positioning greatly improves the positioning efficiency and is beneficial for safely avoiding healthy tissue of the patient during surgery.

In view of the above-described embodiments of the present invention, various changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and the technical scope thereof must be determined according to the scope of the claims.

.

Claims

A spinal minimally invasive robot, comprising: a frame (1), a pre-positioning mechanism (2), a fine positioning mechanism (3), an operating mechanism (4), a position collecting system (5), and a control unit (7) The pre-positioning mechanism (2), the fine positioning mechanism (3), the operating mechanism (4) and the position collecting system (5) are all disposed on the frame (1);

The pre-positioning mechanism (2) includes a driving member (21), a transmission member (221) and a positioning block (222), the driving member (21) is drivingly connected to the transmission member (221), and the positioning block (222) is The transmission member (221) is fixedly connected;

The fine positioning mechanism (3) includes a chassis (31), a top plate (32) and a telescopic rod assembly (33), the telescopic rod assembly (33) including a telescopic rod drive system (331) and a plurality of telescopic rods (332) The plurality of telescopic rods (332) are all coupled to the telescopic rod drive system (331), and both ends of the plurality of telescopic rods (332) are rotatably coupled to the chassis (31) and the top plate (32), The chassis (31) is fixedly connected to the positioning block (222), and the telescopic rod driving system (331) is electrically connected to the corresponding connecting end of the control unit (7);

The operating mechanism (4) includes a connecting rod (41), one end of the connecting rod (41) is fixedly connected with the top plate (32);

The position acquisition system (5) comprises a navigation system and a display (53), the navigation system and the display (53) being electrically connected to respective connection ends of the control unit (7).
The spinal minimally invasive robot according to claim 1, wherein the frame (1) further comprises a surgical bed locking mechanism (6) comprising a slide rail (61), a slide seat (62), and a second a gas spring assembly (63), a second gas spring release system (64), a button (65), a second electromagnet (66), and a clamp mount (67), the slide rail (61) and the button (65) Each is fixedly connected to the frame (1), and the sliding seat (62) is slidably connected to the sliding rail (61), and one end of the second gas spring assembly (63) is hingedly connected with the sliding seat (62) and the second gas One end of the spring release system (64) is fixedly connected, the other end of the second gas spring assembly (63) is hingedly connected to the clamping fixture (67), and the other end of the second gas spring release system (64) is second The electromagnet (66) is fixedly connected; the button (65) and the second electromagnet (66) are electrically connected to respective connection ends of the control unit (7).
The spinal minimally invasive robot according to claim 1, characterized in that the frame (1) has a predetermined position mechanism bracket (11), and the predetermined position mechanism (2) is installed at a predetermined position of the frame (1). On the mechanism bracket (11).
The spinal minimally invasive robot according to claim 3, wherein the predetermined position mechanism (2) further comprises a base (223), and the transmission member (221) is a screw rod, and the driving member (21) is a motor; The base (223) is mounted on the pre-positioning mechanism bracket (11), one end of the screw rod is drivingly connected with the output shaft of the motor, the other end is rotatably connected with the base (223), and the positioning block (222) passes through the wire. The rod is slidably engaged with the base (223).
The spinal minimally invasive robot according to claim 3, characterized in that said predetermined position mechanism (2) further comprises a driving wheel and a driven wheel provided on the predetermined position mechanism bracket (11), said driving member (21) For the motor, the transmission member (221) is a timing belt; the output shaft of the motor is equipped with a driving wheel, and the driving wheel is connected to the driven wheel through a timing belt, and the positioning block (222) is disposed on the timing belt.
The spinal minimally invasive robot according to claim 1, wherein the fine positioning mechanism (3) further comprises a first electromagnet (34), and the telescopic rod drive system (331) of the telescopic rod assembly (33) is a first gas spring release system, the telescopic rod (332) is a first gas spring, and the plurality of first gas springs are connected to the first gas spring release system, and the two ends of the plurality of first gas springs respectively pass corresponding The ball bearing is rotatably coupled to the chassis (31) and the top plate (32), the first electromagnet (34) is coupled to the first gas spring release system, and the first electromagnet (34) is corresponding to the control unit (7) The connecting end is electrically connected; the operating mechanism (4) further comprises an operating button (43), and the operating button (43) is mounted on the connecting rod (41) and electrically connected to the corresponding connecting end of the control unit (7).
The spinal minimally invasive robot according to claim 1, wherein the operating mechanism (4) further comprises a medical device holder (42), the medical device holder (42) and the connecting rod (41) The other end of the connecting rod (41) has a connecting head (411), and the connecting head (411) of the connecting rod (41) is fixedly connected with the top plate (32).
The spinal minimally invasive robot according to claim 1, characterized in that the navigation system of the position acquisition system (5) comprises a navigator (51), a positioner (52) and a human body positioner for setting on the human body. (54), the navigator (51) is disposed on the frame (1), the positioner (52) is fixed on the connecting rod (41), and the navigator (51) receives the positioner (52) and the human body positioner (54) The positioning signal is sent, and the navigator (51) is electrically connected to the corresponding connection end of the control unit (7).
The spinal minimally invasive robot according to claim 8, wherein the frame (1) has a position acquisition system bracket (12), and the position acquisition system bracket (12) includes a fixed base (121) and a connection. An arm (122), one end of the connecting arm (122) is hingedly connected to the fixed base (121), the navigator (51) is rotatably connected to the other end of the connecting arm (122), and the navigator (51) is located Above the fine positioning mechanism (3).