CN100428917C - Intramedullary lock pin machining system - Google Patents
Intramedullary lock pin machining system Download PDFInfo
- Publication number
- CN100428917C CN100428917C CNB2006101614792A CN200610161479A CN100428917C CN 100428917 C CN100428917 C CN 100428917C CN B2006101614792 A CNB2006101614792 A CN B2006101614792A CN 200610161479 A CN200610161479 A CN 200610161479A CN 100428917 C CN100428917 C CN 100428917C
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- China
- Prior art keywords
- intramedullary
- lock pin
- machining system
- anchor clamps
- clamping plate
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Abstract
The intramedullary lock pin machining system includes one C-shaped arm with mounted X-ray imaging device, one computer, one fixture for fixing the fracture position, and one robot for machining the intramedullary pin hole. The fixture includes one transparent L-shaped splint with copper plated calibration lines in 1 mm interval in X, Y and Z directions in the edges. The present invention has reasonable structure, capacity of simplifying operation, high safety, precise locating and raised operation efficiency and quality.
Description
Technical field:
The present invention relates to a kind of armarium, is the intramedullary lock pin machining system that a kind of auxiliary doctor carries out the synthetism operation.
Background technology:
In the operation of orthopaedics intramedullary lock pin, because there is unforeseen distortion in intra medullary nail far-end, cause needing repeatedly adjust punch position, exist patient and doctor in defectives such as ray length of following open-assembly time, operating time length by X-ray machine with following closely the locking nail hole position deviation that device is got.
Summary of the invention:
The object of the present invention is to provide a kind of rational in infrastructurely, operation process is accurately simplified, the intramedullary lock pin machining system that safety is good in the location.
Technical solution of the present invention is:
A kind of intramedullary lock pin machining system, comprise C type arm, computer that the X-ray imaging device is housed, it is characterized in that: comprise that also being used for fracture carries out anchor clamps of determining the position and the robot that processes the intramedullary pin locking nail hole, described anchor clamps comprise L shaped clamping plate, be provided with the graduation mark of 1mm at interval on three directions of X, the Y at L shaped clamping plate edge, Z, be coated with the copper layer on the graduation mark, L shaped clamping plate are transparent material.
The dead-center position of anchor clamps and robot coordinate dead-center position relative fixed.
The present invention is rational in infrastructure, simplifies operation process, and safety is good, can accurately locate suffering from the intramedullary pin locking nail hole of implanting in the limb, and by the processing of robots locking nail hole, minimizing doctor and patient are exposed to the time under the X ray, improve operation efficient and operation quality.
Description of drawings:
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the computer control system schematic diagram of one embodiment of the invention.
Fig. 2 is robot architecture's diagrammatic sketch.
Fig. 3 is the configuration diagram of anchor clamps.
The specific embodiment:
A kind of intramedullary lock pin machining system comprises C type arm, computer (comprising management level computer 1, controlled stage computer 2) that the X-ray imaging device is housed, comprises that also being used for fracture carries out anchor clamps of determining the position 4 and the robot 3 that processes the intramedullary pin locking nail hole.Robot can adopt conventional robot form: comprise compositions such as motor 6,7,8,9, support 10, synchronous cog belt 11,18, lead screw pair 12, main shaft 13, cutter hold assembly 14, guide rail 15,16, motor 6,7,9 is realized X, Y, three direction motions of Z by guide rail 15,16 lead screw pair 12 respectively, motor 8 is by synchronous cog belt control main shaft 13 rotating speeds, and the knife saw hold assembly 14 that is installed on main shaft can be changed different process tools.Described anchor clamps 4 comprise L shaped clamping plate, are provided with the graduation mark 5 of 1mm at interval on three directions of X, the Y at L shaped clamping plate edge, Z, are coated with the copper layer on the graduation mark, and L shaped clamping plate are transparent material (example: lucite).The dead-center position of anchor clamps and robot coordinate dead-center position relative fixed.Also have hand-held teach box 17, motion controller 19 among the figure.
Principle of the present invention is:
Intramedullary pin after implanting skeleton, with immobilization of the wounded limb on anchor clamps, the dead-center position of anchor clamps and robot coordinate dead-center position relative fixed.Intramedullary pin end open slot is adjusted to level, to guarantee marrow nail hole site level, take the normotopia and the lateral projection of suffering from the limb position with C arm X-ray, read marrow nail center, hole with respect to the anchor clamps positional value at zero point (X, Y, Z) according to scale, the input computer, the control robot finishes the processing of intramedullary pin locking nail hole.
Claims (2)
1, a kind of intramedullary lock pin machining system, comprise C type arm, computer that the X-ray imaging device is housed, it is characterized in that: comprise that also being used for fracture carries out anchor clamps of determining the position and the robot that processes the intramedullary pin locking nail hole, described anchor clamps comprise L shaped clamping plate, three directions of X, the Y at L shaped clamping plate edge, Z are provided with the graduation mark of 1mm at interval, be coated with the copper layer on the graduation mark, L shaped clamping plate are transparent material.
2, intramedullary lock pin machining system according to claim 1 is characterized in that: the dead-center position of anchor clamps and robot coordinate dead-center position relative fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101614792A CN100428917C (en) | 2006-12-21 | 2006-12-21 | Intramedullary lock pin machining system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101614792A CN100428917C (en) | 2006-12-21 | 2006-12-21 | Intramedullary lock pin machining system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1985772A CN1985772A (en) | 2007-06-27 |
| CN100428917C true CN100428917C (en) | 2008-10-29 |
Family
ID=38182806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101614792A Expired - Fee Related CN100428917C (en) | 2006-12-21 | 2006-12-21 | Intramedullary lock pin machining system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100428917C (en) |
Citations (6)
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|---|---|---|---|---|
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2006
- 2006-12-21 CN CNB2006101614792A patent/CN100428917C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4945914A (en) * | 1987-11-10 | 1990-08-07 | Allen George S | Method and apparatus for providing related images over time of a portion of the anatomy using at least four fiducial implants |
| US5142930A (en) * | 1987-11-10 | 1992-09-01 | Allen George S | Interactive image-guided surgical system |
| WO1998036371A1 (en) * | 1997-02-13 | 1998-08-20 | Integrated Surgical Systems, Inc. | Method and system for registering the position of a surgical system with a preoperative bone image |
| US20060098851A1 (en) * | 2002-06-17 | 2006-05-11 | Moshe Shoham | Robot for use with orthopaedic inserts |
| CN1481764A (en) * | 2003-08-15 | 2004-03-17 | 北京航空航天大学 | Bone surgery device of robot navigation |
| CN1561923A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted bone setting operation medical system with lock marrow internal nail |
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| 立体定向脑外科机器人系统中的定位和空间映射变换. 陈梦东，李伟，王田苗，田增民.中国生物医学工程学报，第20卷第5期. 2001 * |
| 计算机辅助带锁髓内钉远端锁定瞄准系统的设计与实验研究. 王军强，胡磊，孙磊等.中华外科杂志，第42卷第19期. 2004 |
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| Publication number | Publication date |
|---|---|
| CN1985772A (en) | 2007-06-27 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081029 Termination date: 20121221 |