CN102648870B - Spinal pedicle screw implantation feedback force information collection device - Google Patents
Spinal pedicle screw implantation feedback force information collection device Download PDFInfo
- Publication number
- CN102648870B CN102648870B CN201110045902.3A CN201110045902A CN102648870B CN 102648870 B CN102648870 B CN 102648870B CN 201110045902 A CN201110045902 A CN 201110045902A CN 102648870 B CN102648870 B CN 102648870B
- Authority
- CN
- China
- Prior art keywords
- tension
- joint
- compression
- handle
- twisting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
A spinal pedicle screw implantation feedback force information collection device comprises a handle, a torsion force transmission mechanism, a tension and compression force transmission mechanism, an operation head and a reference rack; the torsion force transmission mechanism is embedded in a groove of the handle; the tension and compression force transmission mechanism is connected to the front end of the torsion force transmission mechanism; the operation head is connected to the front end of the tension and compression force transmission mechanism; and the reference rack is connected to a tension and compression connector. The spinal pedicle screw implantation feedback force information collection device is used with an optical positioning system, can directly act on the chest and the lumbar vertebra of a human body during the operation process of spinal pedicle screw implantation and collect feedback force information synchronously, and can act on the chest and the lumbar vertebra of the human body through a special information collection experiment to collect feedback force information; and the collected force information can be used for building force models in a virtual spinal pedicle screw implantation operation system.
Description
Technical field
The present invention relates to Virtual Simulation, particularly a kind of pedicle screw is implanted feedback force information collecting device.
Background technology
Operation virtual emulation be virtual reality technology in the application of medical domain, be the important research direction in one, field of current digitized surgical technic.By operation Virtual Simulation, doctor can formulate optimization operation plan; Also can by cadaver sample, not repeat exercise, thereby reduce surgeon's operative training expense and shorten cultivation cycle, operation Virtual Simulation has overcome under conventional surgical training of doctors pattern that the actual hands-on chance of doctor is few, the high deficiency of operational objectives (cadaver sample) cost, significant to quality and the efficiency of the training of raising medical surgery.
Spinal column is one of most important organ of human body.People's spinal lesion and fracture dislocation incidence rate are in rising trend in recent years.With pedicle screw, be implanted as basic internal fixation of spine operation and there is the advantages such as short, instant effect of cycle, often become doctor and patient's first-selection.Pedicle screw implant surgery need to be determined the desirable mouth that enters to hammer on vertebral body, and monitor in real time the relative pose relation between screw or operation tool and vertebral body, and, doctor's viewing area is limited, rely on the X-ray that repeatedly obtains affected part, obtain discontinuously the relative pose information between implant or operation tool and trouble bone, this has proposed very high requirement to doctor's operation technique level.In order to improve at short notice doctor's technical merit with lower cost, be necessary the operation dummy emulation system that exploitation is implanted towards pedicle screw specially.
In order to reach operation virtual emulation effect true to nature, thereby according to the different of corpus vertebrae different parts physical characteristic and punching and plant the nail degree of depth, orientation, speed, the isoparametric difference of acceleration and export different feedback forces, the force feedback system ingredient that is absolutely necessary.Basic force feedback system comprises device for force feedback and haptic modeling.Existing haptic model involves a large amount of complicated calculations and theoretical property is very strong, and the structure of corpus vertebrae and biomechanics characteristic are very complicated, the true feedback force showing in the simple power visual information drawing by Theoretical Calculation and operation has certain difference, thus the fidelity of impact operation virtual emulation.Compare with simple Theoretical Calculation, by power, feel that harvester gathers in actual pedicle screw implantation real feedback force information, and to carry out on this basis modeling analysis and research be a kind of more direct effective solution.
Through the literature search of prior art is found, the patent No. is that the Chinese invention patent < < analog scalpel unit > > (notification number is CN1176448C) of ZL02118522.0 discloses a kind of analog scalpel, application number is the force acquisition device that the force acquisition device > > (publication number is CN1677064A) of a Chinese invention patent < < scalpel of 200410031486.1 discloses this analog scalpel, application number is that 200910308169.2 Chinese invention patent < < virtual surgery haptic information acquiring device > > (publication number is CN101653356A) discloses a kind of virtual surgery haptic information acquiring device.These three patents all relate to the collection of human body soft tissue force feedback information, but do not consider the clamping and positioning of operational objectives in information gathering process (tissue), up to the present, there is no the haptic information acquiring device of implanting virtual operation towards pedicle nail.
Summary of the invention
Object of the present invention, the problems referred to above that exist in order to solve prior art exactly, provide a kind of pedicle screw to implant feedback force information collecting device.
To achieve these goals, the present invention has adopted following technical scheme: a kind of pedicle screw is implanted feedback force information collecting device, and it comprises:
Handle, consists of the pyriform afterbody being connected and cylindrical shape head, is provided with the type groove of axial perforation in handle;
Reverse force transmission mechanism, be inlaid in the type groove of handle, comprise torque sensor and twisting joint that movable cutting ferrule is connected, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms and be rotatably connected with cylindrical shape head;
Tension and compression force transmission mechanism, be connected to the front end that reverses force transmission mechanism, comprise tension and compression joint and tension-compression sensor, tension and compression joint is connected and forms removable connection with twisting joint with twisting joint is nested, the rear portion of tension and compression joint is provided with die cavity, tension-compression sensor is arranged in the die cavity of tension and compression joint and is fixedly connected with tension and compression joint, and the rear portion of tension-compression sensor is fixedly connected with twisting joint;
Operating head, is connected to the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs to be pulloverly fixedly connected with tension and compression joint, and sickle and installation are pullover to be nestedly movably connected and to be connected with the nested transmission of tension and compression joint;
Frame of reference, is connected on tension and compression joint.
The pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed holes for permanent twist sensor and 8 for locating the screwed hole of twisting joint.
The main body of described torque sensor is cylindrical, and periphery is provided with axial anti-slip tank, and cylinder tail end is connected with a wire, and this wire passes from the pyriform afterbody of handle; Described twisting joint is multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is larger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with twice annular groove, die cavity in twisting joint back segment and handle forms matched in clearance, by by 8 attachment screws, 8 from the cylindrical shape head of handle screw in for connecting the screwed hole of twisting joint, 8 attachment screws are coordinated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle.
Described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part, head threads shaft part is fixedly connected with tension and compression joint, middle part discoid section be connected with wire, this wire is radially protruding through tension and compression joint, and rear threads shaft part is fixedly connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetric, and chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is thread spindle, postpones for V-arrangement protrusion in the top of thread spindle; By screw in 4 attachment screws in 4 screw holes, the head of 4 attachment screws is coordinated with 4 axial slides on twisting joint, realize tension and compression joint and be connected with the removable of twisting joint.
A kind of in broken bone object, circuit-closer or screw thread screw tap of described sickle, sickle tail end has and protrudes for the V-arrangement with tension and compression joint the V-arrangement link slot that nested transmission is connected, and sickle front end is provided with cutting edge; Described installation is pullover is cylindrical tube shape structure, pullover forward outer surface is installed and is provided with two faces that scabble that are symmetric.
Described frame of reference comprises that pole, cross that order is connected carry ball-collecting rack and infrared external reflection ball; Pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and the cross point that pole upper end and cross carry ball-collecting rack is connected, infrared external reflection ball totally 4 be connected to 4 corner points that cross carries ball-collecting rack.
Pedicle screw of the present invention is implanted feedback force information collecting device and is coordinated optical positioning system to use, and can in pedicle screw implant surgery process, directly act on human body breast, lumbar vertebra, and synchronous acquisition feedback force information; Also can act on human body breast, lumbar vertebra specimen by special information gathering experiment, gather feedback force information.The haptic model that the power visual information gathering can be used in virtual pedicle nail implant surgery system builds.
Accompanying drawing explanation
Fig. 1 is the perspective view that pedicle screw of the present invention is implanted feedback force information collecting device;
Fig. 2 is the sectional structure schematic diagram that pedicle screw of the present invention is implanted feedback force information collecting device;
Fig. 3 is the perspective view of the handle in the present invention;
Fig. 4 is the perspective view of the torsion force transmission mechanism in the present invention;
Fig. 5 is the perspective view of the twisting joint in the present invention;
Fig. 6 is the perspective view of the tension and compression force transmission mechanism in the present invention;
Fig. 7 is the perspective view of the tension and compression joint in the present invention;
Fig. 8 is the perspective view of the tension-compression sensor in the present invention;
Fig. 9 is the perspective view of the operating head in the present invention;
Figure 10 is the pullover perspective view of the installation in the present invention;
Figure 11 is the perspective view of the sickle in the present invention;
Figure 12 is the perspective view of the frame of reference in the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Referring to Fig. 1, Fig. 2, pedicle screw of the present invention is implanted feedback force information collecting device, comprises handle 1, reverses force transmission mechanism 2, tension and compression force transmission mechanism 3, operating head 4 and frame of reference 5.
Continuation, referring to Fig. 1, Fig. 2, coordinates referring to Fig. 3, and the handle 1 in the present invention consists of the pyriform afterbody 11 being connected and cylindrical shape head 12, is provided with the type groove 13 of axial perforation in handle.At pyriform afterbody 11 outer surfaces, have axial anti-slip tank 111, on the barrel of cylindrical shape head 12, be provided with 6 screwed holes 121 for permanent twist sensor and 8 for locating the screwed hole 122 of twisting joint.
Continuation is referring to Fig. 1, Fig. 2, cooperation is referring to Fig. 4, Fig. 5, torsion force transmission mechanism 2 in the present invention is inlaid in the type groove 13 of handle 1, comprise movable cutting ferrule connected torque sensor 21 and twisting joint 22, torque sensor 21 is arranged on the rear portion of the cylindrical shape head 12 of handle, and twisting joint 22 is arranged on cylindrical shape head 12 anterior of handle and forms and be rotatably connected with cylindrical shape head 12.The main body of torque sensor 21 is cylindrical, and periphery is provided with axial anti-slip tank 211, and cylinder tail end is connected with a wire 23, and this wire passes from the pyriform afterbody 11 of handle.Twisting joint 22 is multidiameter structure, comprise leading portion 221 and the less back segment 222 of diameter that diameter is larger, leading portion outer wall is provided with 4 even axial slides spaced apart 223, and back segment outer wall is provided with twice annular groove 224, and twisting joint back segment 222 forms matched in clearance with the die cavity 13 in handle.By by 8 attachment screws, 8 from the cylindrical shape head 12 of handle screw in for connecting the screwed hole 122 of twisting joint, 8 attachment screws are coordinated with the twice annular groove 224 of twisting joint 22 back segments, realize being rotatably connected of cylindrical shape head 12 of twisting joint 22 and handle.21 of above-mentioned torque sensors bear torsional moment, and twisting joint 22 bears torsional moment and pressure simultaneously.
Continuation is referring to Fig. 1, Fig. 2, cooperation is referring to Fig. 6, Fig. 7, Fig. 8, tension and compression force transmission mechanism 3 in the present invention is connected to the front end that reverses force transmission mechanism 2, comprise tension and compression joint 31 and tension-compression sensor 32, tension and compression joint 31 is connected and forms removable connection with twisting joint 22 with twisting joint 22 is nested, the rear portion of tension and compression joint 31 is provided with die cavity, and this die cavity is arranged on the back segment of tension and compression joint 31 and extends to stage casing.Tension-compression sensor 32 is arranged in this die cavity and is fixedly connected with tension and compression joint 31, and the rear portion of tension-compression sensor 32 is fixedly connected with twisting joint 22.Tension and compression joint 31 comprises back segment 311, stage casing 312 and the leading portion 313 that diameter dwindles successively; Back segment 311 outer surfaces are provided with two faces that scabble 3111 that are symmetric, and are provided with 4 even radial screw holes 3112 spaced apart; The leading portion 313 of tension and compression joint is thread spindle, postpones for V-arrangement protrusion 314 in the top of thread spindle.By to 4 attachment screws of 4 interior screw-ins of screw hole 3112, the head of 4 attachment screws is coordinated with 4 axial slides 223 on twisting joint 22, realize tension and compression joint 31 and be connected with the removable of twisting joint 22.Tension-compression sensor 32 comprises head threads shaft part 321, middle part disk segments 322 and rear threads shaft part 323, head threads shaft part 321 is fixedly connected with tension and compression joint 31, middle part is connected with wire 33 for discoid section 322, this wire 33 is radially protruding through tension and compression joint 31, and rear threads shaft part 323 is fixedly connected with the twisting joint 22 that reverses force transmission mechanism.32 of above-mentioned tension-compression sensors bear pressure, and tension and compression joint 31 bears torsional moment and pressure simultaneously.
Continuation is referring to Fig. 1, Fig. 2, cooperation is referring to Fig. 9, Figure 10, Figure 11, operating head 4 in the present invention is connected to the front end of tension and compression force transmission mechanism 3, comprise installation pullover 41 and sickle 42, install pullover 41 and be fixedly connected with tension and compression joint 31, sickle 42 with install pullover 41 and be nestedly connected and be connected with the nested transmission of tension and compression joint 31.Installation pullover 41 is wherein cylindrical tube shape structure, pullover 41 forward outer surface is installed and is provided with two faces that scabble 411 that are symmetric.A kind of in broken bone object, circuit-closer or screw thread screw tap of sickle 42, sickle 42 tail ends have and protrude for the V-arrangement with tension and compression joint 31 the V-arrangement link slot 421 that 314 nested transmissions are connected, and sickle front end is provided with cutting edge 422.
Continuation, referring to Fig. 1, Fig. 2, coordinates referring to Figure 12, and in the present invention, frame of reference 5 is connected on tension and compression joint 31, comprises that pole 51, cross that order is connected carry ball-collecting rack 52 and infrared external reflection ball 53; Pole 51 lower ends are fixed on the tension and compression joint 31 of tension and compression force transmission mechanism, and the cross point that pole 51 upper ends and cross carry ball-collecting rack 52 is connected, infrared external reflection ball 53 totally 4 be connected to 4 corner points that cross carries ball-collecting rack 52.
Claims (3)
1. pedicle screw is implanted a feedback force information collecting device, comprising:
Handle, consists of the pyriform afterbody being connected and cylindrical shape head, is provided with the type groove of axial perforation in handle;
Reverse force transmission mechanism, be inlaid in the type groove of handle, comprise torque sensor and twisting joint that movable cutting ferrule is connected, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms and be rotatably connected with cylindrical shape head;
Tension and compression force transmission mechanism, be connected to the front end that reverses force transmission mechanism, comprise tension and compression joint and tension-compression sensor, tension and compression joint is connected and forms removable connection with twisting joint with twisting joint is nested, the rear portion of tension and compression joint is provided with die cavity, tension-compression sensor is arranged in the die cavity of tension and compression joint and is fixedly connected with tension and compression joint, and the rear portion of tension-compression sensor is fixedly connected with twisting joint;
Operating head, is connected to the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs to be pulloverly fixedly connected with tension and compression joint, and sickle and installation are pullover to be nestedly connected and to be connected with the nested transmission of tension and compression joint;
Frame of reference, is connected on tension and compression joint;
It is characterized in that: the pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed holes for permanent twist sensor and 8 for locating the screwed hole of twisting joint;
The main body of described torque sensor is cylindrical, and periphery is provided with axial anti-slip tank, and cylinder tail end is connected with a wire, and this wire passes from the pyriform afterbody of handle; Described twisting joint is multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is larger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with twice annular groove, die cavity in twisting joint back segment and handle forms matched in clearance, by by 8 attachment screws, 8 from the cylindrical shape head of handle screw in for connecting the screwed hole of twisting joint, 8 attachment screws are coordinated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle;
Described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part, head threads shaft part is fixedly connected with tension and compression joint, middle part discoid section be connected with wire, this wire is radially protruding through tension and compression joint, and rear threads shaft part is fixedly connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetric, and chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is thread spindle, postpones for V-arrangement protrusion in the top of thread spindle; By screw in 4 attachment screws in 4 screw holes, the head of 4 attachment screws is coordinated with 4 axial slides on twisting joint, realize tension and compression joint and be connected with the removable of twisting joint.
2. pedicle screw as claimed in claim 1 is implanted feedback force information collecting device, it is characterized in that: a kind of in broken bone object, circuit-closer or screw thread screw tap of described sickle, sickle tail end has for the V-arrangement with tension and compression joint and protrudes the V-arrangement link slot that nested transmission is connected, and sickle front end is provided with cutting edge; Described installation is pullover is cylindrical tube shape structure, pullover forward outer surface is installed and is provided with two faces that scabble that are symmetric.
3. pedicle screw as claimed in claim 1 is implanted feedback force information collecting device, it is characterized in that: described frame of reference comprises that pole, cross that order is connected carry ball-collecting rack and infrared external reflection ball; Pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and the cross point that pole upper end and cross carry ball-collecting rack is connected, infrared external reflection ball totally 4 be connected to 4 corner points that cross carries ball-collecting rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110045902.3A CN102648870B (en) | 2011-02-25 | 2011-02-25 | Spinal pedicle screw implantation feedback force information collection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110045902.3A CN102648870B (en) | 2011-02-25 | 2011-02-25 | Spinal pedicle screw implantation feedback force information collection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102648870A CN102648870A (en) | 2012-08-29 |
| CN102648870B true CN102648870B (en) | 2014-03-12 |
Family
ID=46691107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110045902.3A Expired - Fee Related CN102648870B (en) | 2011-02-25 | 2011-02-25 | Spinal pedicle screw implantation feedback force information collection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102648870B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105989769B (en) * | 2015-02-02 | 2019-03-19 | 中国科学院沈阳自动化研究所 | A kind of minimally invasive spine surgical simulation force feedback surgery training device and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5807377A (en) * | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| EP0980037A2 (en) * | 1998-08-12 | 2000-02-16 | Mitsubishi Denki Kabushiki Kaisha | Haptic device |
| CN200942120Y (en) * | 2006-08-30 | 2007-09-05 | 刘一 | Resistance navigator for pedicle |
| CN101325920A (en) * | 2005-12-30 | 2008-12-17 | 直观外科手术公司 | Modular force sensor |
| CN101653356A (en) * | 2009-10-10 | 2010-02-24 | 上海交通大学 | Virtual surgery haptic information acquiring device |
| CN201519139U (en) * | 2009-10-19 | 2010-07-07 | 沈国芳 | Fixed support for surgical navigation |
-
2011
- 2011-02-25 CN CN201110045902.3A patent/CN102648870B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5807377A (en) * | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| EP0980037A2 (en) * | 1998-08-12 | 2000-02-16 | Mitsubishi Denki Kabushiki Kaisha | Haptic device |
| CN101325920A (en) * | 2005-12-30 | 2008-12-17 | 直观外科手术公司 | Modular force sensor |
| CN200942120Y (en) * | 2006-08-30 | 2007-09-05 | 刘一 | Resistance navigator for pedicle |
| CN101653356A (en) * | 2009-10-10 | 2010-02-24 | 上海交通大学 | Virtual surgery haptic information acquiring device |
| CN201519139U (en) * | 2009-10-19 | 2010-07-07 | 沈国芳 | Fixed support for surgical navigation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102648870A (en) | 2012-08-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102646350B (en) | Centrum location device for virtual surgery force sense information acquisition | |
| US11357578B2 (en) | Surgical instrument and method | |
| US20220039836A1 (en) | Retractor/compression/distraction system | |
| EP2975599B1 (en) | Growing spine model | |
| CN104905869B (en) | Navigation template for vertebral pedicle locating and real-time screw path monitoring and manufacturing method thereof | |
| CN102772244A (en) | Intraoperative navigation system used for implanting pedicle screw | |
| CN110533763B (en) | Intelligent orthopedic external fixation system based on cloud platform | |
| CN202027692U (en) | Clamping device for vertebral body specimen | |
| CN107252364B (en) | 3D printed humerus model and preparation method thereof | |
| CN111938881B (en) | Intelligent intervertebral disc system capable of monitoring activity posture and stress thereof and monitoring method | |
| CN102648870B (en) | Spinal pedicle screw implantation feedback force information collection device | |
| CN202027587U (en) | Force information collector for thoracolumbar operation of human body | |
| CN203252731U (en) | Personalized fixing auxiliary device in lumbar vertebra | |
| CN101856264B (en) | Orthopedic surgery navigation template based on three-dimensional modeling | |
| CN205234544U (en) | Chest lumbar vertebrae way of escape wicresoft expansion tractive baffle external member | |
| CN202376262U (en) | Three-dimensional remodeled titanium alloy stable-wing artificial vertebral plate for spine | |
| CN205920674U (en) | Operation simulation platform | |
| CN207236810U (en) | A kind of pedicle of vertebral arch fixed system is with strutting piece | |
| CN207012235U (en) | A kind of pedicle of vertebral arch fixed system installation tool | |
| CN204814138U (en) | Chest lumbar vertebrae way of escape flexible fixation system | |
| CN219109695U (en) | Fusion intervertebral space struts ware under mirror | |
| CN206239387U (en) | Pulp cavity mirror | |
| CN219147759U (en) | Cutting reamer | |
| CN220526479U (en) | Minimally invasive percutaneous pedicle screw fixation operation training device | |
| CN203226890U (en) | Extension jib minimally invasive rotating uniaxial nail |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20170225 |