CN105310773A - Non-intermittent automatic operation type minimally invasive spinal robot arm based on lateral wing guidance - Google Patents
Non-intermittent automatic operation type minimally invasive spinal robot arm based on lateral wing guidance Download PDFInfo
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- CN105310773A CN105310773A CN201410322724.8A CN201410322724A CN105310773A CN 105310773 A CN105310773 A CN 105310773A CN 201410322724 A CN201410322724 A CN 201410322724A CN 105310773 A CN105310773 A CN 105310773A
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- robot arm
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Abstract
The invention relates to a non-intermittent automatic operation type minimally invasive spinal robot arm based on a lateral wing guidance. The non-intermittent automatic operation type minimally invasive spinal robot arm based on the lateral wing guidance comprises a base plate which is provided with a connector. The robot arm is characterized in that an endoscope head, an aspirator and a main lifting mechanism are arranged on the base plate. Meanwhile, the main lifting mechanism is connected with a punch device through a steering mechanism, the punch device is connected with a connecting base, and the punch device comprises punch forceps. In addition, a guide tube is arranged in the punch forceps, a cam mechanism is connected to the punch forceps, the cam mechanism is connected with a punch motor through a connecting shaft, and a reset spring is arranged between the connecting base and the punch forceps. A cutting sucker is arranged in the guide tube. The non-intermittent automatic operation type minimally invasive spinal robot arm based on the lateral wing guidance can participate in implementation of spinal operations and specially can assist medical staff in conducting spinal operations such as a spinal fracture, a spinal tumor, a spinal scoliosis, a slipped disc, a spinal stenosis and spondylolisthesis. The overall application range is wide, operation is easy and convenient, and safety and reliability are achieved.
Description
Technical field
The present invention relates to a kind of Wicresoft robot arm, particularly relate to a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank.
Background technology
The annual whole world has thousands of rachiopathy patient to carry out various nerve decompression operation, as traditional operation vertebrae plate resection, Nuclectomy, endoscopic minimally-invasive intervertebral fusion etc. at present.Because operation operates near neural, injured nerve may cause paralysis.Therefore, nerve decompression has very important significance in field of spinal surgery safely and effectively.
Operating theater instruments for nerve decompression mainly contains following several: 1 laminectomy rongeur by manual operation, take " tool setting once, sting except once, chip removal once " mode, multi-pass operation can complete nerve cause pressure tissue excision.Each operation all will be carried out resection organization's examination and rongeur attitude and position and adjust, thus secondary all risky, not only waste time and energy, and careless slightly namely likely accidentally dropping meets accident.2. Electric grinding drill, the intensity of working doctor can be reduced, but because rotating speed is high, there is many risk factors, as friction between bistrique and facet produce high temperature, be easily wound around intraspinal tube soft tissue, artificial grinding is difficult to accurately to control the degree of depth that bistrique enters, instability is easily accidentally dropped, all likely cause nerve injury, thus it is generally used for vertebral plate osseous tissue wear down being directly used in its through thickness excision decompression.3. ultrasound knife, efficiency is lower, also can heat production in deep process, is generally used for the carving of fritter osseous tissue.4 operating robots, operation principle based on the Spine Robot System of force-feedback control strategy is, according to operation demand, robot can stop after independently grinding pathological changes vertebra wall to suitable thickness automatically, do not damage intraspinal spinal cord with neural, grinding state is judged according to gathering force value, the method adopted first builds hardware experiment platform to carry out grinding experiment, then by the relation between a large amount of interpretation grinding forces and vertebra wall thickness, and the Changing Pattern of grinding force when drill bit is in vertebra wall diverse location.Conclude according to these relations and regularity summarization and draw preliminary grinding strategy, carry out emulation experiment and analog bone experiment after coding, to update in an experiment and perfect, finally obtain final control strategy, then by its feasibility of analog bone experimental verification.The shortcoming of this robot is obvious, can not grind vertebral plate sclerotin completely, still needs to adopt the remaining vertebral plates the most closely that contact with nervous tissue of manual operations excision such as laminectomy rongeur, can not effectively reduce operation risk.
In view of this, urgently for above-mentioned technical problem, a kind of Non-intermittent operation vertebral column minimally invasive robot arm guided based on flank of the design that looks for another way, with give full play to robot stabilized, precision is high, the advantage such as reproducible, realize the precisely operation automatically continuously that the nerve such as vertebral plate, ligamenta flava causes pressure cutting tissue, thus guarantee nerve decompression safety and improve curative effect.
Summary of the invention
Object of the present invention is exactly to solve the above-mentioned problems in the prior art, provides a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank.
Object of the present invention is achieved through the following technical solutions:
A kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, include base plate, described base plate is provided with interface, wherein: described substrate is provided with endoscope head, suction pump and main hoist, described main hoist is connected with by steering mechanism and stings cutting apparatus, described cutting apparatus of stinging is connected with Connection Block, described cutting apparatus of stinging includes punch forceps, guide pipe is provided with in described punch forceps, described punch forceps is connected with cam mechanism, described cam mechanism is connected with occlusion motor by connecting axle, back-moving spring is provided with between described Connection Block and punch forceps, be provided with in described guide pipe and cut suction pipe.
Further, above-mentioned a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, wherein: described guide pipe lower end is provided with collet, described collet is provided with boss and flank.
Further, above-mentioned a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, wherein: described suction pipe lower end of cutting is distributed with blade, described upper end of cutting suction pipe is provided with flange, described flange upper surface contacts with cam mechanism, and described flange undersurface contacts with back-moving spring.
Further, above-mentioned a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, wherein: described main hoist includes guide rail, described guide rail is connected with screw mandrel, described screw mandrel is provided with slide block, outside described steering mechanism, main holder is installed, be provided with in described main holder and turn to cylinder, described turning between cylinder and main holder is arranged with bearing, described turning in cylinder is provided with punch forceps, described turning to below cylinder is connected with secondary synchronous pulley, described secondary synchronous pulley connects reversing motor by secondary Timing Belt, described turning to above cylinder is connected with main synchronous pulley, described main synchronous pulley connects lifting motor by main Timing Belt.
Further, above-mentioned a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, wherein: described turning on cylinder is provided with locking device.
Further, above-mentioned a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, wherein: described substrate is connected with service aisle, endoscope head is provided with in described service aisle, described endoscope head is provided with fixture, described fixture includes secondary holder, and described secondary holder is connected with locking nut.
Again further, above-mentioned a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, wherein: described suction pump is provided with secondary elevating mechanism, described secondary elevating mechanism includes steel wire, one end of described steel wire connects locking nut, and the other end of described steel wire is by reverse wheel linking springs.
The advantage of technical solution of the present invention is mainly reflected in: the enforcement that can participate in the operation of spinal column class, especially can help medical personnel to carry out the operation of the multiple spinal operations such as spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis.Overall applicability scope is wide, easy and simple to handle, safe and reliable.
Accompanying drawing explanation
Object of the present invention, advantage and disadvantage, by for illustration and explanation for the non-limitative illustration passing through preferred embodiment below.
Fig. 1 is the frontal construction schematic diagram of the Non-intermittent automatic operation formula vertebral column minimally invasive robot arm that this guides based on flank.
Fig. 2 is the side surface configurations schematic diagram of the Non-intermittent automatic operation formula vertebral column minimally invasive robot arm that this guides based on flank.
Fig. 3 is the original state schematic diagram of the Non-intermittent automatic operation formula vertebral column minimally invasive robot arm that this guides based on flank.
Fig. 4 is the hands continuous duty schematic diagram of the Non-intermittent automatic operation formula vertebral column minimally invasive robot arm that this guides based on flank.
| 1 | Base plate | 2 | Interface |
| 3 | Punch forceps | 4 | Main hoist |
| 5 | Steering mechanism | 6 | Endoscope head |
| 7 | Fixture | 8 | Suction pump |
| 9 | Secondary elevating mechanism | 10 | Service aisle |
| 11 | Guide pipe | 12 | Connection Block |
| 13 | Cut suction pipe | 14 | Cam mechanism |
| 15 | Back-moving spring | 16 | Connecting axle |
| 17 | Collet | 18 | Boss |
| 19 | Flank | 20 | Blade |
| 21 | Flange | 22 | Lower surface |
| 23 | Upper surface | 24 | Cam |
| 25 | Occlusion motor | 26 | Nerve causes pressure tissue |
| 27 | Inner chamber | 28 | Guide rail |
| 29 | Screw mandrel | 30 | Slide block |
| 31 | Lifting motor | 32 | Main Timing Belt |
| 33 | Main synchronous pulley | 34 | Holder |
| 35 | Turn to cylinder | 36 | Bearing |
| 37 | Secondary Timing Belt | 38 | Secondary synchronous pulley |
| 39 | Reversing motor | 40 | Locking device |
| 41 | Holder | 42 | Locking nut |
| 43 | Spring | 44 | Reverse wheel |
| 45 | Steel wire |
。
Detailed description of the invention
The Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank 19 as shown in figures 1-4, include base plate 1, this base plate 1 is provided with interface 2, can be connected with robot body, its unusual part is: implement position to effectively observe, pathological tissue 26 is correctly attracted simultaneously, substrate is provided with endoscope head 6, suction pump 8 and main hoist 4.Specifically, the main hoist 4 of employing is connected with by steering mechanism 5 stings cutting apparatus, and this is stung cutting apparatus and is connected with Connection Block 12.Further, sting cutting apparatus and include punch forceps 3, in punch forceps 3, be provided with guide pipe 11.Consider the normal operation of punch forceps 3, punch forceps 3 is connected with cam mechanism 14, this cam mechanism 14 is connected with occlusion motor 25 by connecting axle 16.Consider the smooth reset of punch forceps 3, between Connection Block 12 and punch forceps 3, be provided with back-moving spring 15.Moreover, in order to effectively coordinate the running of suction pump 8, being provided with in guide pipe 11 and cutting suction pipe 13.
With regard to the present invention one preferably embodiment, guide pipe 11 lower end is provided with collet 17, and collet 17 is provided with boss 18 and flank 19.Such punch forceps 3 completes once that occlusion is when replacing, and flank 19 can produce good guiding function, prevents the nerve such as bone or ligament from causing pressure tissue 26 and departs from collet 17.
Further, for the ease of cutting the effective cut-out of suction pipe 13 to tissue 26, being distributed with blade 20 cutting suction pipe 13 lower end, considering that running is smooth and easy, so that the smooth sucking-off of resection organization 26 fragment, cut suction pipe 13 inner chamber 27 and comparatively increase thick in its blade 20 place.Moreover, suction pump 8 with cut suction pipe 13 and combine, with smooth and easy " chip removal ", thus increase work efficiency, shorten the operating time, be more conducive to robot arm Non-intermittent continuous automatic operation.
Meanwhile, in order to coordinate the running needs cutting suction pipe 13, the upper end of cutting suction pipe 13 is provided with flange 21.This flange 21 upper surface 23 contacts with cam mechanism 14, and flange 21 lower surface 22 contacts with back-moving spring 15.
Consider the work location needs stinging cutting apparatus, main hoist 4 of the present invention includes guide rail 28, guide rail 28 is connected with screw mandrel 29, and screw mandrel 29 is provided with slide block 30.Meanwhile, main holder 34 is installed outside steering mechanism 5, is provided with in main holder 34 and turns to cylinder 35.Specifically, turn between cylinder 35 and main holder 34 and be arranged with bearing 36, be provided with punch forceps 3 turning in cylinder 35, and turn to below cylinder 35 and be connected with secondary synchronous pulley 38.This secondary synchronous pulley 38 connects reversing motor 39 by secondary Timing Belt 37.Corresponding with it, turn to above cylinder 35 and be connected with main synchronous pulley 33, main synchronous pulley 33 connects lifting motor 31 by main Timing Belt 32.For the ease of carrying out locking position, be provided with locking device 40 turning on cylinder 35.
Again further, in order to reduce space hold, carrying out best layout, the substrate of employing being connected with service aisle 10, in this service aisle 10, being provided with endoscope head 6.Meanwhile, harmonize with fixing in position when working for the ease of endoscope head 6, endoscope head 6 is provided with fixture 7.Further, fixture 7 includes secondary holder 41, and this secondary holder 41 is connected with locking nut 42.
Meanwhile, consider that suction pump 8 can enter best attraction position, suction pump 8 is provided with secondary elevating mechanism 9.Specifically, for the ease of manipulation, the secondary elevating mechanism 9 of employing includes steel wire 45, and one end of this steel wire 45 connects locking nut 42, and the other end of steel wire 45 is by reverse wheel 44 linking springs 43.
In conjunction with actual service condition of the present invention, when being engaged motor 25 and working, drive cam mechanism 14 rotary motion, cut suction pipe 13 and pump.Now, blade 20 is engaged with boss 18, the nerves such as the bone entered above boss 18 or ligament can be caused pressure tissue 26 and shred.Afterwards, tissue pieces is pushed by boss 18 and cuts suction pipe 13 inner chamber 27 and siphon away.
Simultaneously, manipulator completes this robot arm " tool setting " first by controller, both collet 17 had been stretched into the nerve such as bone or ligament cause pressure tissue 26 below and after screening, because the blade 20 cutting suction pipe 13 adopted is substantially suitable with the area of boss 18, punch forceps 3 completes the nerves such as the bone that is once engaged the top correspondence only excising boss 18 or ligament and causes pressure tissue 26, and the nerve such as bone on flank 19 or ligament causes pressure tissue 26 and can not excise.Such punch forceps 3 completes once that occlusion is when replacing, and flank 19 can produce good guiding function, prevents the nerve such as bone or ligament from causing pressure tissue 26 and departs from collet 17, avoid again " tool setting ", to be again engaged, so circulate, robot arm Non-intermittent continuous automatic operation can be realized.
Can be found out by above-mentioned character express, after adopting the present invention, the enforcement of spinal column class operation can be participated in, medical personnel especially can be helped to carry out the operation of the multiple spinal operations such as spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis.Overall applicability scope is wide, easy and simple to handle, safe and reliable.
These embodiments are only the prominent examples of application technical solution of the present invention, allly take equivalent replacement or equivalent transformation and the technical scheme that formed, all drop within the scope of protection of present invention.
Claims (7)
1. the Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank, include base plate, described base plate is provided with interface, it is characterized in that: described substrate is provided with endoscope head, suction pump and main hoist, described main hoist is connected with by steering mechanism and stings cutting apparatus, described cutting apparatus of stinging is connected with Connection Block, described cutting apparatus of stinging includes punch forceps, guide pipe is provided with in described punch forceps, described punch forceps is connected with cam mechanism, described cam mechanism is connected with occlusion motor by connecting axle, back-moving spring is provided with between described Connection Block and punch forceps, be provided with in described guide pipe and cut suction pipe.
2. a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank according to claim 1, is characterized in that: described guide pipe lower end is provided with collet, described collet is provided with boss and flank.
3. a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank according to claim 1, it is characterized in that: described suction pipe lower end of cutting is distributed with blade, described upper end of cutting suction pipe is provided with flange, described flange upper surface contacts with cam mechanism, and described flange undersurface contacts with back-moving spring.
4. a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank according to claim 1, it is characterized in that: described main hoist includes guide rail, described guide rail is connected with screw mandrel, described screw mandrel is provided with slide block, outside described steering mechanism, main holder is installed, be provided with in described main holder and turn to cylinder, described turning between cylinder and main holder is arranged with bearing, described turning in cylinder is provided with punch forceps, described turning to below cylinder is connected with secondary synchronous pulley, described secondary synchronous pulley connects reversing motor by secondary Timing Belt, described turning to above cylinder is connected with main synchronous pulley, described main synchronous pulley connects lifting motor by main Timing Belt.
5. a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank according to claim 4, is characterized in that: described turning on cylinder is provided with locking device.
6. a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank according to claim 1, it is characterized in that: described substrate is connected with service aisle, endoscope head is provided with in described service aisle, described endoscope head is provided with fixture, described fixture includes secondary holder, and described secondary holder is connected with locking nut.
7. a kind of Non-intermittent automatic operation formula vertebral column minimally invasive robot arm guided based on flank according to claim 1, it is characterized in that: described suction pump is provided with secondary elevating mechanism, described secondary elevating mechanism includes steel wire, one end of described steel wire connects locking nut, and the other end of described steel wire is by reverse wheel linking springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410322724.8A CN105310773B (en) | 2014-07-08 | 2014-07-08 | A kind of Non-intermittent guided based on flank is automatically brought into operation formula vertebral column minimally invasive mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410322724.8A CN105310773B (en) | 2014-07-08 | 2014-07-08 | A kind of Non-intermittent guided based on flank is automatically brought into operation formula vertebral column minimally invasive mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN105310773A true CN105310773A (en) | 2016-02-10 |
| CN105310773B CN105310773B (en) | 2017-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410322724.8A Active CN105310773B (en) | 2014-07-08 | 2014-07-08 | A kind of Non-intermittent guided based on flank is automatically brought into operation formula vertebral column minimally invasive mechanical hand |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107280761A (en) * | 2017-08-06 | 2017-10-24 | 苏州点合医疗科技有限公司 | A kind of anti-neurotrosis of intelligence protrudes Nucleotomy surgery mechanical hand |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5702420A (en) * | 1994-06-14 | 1997-12-30 | Anthony R. Sterling And Tri-Tech, Inc. | Motorized suction punch forceps |
| US20040267277A1 (en) * | 2003-06-30 | 2004-12-30 | Zannis Anthony D. | Implant delivery instrument |
| CN101744656A (en) * | 2008-12-11 | 2010-06-23 | 张春霖 | Minimally invasive spine surgical robot against nerve injuries |
| CN203988374U (en) * | 2014-07-08 | 2014-12-10 | 苏州点合医疗科技有限公司 | Non-intermittent automatic operation formula vertebral column minimally invasive robot arm based on flank guiding |
-
2014
- 2014-07-08 CN CN201410322724.8A patent/CN105310773B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5702420A (en) * | 1994-06-14 | 1997-12-30 | Anthony R. Sterling And Tri-Tech, Inc. | Motorized suction punch forceps |
| US20040267277A1 (en) * | 2003-06-30 | 2004-12-30 | Zannis Anthony D. | Implant delivery instrument |
| CN101744656A (en) * | 2008-12-11 | 2010-06-23 | 张春霖 | Minimally invasive spine surgical robot against nerve injuries |
| CN203988374U (en) * | 2014-07-08 | 2014-12-10 | 苏州点合医疗科技有限公司 | Non-intermittent automatic operation formula vertebral column minimally invasive robot arm based on flank guiding |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107280761A (en) * | 2017-08-06 | 2017-10-24 | 苏州点合医疗科技有限公司 | A kind of anti-neurotrosis of intelligence protrudes Nucleotomy surgery mechanical hand |
| CN107280761B (en) * | 2017-08-06 | 2023-07-25 | 苏州点合医疗科技有限公司 | Intelligent mechanical arm for preventing nerve injury from protruding nucleus pulposus excision operation |
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| CN105310773B (en) | 2017-09-22 |
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