CN107361859B - Auxiliary spinal minimally invasive surgery positioning system - Google Patents
Auxiliary spinal minimally invasive surgery positioning system Download PDFInfo
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- CN107361859B CN107361859B CN201710492169.7A CN201710492169A CN107361859B CN 107361859 B CN107361859 B CN 107361859B CN 201710492169 A CN201710492169 A CN 201710492169A CN 107361859 B CN107361859 B CN 107361859B
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- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 79
- 238000001356 surgical procedure Methods 0.000 claims description 15
- 230000000903 blocking effect Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000004659 sterilization and disinfection Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000005855 radiation Effects 0.000 abstract description 5
- 238000002513 implantation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000005553 drilling Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000002594 fluoroscopy Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002684 laminectomy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 230000000472 traumatic effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to an auxiliary spine minimally invasive surgery positioning system which mainly comprises a mechanical arm and a path positioner. The path positioner comprises a flange short locking assembly, a lifting sliding assembly and a double-ring positioning assembly. The mechanical arm can be arranged on the trolley; the path locator is fixed at the tail end of the mechanical arm through a flange short locking component. The lifting sliding component is connected with the flange short locking component through the clamping locking main body; the double-ring positioning assembly is connected with the lifting translation assembly through a screw. The double-ring positioning assembly is provided with a first positioning ring and a second positioning ring which are used for the guide needle to pass through in sequence so as to position the guide needle, and the first positioning ring and the second positioning ring are arranged at intervals and concentrically; the lifting sliding component can drive the double-ring positioning component to move in a translational mode along the axis direction of the double-ring. The system can assist doctors to quickly and accurately position the implantation path of the spine minimally invasive surgery under the condition of less radiation times.
Description
Technical Field
The invention relates to a surgical instrument, in particular to a positioning system for assisting minimally invasive spinal surgery.
Background
Because the traction and the stripping of the spine minimally invasive surgery on soft tissues are less, the postoperative pain can be reduced, and the recovery time is shortened; and the minimally invasive spine surgery performs limited excision on the bony structure, so that the possibility of post-operation spine instability is reduced. Thus, minimally invasive spinal surgical techniques have evolved rapidly over the last decade. Minimally invasive spinal surgery mainly comprises minimally invasive underpass microscopic disc nucleus pulposus excision, minimally invasive lumbar semi-laminectomy, trans-foraminal lumbar interbody fusion, lateral lumbar interbody fusion and minimally invasive posterior fixation techniques. Compared with the traditional open surgery, the minimally invasive tunnel positioning is needed under the perspective guidance, so that although the minimally invasive surgery of the spine is less traumatic, the radiation dose received by a surgeon is 10 to 12 times that of the traditional surgery.
In the conventional minimally invasive spine surgery, a doctor performs surgical positioning by visually observing the angles and distances of surgical instruments in the righting and lateral X-ray images relative to the path of a surgical object according to the experience and skill of the surgery and adjusting the surgical instruments to be coincident with the ideal surgical path. This method relies heavily on the surgical experience and skill of the physician. The difficulty of surgery is great due to the anatomical complexity of the spine and the limitations of the means by which the doctor observes the spine; the spine drilling precision is not high, and the spine drilling operation deviates from a set path; in addition, the repeated use of X-ray fluoroscopy exposes doctors, patients and related personnel to radiation for a long period of time. Therefore, the invention aims to provide the auxiliary spine minimally invasive surgery path positioning system which is simple and flexible to operate, wide in application range and capable of accurately adjusting the position.
Disclosure of Invention
Aiming at the problems of the conventional minimally invasive spine surgery, the invention aims to provide an auxiliary minimally invasive spine surgery path positioning system which can assist doctors to quickly and accurately position an implantation path under the condition of less radiation times and is simple to operate.
In order to achieve the aim, the invention relates to an auxiliary spine minimally invasive surgery positioning system which comprises a mechanical arm and a path positioner.
According to the present invention, the robot arm has six or more degrees of freedom and can be mounted on the carriage.
According to the invention, the path positioner comprises a flange short locking assembly, a lifting sliding assembly and a double-ring positioning assembly. The path positioner is fixed at the tail end of the mechanical arm through a flange short locking assembly; the lifting sliding component is connected with the flange short locking component through the clamping locking main body; the double-ring positioning assembly is connected with the lifting translation assembly through a screw.
According to the invention, the double-ring positioning assembly is provided with a first positioning ring and a second positioning ring which are used for the guide needle to pass through in sequence so as to position the guide needle; the lifting sliding component can drive the double-ring positioning component to move in a translational mode along the axis direction of the double-ring.
According to the invention, the flange end locking assembly consists of an end flange, a clamping and locking baffle, a locking knob, a clamping and locking main body, a mechanical arm end baffle, a clamping and locking movable block, a locking stud and a compression spring.
According to the invention, the end flange is provided with one end positioning hole, and is connected with the end of the mechanical arm through a screw; the other end is provided with a dovetail groove, two threaded holes are arranged below a boss of the dovetail groove, and a tail end baffle of the mechanical arm is arranged on a tail end flange through a screw; the clamping and locking main body, the clamping and locking baffle plate and the clamping and locking movable block are fixed on the tail end flange through screws.
According to the invention, the clamping and locking main body is of a U-shaped structure with one side of a square plate extending out of two square columns; square bosses are arranged on each side of the square column and used for preventing the disinfection sleeve from sliding off; the square column is provided with a light hole near the square plate end, so that the upper cam locking shaft of the lifting sliding component can pass through; a V-shaped boss is arranged on a side square column of the clamping and locking main body and is matched with a dovetail groove surface of the tail end flange together with the V-shaped boss of the clamping and locking movable block; the locking stud and the compression spring can pass through the strip holes on the square column; the square column at the other side is provided with a pin hole and a groove, and is connected with the clamping and locking movable block through a pin.
According to the invention, the locking knob is a disc-like part, and is internally provided with a threaded hole which is matched with the threads of the locking stud.
According to the invention, the locking stud is mounted in the elongated hole of the clamping and locking movable block by means of a pin.
According to the invention, the distance between the lower surface of the locator and the human body can be adjusted by lifting the sliding component. The lifting sliding component consists of a clamping locking main body, an upper optical axis fixing seat, two optical axes, an upper locking spanner, a middle optical axis, an upper cam shaft fixing block, a zero position positioning shifting piece, a zero position positioning blocking piece, a sliding block, a lower optical axis fixing seat, an upper locking cam and an upper cam locking shaft.
According to the invention, the clamping and locking body of the lifting and sliding assembly is the same part as the clamping and locking body of the terminal locking assembly.
According to the invention, the upper optical axis fixing seat and the lower optical axis fixing seat are respectively provided with three optical holes, and two optical axes on two sides and a middle optical axis are respectively arranged; two threaded holes are formed in the side face of the upper optical axis fixing seat, wherein one of the threaded holes is provided with a jackscrew for fixing three optical axes, and the other threaded hole is provided with a ball plunger positioning zero positioning shifting piece; the screw holes on the side surface of the lower optical axis fixing seat are provided with jackscrews to fix three optical axes, and grooves on two sides are used for executing the positioning of the connecting blocks of the tail end assembly and are connected with the connecting blocks through screws.
According to the invention, the sliding block is provided with three positioning holes which can pass through three optical axes and can freely slide on the optical axes; the clamping and locking main body is arranged on the clamping and locking main body through a screw; one surface is provided with a groove matched with the zero position positioning baffle plate; square grooves and screw holes for the upper locking cam to lock the middle optical axis are arranged on the opposite sides of the grooves;
according to the invention, the upper locking cam is fixed on the upper cam locking shaft through the jackscrew installation and penetrates through the shaft hole of the clamping locking main body; when the upper cam locking shaft rotates, the upper locking cam is propped against the middle optical axis by utilizing the eccentric structure, so that locking is realized; the upper cam locking shaft is an optical axis with threads at two ends, the locking spanner, the upper cam shaft fixing block and the upper locking cam can be connected together.
According to the invention, the zero-position positioning pulling piece is connected with the upper optical axis fixing seat through a screw, and the zero-position positioning blocking piece is fixed on the sliding block through the screw; the side of the zero position positioning baffle is provided with an annular groove, and when the zero position positioning pulling piece is screwed into the groove of the zero position positioning baffle, the positioning pin is matched with the inner wall of the groove, so that the lifting sliding component can be locked.
According to the invention, the double-ring positioning assembly consists of a connecting block, an end connecting piece, an end locking spanner, an end cam locking shaft end cam shaft fixing block, an execution end dovetail groove, an execution end, a direction designating needle, an end small circular ring, an end large circular ring, a dovetail groove and an end locking cam.
According to the invention, one end of the connecting block is connected with the lower optical axis fixing seat of the lifting translation assembly through a screw, and the other end of the connecting block is connected with the tail end connecting piece through a screw; the end connector is connected with the screw executing tail end dovetail groove connection; the tail end cam locking shaft passes through the shaft hole of the tail end connecting piece; the end locking cam passes through the shaft hole of the end connecting piece and is fixedly arranged on the end cam locking shaft through a jackscrew.
According to the invention, the end cam locking shaft is an optical shaft with threads at two ends; the two end cam shaft fixing blocks respectively penetrate into two ends of the end cam locking shaft 304 and are locked by screws; the two tail end locking plates are provided with threaded holes and are respectively arranged at two ends of the tail end cam locking shaft and locked by screws.
According to the invention, the execution end dovetail groove is connected with the end connecting piece through a screw; the lower part is fixed with a tail end baffle plate of the dovetail groove through a screw, and a dovetail groove surface is arranged to be matched with the execution tail end.
According to the invention, the tail part of the execution end is of a dovetail groove boss structure, locking and positioning can be performed under the action of the end locking cam and the execution end dovetail groove, the upper part of the execution end is provided with a strip-shaped groove for fixing a direction designating needle, the two annular bosses at the end are respectively fixed with a small annular boss at the end and a large annular boss at the end, the two annular bosses are concentric, and the symmetrical planes of the two bosses pass through the axis of the semi-annular boss.
According to the invention, an auxiliary spine minimally invasive surgery positioning system is used as follows: according to the operation requirement, the spine minimally invasive operation positioning system is installed on a trolley; according to the X-ray image shot in the operation process, calculating the deviation between the path positioner and the operation planning path by adopting spine minimally invasive operation path navigation software, and adjusting the mechanical arm to enable the operation path determined by the two circular axes of the double-ring positioning assembly to be consistent with the planning path; the lifting sliding component is adjusted, the distance between the lower surface of the locator and the human body is shortened, and the guide needle is implanted.
According to the invention, when parallel multipath positioning is performed, after the first path positioning is completed, the lifting sliding component is regulated, the contact between the positioner and the lower surface of the human body is shortened, and the guide needle is implanted; and then, adjusting the lifting sliding assembly, increasing the distance between the lower surface of the positioner and the human body, and adjusting the operating bed to enable the positioning path of the positioner to reach the next path channel for next path positioning. According to the operation needs, the operating table can be adjusted for a plurality of times, and the positioning of a plurality of parallel paths is completed.
Compared with the prior art, the invention has the beneficial effects that:
the auxiliary spine minimally invasive surgery path positioning system provided by the invention is provided with the position indication mark, so that a doctor can be assisted to quickly and accurately position a surgery path, and the surgery time is shortened; greatly reduces the shooting times of X-ray films in operation and reduces the radiation of doctors and patients.
Drawings
FIG. 1 is a block diagram of a positioning system for assisting in minimally invasive spinal surgery;
FIG. 2 is a block diagram of a path locator;
FIG. 3 is a block diagram of a flange short locking assembly;
FIG. 4 is a block diagram of a lift slide assembly;
fig. 5 is a block diagram of a dual ring positioning assembly.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
Referring to fig. 1-5, one embodiment of the auxiliary spinal minimally invasive surgical path location system of the present invention includes a robotic arm, a path locator.
The mechanical arm has more than six degrees of freedom, and is a six-degree-of-freedom serial mechanical arm manufactured by Denmark Universal Robots company; the robotic arm may be mounted on a trolley.
The path positioner comprises a flange short locking assembly, a lifting sliding assembly and a double-ring positioning assembly. The path positioner is fixed at the tail end of the mechanical arm through a flange short locking assembly; the lifting sliding component is connected with the flange short locking component through the clamping locking main body; the double-ring positioning assembly is connected with the lifting translation assembly through a screw. The double-ring positioning assembly is provided with a first positioning ring and a second positioning ring which are used for the guide needle to pass through in sequence so as to position the guide needle; the lifting sliding component can drive the double-ring positioning component to move in a translational mode along the axis direction of the double-ring.
One end of the flange end locking assembly 1 is connected with the tail end of the UR robot through a screw, and the other end of the flange end locking assembly is connected with the lifting sliding assembly 2 through a screw. The UR flange end locking assembly 1 is composed of a UR end flange 101, a clamping locking body baffle 102, a locking knob 103, a clamping locking body 104, a UR end baffle 105, a clamping locking movable block 106, a locking stud 107 and a compression spring 108. The UR terminal flange 101 is connected with the UR robot terminal through a screw, a round boss of the end face is positioned with a positioning hole of the robot terminal, the purpose is to ensure precision, the other end face is of a dovetail groove structure, the structure can enable the V-shaped bosses of the clamping locking main body 104 and the clamping locking movable block 106 to be matched with the dovetail groove surface, positioning and clamping are achieved, two threaded holes are formed below the dovetail groove boss, and a UR terminal baffle can be installed; the number of the clamping and locking main body baffle plates 102 in the assembly is two, the clamping and locking main body baffle plates are of a sheet-shaped structure, one clamping and locking main body 104 is fixedly connected with the clamping and locking main body through a screw, the other clamping and locking main body is installed with the clamping and locking movable block 106 through a screw, and the purpose is that when the clamping and locking main body 104 and the clamping and locking movable block 106 are installed on the UR tail end flange 101, only one direction can be installed (if not, the clamping and locking main body 104 can be installed after being turned for 180 degrees), so that the structural zero position defined by a robot is not changed; the locking knob 103 is a disc part, the outer part is knurled, locking and loosening are facilitated, and the inner part is provided with a threaded hole which is matched with the threads of the locking stud 107; the clamping and locking main body 104 is a U-shaped structure with one side of a square plate extending out of two square columns, one side of the square column is provided with a V-shaped boss, the purpose of the V-shaped boss is to be matched with a dovetail groove of the UR terminal flange 101 to realize positioning and locking, the side of the square column is provided with a long strip hole, the purpose of the locking stud 107 is to pass through and fix the action of the compression spring 108, the outer side of the long strip hole is also a supporting surface of the locking knob 103, the square columns at two ends are respectively provided with a square boss, the purpose of preventing a sterilizing sleeve from sliding down, the safety of a mechanism in operation is enhanced, the two square columns are close to the square plate end and are provided with unthreaded holes, the purpose of the upper cam locking shaft 212 in the lifting and sliding assembly 2 is to pass through, the shaft hole is matched with clearance fit, the upper cam locking shaft 212 can freely rotate, the square column at the other side is provided with a pin hole and a groove, the purpose of installing the clamping and locking movable block 106 is freely rotated, the middle of the U-shaped bottom (namely the square plate) is provided with a square hole in the middle, the purpose of installing the upper locking cam 211 in the lifting and sliding assembly 2, and four round holes are threaded through the threaded through holes 209 in the lifting and sliding assembly 2; the UR end baffle 105 is connected with the UR end flange 101 through screws, and aims to position the clamping and locking main body 104 and the clamping and locking movable block 106; one end of the clamping and locking movable block 106 is connected with the clamping and locking main body 104 through a pin so that the clamping and locking main body 104 can rotate around a pin shaft, a pin hole is formed in the upper portion of the strip hole, and the purpose is to install a locking stud 107, so that the clamping and locking movable block 106 and the clamping and locking main body can hold a dovetail groove of the UR tail end 101, locking and positioning are realized, and a threaded hole is formed in the upper portion of the clamping and locking movable block and connected with the clamping and locking main body baffle 102; one end of a locking stud 107 is mounted in a strip hole of the clamping and locking movable block 106 through a pin, the other end passes through the strip hole of the clamping and locking main body 104, the end surface needs to pass through a compression spring 108, the clamping and loosening of the clamping and locking movable block 106 are realized through adjusting a locking knob 103, and a positioning ring is arranged in the middle of the locking stud and used for positioning the spring; the compression spring 108 provides pressure to the present assembly, so that the clamp locking mechanism is in a relaxed state by default, and the locking knob 103 is tightened against the spring pressure to lock the mechanism, thereby facilitating assembly and disassembly.
The assembly lifting sliding device 2 is composed of a clamping locking main body 201, an upper optical axis fixing seat 202, two side optical axes 203, an upper locking spanner 204, a middle optical axis 205, an upper cam shaft fixing block 206, a zero position positioning shifting piece 207, a zero position positioning blocking piece 208, a sliding block 209, a lower optical axis fixing seat 210, an upper locking cam 211 and an upper cam locking shaft 212. Wherein the clamp lock body 201 and the clamp lock body 104 in the UR end lock assembly 1 are the same part; the upper part of the upper optical axis fixing seat 202 is provided with three optical holes, two optical axes 203 on two sides and an optical axis 205 in the middle are respectively arranged, the connecting line of the centers of the three holes is a triangle, the purpose of the three holes is to increase the rigidity of the component, the side surface is provided with a threaded hole, the purpose of the threaded hole is to install a jackscrew to fix the three optical axes, the purpose of the other threaded hole is to install a ball plunger, the ball plunger can be purchased in the market, and the purpose of the ball plunger is to position a zero position positioning pulling piece 207; the number of the optical axes 203 at two sides in the assembly is two, two sides of the optical axes are respectively inserted into the upper optical axis fixing seat 202 and the lower optical axis fixing seat 210 and are locked by jackscrews, and the middle of the optical axis fixing seat is penetrated with a sliding block 209, and the sliding block 209 can freely slide on the optical axes; the number of the upper locking wrenches 204 in the assembly is two, and the upper locking wrenches are fixedly connected with the upper cam locking shaft 212 through middle threaded holes, and the upper locking wrenches are used for rotating upper locking cams 211 arranged on the upper cam locking shaft 212 to realize locking; two ends of the middle optical axis 205 are respectively arranged on the upper optical axis fixing seat 202 and the lower optical axis fixing seat 210, the middle part passes through the sliding block 209, the sliding block can freely slide on the middle cam 205 to realize the positioning function, and the cam profile surface can be contacted with the middle optical axis 205 by rotating the upper locking cam 211, so that the locking is realized; the upper cam shaft fixing blocks 206, the number of which is two in the assembly, penetrate into two ends of the upper cam locking shaft 212 respectively and are locked by screws, so that the upper cam locking shaft 212 is positioned and has only one rotation degree of freedom; the zero position positioning pulling sheet 207 is a sheet formed by a circle and a rectangle, is connected with the upper optical axis fixing seat 202 through a screw, but can rotate around the screw axis, the circular part is provided with two positioning holes in the vertical direction with the matching surface of the upper optical axis fixing seat 202, the positioning holes are matched with ball plungers arranged on the optical axis fixing seat 202, when the zero position positioning pulling sheet 207 is screwed into a groove of the zero position positioning blocking sheet 208, one positioning hole is matched with the plungers to realize the positioning function, when the zero position positioning pulling sheet 207 is clockwise rotated by 90 degrees at the position, the other positioning hole is matched with the ball plungers to realize the positioning function, the positioning pin is arranged at the tail end of the rectangle, and when the zero position positioning pulling sheet 207 is screwed into the groove of the zero position positioning blocking sheet 208, the positioning pin is matched with the inner wall of the groove to realize the locking positioning of the zero position of the component; the zero position positioning baffle 208 is fixed on the sliding block 209 through a screw, and one surface of the zero position positioning baffle is provided with an annular groove for positioning the zero position positioning pulling piece 207; the slide block 209 is mounted on the clamping and locking main body 201 through screws, two optical axes 203 on two sides and a middle optical axis 205 pass through three positioning holes on the slide block, one surface of the slide block is provided with a groove matched with the zero positioning baffle 208, the opposite surface of the groove is provided with a square groove and a screw hole, and the purpose of the square groove is to enable the upper locking cam 211 to have a space for locking the middle optical axis 205; the lower optical axis fixing seat 210 is provided with three optical holes, two optical axes 203 on two sides and an optical axis 205 in the middle are respectively arranged, the connecting line of the centers of the three holes is a triangle, the purpose of the three holes is to increase the rigidity of the component, the side surface is provided with a threaded hole, the purpose of the installation of jackscrews is to fix the three optical axes, and the two sides are provided with positioning grooves, the purpose of the positioning of the connecting block 301 in the execution end component 3 is to be connected and fixed with the connecting block 301 through screws; the upper locking cam 211 is fixed on the upper cam locking shaft 212 through a jackscrew, and penetrates through a shaft hole of the clamping locking main body 201, the shaft hole and the outer contour of the cam are of an eccentric structure, and when the upper cam locking shaft 212 rotates, the upper locking cam 211 is abutted to the middle optical axis 205 by the eccentric structure, so that locking is realized; the upper cam locking shaft 212 is an optical shaft with threads at both ends, and is designed to connect the locking spanner 204, the upper cam shaft fixing block 206, and the upper locking cam 211 together so that it can rotate in the shaft hole of the clamping locking body 201 and can drive the upper locking cam 211 to lock the assembly.
The actuating end assembly 3 is composed of a connecting block 301, an end connecting piece 302, an end locking spanner 303, an end cam locking shaft 304, an end cam shaft fixing block 305, an actuating end dovetail groove 306, an actuating end 307, a direction designating needle 308, an end small circular ring 309, an end large circular ring 310, a dovetail groove 311 and an end locking cam 312. One end of the connecting block 301 is connected with the lower optical axis fixing seat 210 in the lifting translation assembly 2 through a screw, and the other end of the connecting block is connected with the tail end connecting piece 302 through a screw; the end connecting piece 302 is a groove-shaped part, one end of the end connecting piece is connected with the connecting block 301 through a screw, the other end of the end connecting piece is connected with the execution end dovetail groove 306 through a screw, and a shaft hole is formed in the part close to the execution end dovetail groove 306 and used for fixing the end cam locking shaft 304; the number of the end locking wrenches 303 in the assembly is two, and the end locking wrenches 303 are fixedly connected with the end cam locking shaft 304 through middle threaded holes, and are used for realizing locking by rotating the end locking cams 312 arranged on the end cam locking shaft 304; the end cam locking shaft 304 is an optical axis with threads at two ends, and is used for connecting the end locking spanner 303, the end cam shaft fixing block 305 and the end locking cam 312 together, so that the end locking spanner can rotate in the shaft hole of the end connecting piece 302 and can drive the end locking cam 312 to lock the assembly; the number of the end cam shaft fixing blocks 305 in the assembly is two, and the end cam shaft fixing blocks penetrate into two ends of the end cam locking shaft 304 respectively and are locked by screws, so that the end cam locking shaft 304 is positioned, and only one rotational degree of freedom is realized; the execution end dovetail groove 306 is connected with the end connecting piece 302 through a screw, the lower part of the execution end dovetail groove is fixed with a dovetail groove end baffle 311 through a screw, a dovetail groove surface is matched with the execution end 307, and the execution end 307 can be locked through an end locking cam 312, so that the locking and positioning 307 of the execution end is realized; the tail part of the execution end 307 is a dovetail groove boss structure, locking and positioning can be performed under the action of an end locking cam 312 and an execution end dovetail groove 306, a strip-shaped groove is formed in the upper part and used for fixing a direction designating needle 308, two annular bosses at the end are respectively used for fixing an end small circular ring 309 and an end large circular ring 310, the two annular bosses are concentric, and the symmetrical planes of the two bosses are over the axis of the semi-circular ring; the tail end baffle 311 of the dovetail groove is fixed on the tail end dovetail groove 306 of the execution end through a screw, so that the execution end 307 is positioned; the end locking cam 312 is fixed to the end cam locking shaft 304 by a jackscrew, and passes through a shaft hole of the end connector 302, the shaft hole and the cam outer contour are eccentric structures, and when the end cam locking shaft 304 rotates, the end locking cam 312 abuts against the execution end 307 by using the eccentric structures, thereby achieving locking.
The specific implementation mode of the adjusting device for assisting the vertebral pedicle screw implantation operation of the spinal column is as follows: before operation, the UR terminal flange 101 is arranged on the UR robot through screws, a common disinfection cloth or plastic bag is sleeved on the UR robot, the locking knob 103 is loosened, the rest parts of the UR flange terminal locking assembly 1 are arranged on the UR terminal flange 101, the locking knob 103 is locked, one end of the other disinfection sleeve is sleeved on a boss for clamping the locking main body 104, the other end of the disinfection sleeve is sleeved on a mechanical arm of the UR robot, and the next step is to adjust a mechanical zero position so as to ensure that the motion of the UR robot is accurate; the zero position positioning pulling piece 207 is rotated into an annular groove of the zero position positioning blocking piece 208, meanwhile, the ball plunger also positions the zero position positioning pulling piece 207, so that the stability of structural zero position positioning is enhanced, and the next step is to install an execution end 307; the end locking spanner 303 is shifted to make the end locking cam 312 in a released state, then the dovetail end of the execution end 307 is inserted into the execution end dovetail 306, and the end locking spanner 303 is rotated again to make the end locking cam 312 lock the execution end 307.
According to the X-ray image shot in the operation process, the deviation between the path positioner and the operation planning path is calculated by adopting spine minimally invasive operation path navigation software, the mechanical arm is adjusted to enable the operation path determined by the two circular axes of the double-ring positioning assembly to be consistent with the planning path (the axes of the small end circular ring 309 and the large end circular ring 310 are coincident with the path planning axis), the zero positioning pulling piece 207 is rotated 90 degrees clockwise at the moment, the ball plunger is used for repositioning, the execution end 307 can slide along the optical axis, the three axes are parallel to the axes of the small circular ring 309 and the large circular ring 310, the state that the size circular ring is coincident with the path planning axis is not changed when the end slides along the optical axis, the execution end 307 is close to the human body end and is abutted against the human body, and the locking pulling handle 204 is moved at the moment to enable the upper locking cam to be abutted against the middle optical axis 205, so that the locking is realized, and the structural stability is improved.
When parallel multipath positioning is performed, after the first path positioning is completed, the lifting sliding component is adjusted, the locator is shortened to be contacted with the lower surface of the human body, and the guide needle is implanted; and then, adjusting the lifting sliding assembly, increasing the distance between the lower surface of the positioner and the human body, and adjusting the operating bed to enable the positioning path of the positioner to reach the next path channel for next path positioning. According to the operation needs, the operating table can be adjusted for a plurality of times, and the positioning of a plurality of parallel paths is completed.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A positioning system for assisting a minimally invasive spine surgery is characterized in that,
comprises a mechanical arm and a path positioner;
the path positioner comprises a flange end locking assembly, a lifting sliding assembly and a double-ring positioning assembly;
the flange end locking assembly consists of a terminal flange, a clamping locking baffle, a locking knob, a first clamping locking main body, a mechanical arm terminal baffle, a clamping locking movable block, a locking stud and a compression spring: the tail end flange is provided with a positioning hole at one end and is connected with the tail end of the mechanical arm through a screw; the other end is provided with a dovetail groove, two threaded holes are arranged below a boss of the dovetail groove, and a tail end baffle of the mechanical arm is arranged on a tail end flange through a screw; the first clamping and locking main body, the clamping and locking baffle plate and the clamping and locking movable block are fixed on the tail end flange through screws; the first clamping and locking main body is provided with a square plate, and one surface of the square plate extends out of two square columns to form a U-shaped structure; square bosses are arranged on each side of the square column and used for preventing the disinfection sleeve from sliding off; the square column is provided with a light hole near the square plate end for the upper cam locking shaft of the lifting sliding component to pass through; a V-shaped boss is arranged on a side square column of the first clamping and locking main body and is matched with a dovetail groove surface of the tail end flange together with the V-shaped boss of the clamping and locking movable block; the locking stud and the compression spring pass through the strip hole on the square column; the square column on the other side is provided with a pin hole and a groove, and is connected with the clamping and locking movable block through a pin; the locking knob is internally provided with a threaded hole which is matched with the threads of the locking stud; the locking stud is arranged in a strip hole of the clamping and locking movable block through a pin;
the lifting sliding assembly consists of a second clamping locking main body, an upper optical axis fixing seat, two optical axes, an upper locking spanner, a middle optical axis, an upper cam shaft fixing block, a zero position positioning shifting piece, a zero position positioning blocking piece, a sliding block, a lower optical axis fixing seat, an upper locking cam and an upper cam locking shaft: the first clamping and locking main body and the second clamping and locking main body are the same component; the upper optical axis fixing seat and the lower optical axis fixing seat are respectively provided with three optical holes for installing two optical axes on two sides and a middle optical axis; two threaded holes are formed in the side face of the upper optical axis fixing seat, wherein one of the threaded holes is provided with a jackscrew for fixing three optical axes, and the other threaded hole is provided with a ball plunger positioning zero positioning shifting piece; the screw holes on the side surface of the lower optical axis fixing seat are provided with jackscrews to fix three optical axes, and grooves on two sides are used for executing the positioning of the connecting blocks of the tail end assembly and are connected with the connecting blocks through screws; the sliding block is provided with three positioning holes for penetrating through the three optical axes to slide freely on the optical axes, the sliding block is arranged on the second clamping and locking main body through a screw, the side surface of the sliding block is provided with a groove matched with the zero positioning baffle, and the opposite surface of the groove is provided with a square groove and a screw hole for locking the optical axis at the middle part of the cam by the upper part of the locking cam; the upper locking cam is arranged and fixed on the upper cam locking shaft through a jackscrew and penetrates through the shaft hole of the second clamping and locking main body; when the upper cam locking shaft rotates, the upper locking cam is propped against the middle optical axis by utilizing the eccentric structure, so that locking is realized; the upper cam locking shaft is an optical axis with threads at two ends and is used for connecting the locking spanner, the upper cam shaft fixing block and the upper locking cam together; the zero-position positioning shifting sheet is connected with the upper optical axis fixing seat through a screw, and the zero-position positioning blocking sheet is fixed on the sliding block through a screw; the side surface of the zero position positioning baffle is provided with an annular groove, and when the zero position positioning pulling piece is screwed into the annular groove of the zero position positioning baffle, a positioning pin on the zero position positioning pulling piece is matched with the inner wall of the groove so as to lock the lifting sliding assembly;
the double-ring positioning assembly consists of a connecting block, an end connecting piece, an end locking spanner, an end cam locking shaft end cam shaft fixing block, an execution end dovetail groove, an execution end, a direction designating needle, an end small circular ring, an end large circular ring, a dovetail groove and an end locking cam: one end of the connecting block is connected with the lower optical axis fixing seat of the lifting sliding component through a screw, and the other end of the connecting block is connected with the tail end connecting piece through a screw; the tail end connecting piece is connected with the execution tail end dovetail groove through a screw; the tail end cam locking shaft passes through the shaft hole of the tail end connecting piece; the tail end locking cam passes through the shaft hole of the tail end connecting piece and is fixedly arranged on the tail end cam locking shaft through a jackscrew; the tail end cam locking shaft is an optical axis with threads at two ends; the two end cam shaft fixing blocks respectively penetrate into two ends of the end cam locking shaft and are locked by screws; the two tail end locking plates are provided with threaded holes and are respectively arranged at two ends of the tail end cam locking shaft and locked by screws; the execution tail end dovetail groove is connected with the tail end connecting piece through a screw, the lower part of the execution tail end dovetail groove is fixed with a tail end baffle of the dovetail groove through a screw, and the dovetail groove surface is matched with the execution tail end; the tail part of the execution tail end is of a dovetail groove boss structure and is used for locking and positioning under the action of a tail end locking cam and an execution tail end dovetail groove, a strip-shaped groove is formed in the tail part of the execution tail end and is used for fixing a direction designating needle, two annular bosses at the tail end are respectively used for fixing a small annular ring at the tail end and a large annular ring at the tail end, and the two annular bosses are coaxially arranged.
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| CN201710492169.7A CN107361859B (en) | 2017-06-26 | 2017-06-26 | Auxiliary spinal minimally invasive surgery positioning system |
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| CN201710492169.7A CN107361859B (en) | 2017-06-26 | 2017-06-26 | Auxiliary spinal minimally invasive surgery positioning system |
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| CN107361859B true CN107361859B (en) | 2024-02-27 |
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| EP3811892A1 (en) * | 2019-10-24 | 2021-04-28 | Point Robotics Medtech Inc. | Calibration device and calibration method for surgical instrument |
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