CN107080587B - Mechanical arm and robot for herniated disc nuclectomy and annular suture - Google Patents

Mechanical arm and robot for herniated disc nuclectomy and annular suture Download PDF

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Publication number
CN107080587B
CN107080587B CN201710405110.XA CN201710405110A CN107080587B CN 107080587 B CN107080587 B CN 107080587B CN 201710405110 A CN201710405110 A CN 201710405110A CN 107080587 B CN107080587 B CN 107080587B
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connecting rod
instrument
mounting part
instrument mounting
arm
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CN107080587A (en
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曹晓建
殷国勇
杨凯翔
眭涛
唐健
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Nanjing Zhizhen Medical Technology Development Co ltd
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Nanjing Zhizhen Medical Technology Development Co ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238Type of minimally invasive operation
    • A61B2017/00261Discectomy
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B2017/564Methods for bone or joint treatment

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (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)
  • Manipulator (AREA)

Abstract

The invention discloses a mechanical arm for herniated disc nuclectomy and annular suture, which comprises a radial arm, an operation platform arranged at the bottom of the radial arm and an instrument installation part arranged at the bottom of the operation platform through a connecting component; the connecting component consists of a plurality of upper connecting rods and a plurality of lower connecting rods, wherein the upper connecting rods are movably arranged on the operating platform and do circular motion along the circular ring of the operating platform; the instrument installation part is installed at the bottom end of the lower connecting rod through a rotary joint, and the bottom of the instrument installation part is provided with a surgical instrument. The diameter of the operation platform is limited to 15-20 mm, the size of the instrument mounting part is limited and the instrument mounting part can rotate 360 degrees around the axis of the lower connecting rod, so that the instrument mounting part and the surgical instrument at the lower end can reach the part which cannot be reached by the human hand to perform precise movement, stable and precise operation can be performed in a narrow space, nerves and blood vessels can be avoided accurately, and complex operation is completed.

Description

Mechanical arm and robot for herniated disc nuclectomy and annular suture
Technical Field
The invention relates to medical equipment, in particular to a robot system for semi-automatically or fully automatically completing orthopedic operation.
Background
With the cross development of robotics and medical science, medical robots for various uses are becoming more and more widely used in the medical field. At present, the medical robot has been widely applied and greatly progressed in the aspects of cerebral neurosurgery, heart repair, cholecystectomy, artificial joint replacement, urinary surgery and the like. The robot has great advantages in some aspects compared with manual operation of doctors, because the robot is positioned more accurately and supported stably and forcefully, fatigue caused by long-time operation of a housing doctor and arm vibration of the surgeon in the operation process can be avoided, and therefore the accuracy, stability and safety of the operation are improved.
In the orthopedic operation, operations such as accurate cutting, grinding, fixing and the like are often required, the type of operation has higher requirements on precision, stability, freedom degree and operation strength, and the general orthopedic micro-wound operation commonly implemented at present has the advantages of reducing operation wound, reducing blood loss, shortening postoperative recovery time and the like. However, in order to reduce the trauma, X-ray irradiation is repeatedly performed in the operation process, and long-time and large-dose radiation causes injury to the operation doctor and the patient. Particularly in spinal surgery. The anatomy of the human spine is complex, and the surrounding tissues such as nerves, blood vessels, muscles and the like are spread over important tissues, and typical spine operation operations including pedicle screw internal fixation operations have high requirements on the accuracy and stability of operation by operators. In conventional spinal surgery, a doctor can usually determine whether a surgical instrument is placed in a correct position only by himself or herself and an assistant's observation, and during the surgery, the doctor and his assistant need to have a high concentration of spirit to ensure that the operating position of the surgical instrument is in a correct range. The spine operation is relatively long, and long-time operation is easy to cause fatigue of doctors, so that the risk of the operation is greatly increased.
Aiming at the problems, the research center of gravity is put on the research of the orthopedic robot at home and abroad at present, and the manipulator is expected to replace a human hand for operation, so that a better operation effect is achieved. From the current results, research achieves certain effects. International enterprises have researched robots capable of performing partial operations, even into mass production for clinical use. It is to be appreciated that these orthopedic robots still suffer from certain deficiencies.
The prominent disadvantages are: the operation which can replace the human hand is very limited, and basically the operation which can be finished by the direct operation of doctors is only used for improving the operation efficiency. If the operation can not be completed manually or is difficult to be completed manually, the robot can not replace hands to perform operations. Under the condition of imperfect functions, the manufacturing cost is very high, which leads to the difficulty of fully popularizing the robot.
The existing orthopaedics robot is mainly used for artificial hip joint replacement, and navigation and implantation of pedicle screws. In the aspect of intervertebral disc extraction and annular suture, no related robot is developed and used at present. In the operation of removing the fiber ring, the operation position is deeper, the operation space is narrow, the operation risk is larger, and the suture operation is not performed after the operation at present, so that the healing is slow and the treatment effect is poor. The above-described robots are also not capable of performing the suturing operation after the removal of the annulus fibrosus, subject to the operating environment constraints.
Disclosure of Invention
The invention aims to: the invention aims to overcome the defects of the prior art and provide a mechanical arm capable of replacing a human hand to complete an operation in a small operation space in a minimally invasive operation and an orthopedic operation robot with the mechanical arm.
The technical scheme is as follows: the invention relates to a mechanical arm for herniated disc nuclectomy and annular suture, which comprises a radial arm, an operation platform arranged at the bottom of the radial arm and an instrument installation part arranged at the bottom of the operation platform through a connecting component; the operating platform is of a circular ring structure with the diameter of 15-20 mm, and the center of the operating platform is rotatably arranged on the radial arm; the connecting assembly consists of a plurality of upper connecting rods which are positioned on the same plane with the operating platform, and a plurality of lower connecting rods which are the same as the upper connecting rods in maximum number and are vertically arranged at the end part of one end of the corresponding upper connecting rod, and the other end of the upper connecting rod is movably arranged on the operating platform and moves along the circular ring of the operating platform in a circular way; the cross section of the instrument installation part is circular, the maximum diameter is 3-5 mm, the instrument installation part is installed at the bottom end of the lower connecting rod through a rotary joint and performs rotary motion along the axis of the lower connecting rod, and the bottom of the instrument installation part is provided with a surgical instrument.
The further preferable technical scheme of the invention is that the instrument mounting part is of a hemispherical structure with the diameter of 3-5 mm, the spherical surface is downward, a ball is arranged at the bottom end of the lower connecting rod, a cavity matched with the ball is arranged in the instrument mounting part, and the ball is arranged in the instrument mounting part to form a rotary joint of the instrument mounting part.
Preferably, a slot hole is formed in the bottom of the instrument mounting part, the top end of the surgical instrument is mounted in the slot hole, the diameter of the slot hole is 1-2 mm, and the depth is 2-4 mm.
Preferably, the surgical instrument comprises one or more of a needle holder, a nucleus pulposus clamp and a blade; each of the surgical instruments is fixed to a bottom end of one of the instrument mounts.
Preferably, the length of the needle holder is 8-10 mm, and the width of the needle holder is 2-5 mm; the length of the nucleus pulposus clamp is 8-20 mm, and the width of the nucleus pulposus clamp is 4-6 mm; the length of the blade is 8-10 mm, and the width of the blade is 2-6 mm.
Preferably, the upper connecting rod and the lower connecting rod are telescopic rods, and the telescopic length of the upper connecting rod is 3-10 mm; the telescopic length of the lower connecting rod is 50-200 mm.
Preferably, a sleeve is arranged at the end part of the upper connecting rod, the top of the lower connecting rod is sleeved in the sleeve, and the inner diameter of the sleeve is 3-5 mm identical to the diameter of the upper connecting rod.
Preferably, the operating platform is mounted on the radial arm by a rotary joint.
Preferably, the radial arm is a six-axis radial arm.
The orthopedic robot comprises the mechanical arm and a control system, wherein all actions of the mechanical arm are controlled by the control system.
The beneficial effects are that: (1) The diameter of the operation platform is limited to 15-20 mm, the device matched with the operation platform is arranged for realizing the operation in a narrow space within the range of the minimally invasive operation, when the minimally invasive surgical instrument is used, the operation platform is covered above an operation wound through rough adjustment of a rotating arm, an upper connecting rod arranged on the operation platform rotates along a circular ring for fine adjustment, a lower instrument mounting part and an operation machine are ensured to be accurately positioned at an operation part, the size of the instrument mounting part is limited and can rotate 360 degrees around the axis of a lower connecting rod, the precise movement of the instrument mounting part and the lower end of the operation instrument can be ensured to reach the part which cannot be reached by hands, the stable and accurate operation in the narrow space can be realized, the nerve and blood vessel can be precisely avoided, the complex operation is completed, and a series of operations such as the annular cutting, the nuclectomy, the annular suturing and the like are completed through the instrument replacement device;
(2) According to the invention, the instrument mounting part and the corresponding surgical instruments can be replaced and increased or decreased according to the requirements, a series of operations such as annular cutting, nucleus pulposus extirpation, annular suturing and the like can be completed, the manual operation can be replaced, and even the operation that a plurality of people cannot reach or cannot be completed can be completed, so that the surgical instrument has a wide application prospect;
(3) The upper connecting rod and the lower connecting rod are telescopic rods, the position of the surgical instrument can be further accurately adjusted through the length change of the telescopic rods, the omnidirectional and high-precision surgical position adjustment is realized, the position error is less than 2mm, and the surgical success rate and the surgical effect are improved;
(4) The operation platform is installed on the radial arm through the rotary joint, and the operation platform can rotate 360 degrees relative to the radial arm, and after the radial arm is coarsely adjusted in place, the operation platform can adjust the posture of the operation platform, so that the device below the operation platform can smoothly enter the wound.
Drawings
FIG. 1 is a schematic diagram of a mechanical arm according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a top view of the operator's station according to an embodiment of the present invention;
FIG. 4 is a schematic view of the instrument mounting portion according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of the instrument mount according to an embodiment of the present invention;
in the figure, 1-six-axis radial arm, 2-operation platform, 3-connection assembly, 4-instrument mounting part, 5-needle holder, 31-upper link, 31 a-sleeve, 32-lower link, 32 a-ball, 41-slot.
Detailed Description
The technical scheme of the invention is described in detail below through the drawings, but the protection scope of the invention is not limited to the embodiments.
Examples: a mechanical arm for herniated disc nuclectomy and annular suture is exemplified by an annular suture operation of the mechanical arm for performing minimally invasive surgery. The device specifically comprises a six-axis radial arm 1, an operation platform 2, a connecting component 3, an instrument mounting part 4 and a needle holder 5 for realizing operation.
The operation platform 2 is of a circular ring structure with the diameter of 15-20 mm, and the center of the operation platform 2 is arranged at the bottom of the six-axis radial arm 1 through a rotary joint.
The connecting assembly 3 is composed of a plurality of upper connecting rods 31 which are positioned on the same plane with the operating platform, and a plurality of lower connecting rods 32 which are vertically arranged at one end part of any two upper connecting rods 31. The upper connecting rod 31 and the lower connecting rod 32 are telescopic rods, and the telescopic length of the upper connecting rod 31 is 3-10 mm; the telescopic length of the lower connecting rod 32 is 50-200 mm. The end part of the upper connecting rod 31 connected with the lower connecting rod 32 is provided with a sleeve 31a, the top of the lower connecting rod 32 stretches into the sleeve 31a, and the inner diameter of the sleeve 31a is consistent with the diameter of the upper connecting rod 32 and is 3-5 mm. The other end of the upper link 31 is movably mounted on the operation platform 2 and moves circumferentially along the circular ring of the operation platform 2.
The number of the instrument mounting part 4 and the needle holder 5 are consistent with that of the lower connecting rod 32, the instrument mounting part 4 is of a hemispherical structure with the diameter of 3-5 mm, the spherical surface is downward, a ball 32a is arranged at the bottom end of the lower connecting rod 32, a cavity matched with the ball is arranged in the instrument mounting part 4, the ball 32a is arranged in the instrument mounting part 4 to form a rotary joint of the instrument mounting part 4, and the instrument mounting part 4 performs rotary motion along the axis of the lower connecting rod 32.
The bottom of the instrument mounting part 4 is provided with a slot 41, the top end of the needle holder 5 is mounted in the slot 41, the diameter of the slot 41 is 1-2 mm, and the depth is 2-4 mm. The length of the needle holder 5 is 8-10 mm, and the width is 2-5 mm. The needle holder holds the suture needle and the suture thread, moves inside the wound, simulates the suturing action of a human hand, and performs the fiber loop suturing operation in a narrow area.
The orthopedic operation robot comprises the mechanical arm or the mechanical arm provided with other surgical instruments and a control system, wherein all actions of all parts of the mechanical arm are controlled by the control system.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A mechanical arm for herniated disc nuclectomy and annular suture, which is characterized by comprising a radial arm, an operation platform arranged at the bottom of the radial arm and an instrument installation part arranged at the bottom of the operation platform through a connecting component;
the operating platform is of a circular ring structure with the diameter of 15-20 mm, and the center of the operating platform is rotatably arranged on the radial arm; the connecting assembly consists of a plurality of upper connecting rods which are positioned on the same plane with the operating platform, and a plurality of lower connecting rods which are the same as the upper connecting rods in maximum number and are vertically arranged at the end part of one end of the corresponding upper connecting rod, and the other end of the upper connecting rod is movably arranged on the operating platform and moves along the circular ring of the operating platform in a circular way;
the upper connecting rod and the lower connecting rod are telescopic rods, and the telescopic length of the upper connecting rod is 3-10 mm; the telescopic length of the lower connecting rod is 50-200 mm;
the cross section of the instrument mounting part is circular, the maximum diameter is 3-5 mm, the instrument mounting part is mounted at the bottom end of the lower connecting rod through a rotary joint and performs rotary motion along the axis of the lower connecting rod, and the bottom of the instrument mounting part is provided with a surgical instrument;
the instrument mounting part is of a hemispherical structure with the diameter of 3-5 mm, the spherical surface is downward, the bottom end of the lower connecting rod is provided with a ball, a cavity matched with the ball is arranged in the instrument mounting part, and the ball is arranged in the instrument mounting part to form a rotary joint of the instrument mounting part;
the bottom of the instrument mounting part is provided with a slotted hole, the top end of the surgical instrument is mounted in the slotted hole, the diameter of the slotted hole is 1-2 mm, and the depth of the slotted hole is 2-4 mm.
2. The robotic arm for herniated disc nuclectomy and annular suturing of the annulus of claim 1, wherein the surgical instrument includes one or more of a needle holder, a nucleus forceps and a blade; each of the surgical instruments is fixed to a bottom end of one of the instrument mounts.
3. The mechanical arm for nuclectomy and annular suturing of the disc herniation of claim 2 wherein the needle holder is 8-10 mm in length and 2-5 mm in width; the length of the nucleus pulposus clamp is 8-20 mm, and the width is 4-6 mm; the length of the blade is 8-10 mm, and the width of the blade is 2-6 mm.
4. The mechanical arm for herniated disc nuclectomy and annular suturing of the annulus of claim 1, wherein the end of the upper link is provided with a sleeve, the top of the lower link is nested in the sleeve, and the inner diameter of the sleeve is 3-5 mm in accordance with the diameter of the upper link.
5. The robotic arm for herniated disc nuclectomy and annular suturing of the annulus of claim 1 wherein the operating platform is mounted on the arm by a rotary joint.
6. The mechanical arm for nuclectomy and annuloplasty of claim 1, wherein the radial arm is a six axis radial arm.
7. An orthopedic surgery robot comprising the mechanical arm of any one of claims 1-6 and a control system, all actions of the mechanical arm being controlled by the control system.
CN201710405110.XA 2017-05-31 2017-05-31 Mechanical arm and robot for herniated disc nuclectomy and annular suture Active CN107080587B (en)

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108175506A (en) * 2017-12-25 2018-06-19 宁波杨古诚文化传播有限公司 A kind of medical mechanism arm for assisting operation
CN111728654B (en) * 2020-07-23 2021-06-01 西安交通大学医学院第一附属医院 Automatic operation stitching instrument based on mechanical arm
CN112674876B (en) * 2020-12-23 2022-08-02 中国人民解放军总医院第六医学中心 Operating arm for surgery, control method of operating arm and surgical robot
CN114533270A (en) * 2021-09-13 2022-05-27 广西大学 Be used for terminal end instrument of surgical robot to stretch out and draw back and rotation equipment

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GB1317147A (en) * 1971-11-18 1973-05-16 Standard Telephones Cables Ltd Rotary positioning device
US5766126A (en) * 1995-09-08 1998-06-16 Armstrong Healthcare Limited Goniometric robotic arrangement
RU2247019C2 (en) * 2003-02-17 2005-02-27 Занегин Леонид Александрович Lumber-industry robot
CN103006329A (en) * 2012-12-03 2013-04-03 上海交通大学 Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof
CN105555222A (en) * 2013-09-24 2016-05-04 索尼奥林巴斯医疗解决方案公司 Medical robot arm device, medical robot arm control system, medical robot arm control method, and program
CN207912758U (en) * 2017-05-31 2018-09-28 南京德爱医疗科技有限公司 The mechanical arm and robot sutured for disc herniation Nuclectomy and fibrous ring

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1317147A (en) * 1971-11-18 1973-05-16 Standard Telephones Cables Ltd Rotary positioning device
US5766126A (en) * 1995-09-08 1998-06-16 Armstrong Healthcare Limited Goniometric robotic arrangement
RU2247019C2 (en) * 2003-02-17 2005-02-27 Занегин Леонид Александрович Lumber-industry robot
CN103006329A (en) * 2012-12-03 2013-04-03 上海交通大学 Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof
CN105555222A (en) * 2013-09-24 2016-05-04 索尼奥林巴斯医疗解决方案公司 Medical robot arm device, medical robot arm control system, medical robot arm control method, and program
CN207912758U (en) * 2017-05-31 2018-09-28 南京德爱医疗科技有限公司 The mechanical arm and robot sutured for disc herniation Nuclectomy and fibrous ring

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