CN203885617U - Orthopaedic robot guide needle locator and navigation device - Google Patents
Orthopaedic robot guide needle locator and navigation device Download PDFInfo
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- CN203885617U CN203885617U CN201420072294.4U CN201420072294U CN203885617U CN 203885617 U CN203885617 U CN 203885617U CN 201420072294 U CN201420072294 U CN 201420072294U CN 203885617 U CN203885617 U CN 203885617U
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- universal joint
- connecting rod
- orthopedic robot
- sleeve
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Abstract
The utility model relates to an orthopaedic robot guide needle locator, a navigation device and a locating system, wherein the orthopaedic robot guide needle locator comprises a curved guide locating device; the curved guide locating device comprises a connecting rod and a bracket which are connected with each other; the connecting rod is provided with a sliding sleeve capable of sliding along the axis of the connecting rod; the bracket is provided with a sleeve fixing structure; a guide sleeve used for guiding a guide needle is fixedly arranged by the sleeve fixing structure; after the guide sleeve is arranged, the angle formed by the axis of the guide sleeve and the axis of the connecting rod is within the range of 15-75 degrees. After the curved guide locating device is arranged, the length of the matched guide needle is greatly shortened, and the guide needle is far from a mechanical arm of an orthopaedic robot, so that the interference between the guide needle and the C-shaped arm is overcome, and the demand of an operation can be better met.
Description
Technical field
This utility model relates to a kind of armarium, particularly a kind of orthopedic robot guide pin locator, robot navigation device and navigation system for orthopaedics Minimally Invasive Surgery.
background technology
Along with the continuous progress of orthopaedic trauma treatment technology and perfect, orthopaedics Minimally Invasive Surgery has become the main direction of orthopaedic trauma development.This novel operation mode is owing to being that closed reduction and Wicresoft are fixed, this has just determined that a lot of work will be exposed under X-ray and has completed, the a large amount of X ray that give off in operation process easily cause serious threat even to injure to the health of patient and operative doctor, especially for operative doctor, X-radiation can cause a series of health problems such as hypoimmunity for a long time.At present a lot of countries are all devoted to develop various novel airmanships in the world, to improve the precision of Minimally Invasive Surgery, and reduce as far as possible operative doctor and patient suffered X-radiation in operation.
For the defect and the deficiency that exist in current orthopaedics Minimally Invasive Surgery, computer and control operation software thereof are produced gradually, the intra medullary nail far-end locking technology that locating rack assists doctor to perform the operation, see that the patent No. is 02158691.8, denomination of invention is the patent of computer aided system for locking far terminal of intramedullary nail, this patent is on the basis of traditional intramedullary pin technique for fixing, utilize the three-dimensional imaging geometrical principle of computer vision to determine impact point geometric position, and the quick location of designing locating rack structure and realizing operation pathway, thereby realize the fixing semi-automation of intramedullary pin.Described in this patent, system is that suffering limb is put into locating rack inside, by U-shaped, guider is fixed, and penetrate pinning by the pilot hole on guider, so that pinning is fixed in the pin-and-hole on intramedullary pin and completes operation, the shortcoming of this system is that guider must be fixed by U-shaped, and this processing of U-shaped relates to the complicated technologies such as cutting, calibration, and cost is high, once and due to timeliness reason generation slight deformation, can make guider location inaccurate, bring very large error; In addition, in the inner suffering limb of placing of locating rack, cannot on a large scale in, adjust guider and patient's relative position, can make to perform the operation for the position of suffering limb limited, this patent is only suitable for the intramedullary pin operation to tibia or femur, is not suitable for the skeletal fixation of optional position; And locating rack need to carry out disinfection, assembles and dismantle supervisor at each perioperatively, work loaded down with trivial details, consume manpower and materials, there is the inaccurate hidden danger in the incorrect location of bringing of assembling simultaneously.For the problems referred to above, the patent No. is 200910237998.6, denomination of invention is that the disclosed guider of the patent of orthopedic robot navigation device and navigation system comprises straight rod type guider, be arranged at suffering limb side and by straight rod type guider being directly connected to the accurate location of realizing straight rod type guider self on two universal joints, pilot sleeve is put into straight rod type guider, guide pin is finally inserted in suffering limb by pilot sleeve inside, without U-shaped this equipment is set, once the position of straight rod type guider and direction are determined, the position of pilot sleeve and guide pin and direction are just accurately determined thereupon, can realize spatially fixing accurately of operation pathway.This device is to perform the operation by straight rod type guider in the side that is placed on suffering limb, and the guide pin length that requirement is used in conjunction with is very long, and cost is higher.And due to the restriction of size between the X-ray light source at the C type arm two ends of orthopedic robot and X-ray imaging device, guide pin is inserted in process, cannot utilize C type arm to carry out the perspective checking of some position, for example, in the operation of sacroiliac joint screw, interfere and can not carry out side position perspective due to guide pin and localizer and C type arm, making the application of orthopaedics Minimally Invasive Surgery be subject to certain limitation.
Utility model content
This utility model is for the defect existing in prior art or deficiency, a kind of novel orthopedic robot guide pin locator is provided, it is guide locating device provided by flexure type is set, the guide pin length coordinating can be shortened greatly, and make guide pin away from the mechanical arm of orthopedic robot, overcome the interference of guide pin and C type arm.This utility model also relates to a kind of orthopedic robot navigation device for orthopaedics Minimally Invasive Surgery and navigation system.
The technical solution of the utility model is as follows:
A kind of orthopedic robot guide pin locator, it is characterized in that, comprise that flexure type is guide locating device provided, guide locating device provided interconnected connecting rod and the support of comprising of described flexure type, on described connecting rod, be provided with the slip cap that can slide along connecting rod axis, on described support, being provided with sleeve fixed structure, is the pilot sleeve of guide pin guiding by described sleeve fixed structure fixed installation, and described pilot sleeve is installed the angle of rear its axis and connecting rod axis between 15 degree to 75 degree.
On described connecting rod, be also provided with the fixed cover that can not slide along connecting rod axis, described fixed cover and slip cap are the parts of realizing clamping with the universal joint of orthopedic robot navigation device.
On described fixed cover, be provided with for two planes of described universal joint clamping.
Two planes on described fixed cover are mutually vertical.
On described fixed cover, be provided with alignment pin; And/or, on described connecting rod, be provided with the catch that prevents that described slip cap from coming off.
Described pilot sleeve is installed the angle of rear its axis and connecting rod axis between 25 degree to 50 degree.
The angle that described pilot sleeve is installed rear its axis and connecting rod axis is 30 degree.
Described sleeve fixed structure is mating with pilot sleeve to insert the also through hole of fixed guide sleeve of arranging on support.
On the wall of described through hole, be provided with withdraw of the needle groove, described withdraw of the needle groove be axially connect along through hole for taking out the breach of guide pin.
Described sleeve fixed structure is the buckling groove for clamping pilot sleeve.
A kind of orthopedic robot navigation device, comprise support, the first series connection mechanical arm and the second series connection mechanical arm, described the first series connection mechanical arm comprises the first horizontal movement assembly being connected in series, the first vertical motion assembly and the first universal joint, described the second series connection mechanical arm comprises the second horizontal movement assembly being connected in series, the second vertical motion assembly and the second universal joint, described the first horizontal movement assembly is all connected with support with the second horizontal movement assembly, between described the first horizontal movement assembly and the first vertical motion assembly, between the first vertical motion assembly and the first universal joint, between the second horizontal movement assembly and the second vertical motion assembly and between the second vertical motion assembly and the second universal joint, be all connected by guide rail, it is characterized in that, also comprise above-mentioned orthopedic robot guide pin locator, described the first universal joint and described slip cap clamping, in the time being provided with fixed cover on described connecting rod, described the second universal joint and described fixed cover clamping, in the time fixed cover not being set on described connecting rod, certain the part clamping on described the second universal joint and described connecting rod beyond slip cap.
Described the first universal joint and the second universal joint include the base that is connected successively, horizontally rotate parts, vertically rotary part and clamping part, described clamping part comprises that vee-block and wedge complete the clamping of pilot sleeve, described vee-block and wedge are all arranged on vertical rotary part, and the inclined-plane of the corresponding described wedge of the V-shaped groove of described vee-block; Described clamping part adopts V-shaped groove location, and coordinates horizontally rotating and accurate location that vertically the vertical rotation of rotary part realizes pilot sleeve of horizontal rotary part.
The described parts that horizontally rotate comprise Y shaped bracket and swivel bearing, the Y shape bottom of described Y shaped bracket is connected with base by swivel bearing, described vertical rotary part is U-shaped support, U-shaped two arms of described U-shaped support are connected axisymmetricly with the inner side of Y shape two arms of Y shaped bracket respectively, described vee-block is arranged at a U-shaped arm inner side of U-shaped support, and wedge is arranged at the another one U-shaped arm inner side of U-shaped support; And/or, described in to horizontally rotate parts be can be around the parts of self vertical axis rotation, described vertical rotary part is and horizontally rotates the parts that parts are flexibly connected and can rotate around own level axis.
Also comprise height adjustment assembly, horizontal adjustment parts and control panel, described the first horizontal movement assembly is connected with support with height adjustment parts by horizontal adjustment assembly respectively with the second horizontal movement assembly, on described support, be provided with castor and support fixture, on described control panel, be provided with the control knob of controlling the first horizontal movement assembly, the first vertical motion assembly, the second horizontal movement assembly, the second vertical motion assembly, height adjustment assembly and the motion of horizontal adjustment assembly.
A kind of navigation system, comprises C type arm, computer and is stored in the image control function software in computer, it is characterized in that, also comprises above-mentioned orthopedic robot navigation device.
Technique effect of the present utility model is as follows:
The orthopedic robot guide pin locator that this utility model provides, it is the termination on orthopedic robot navigation device, comprise that flexure type is guide locating device provided, guide locating device provided interconnected connecting rod and the support of comprising of flexure type, on connecting rod, be provided with the slip cap that can slide along connecting rod axis, on support, be provided with sleeve fixed structure, wherein, the slip cap of connecting rod and setting thereof is the parts that connect the universal joint of orthopedic robot navigation device, support is the parts of fixed guide sleeve, the flexure type guiding-positioning structure forming by connecting rod and support, after pilot sleeve is installed, the angle of its axis and connecting rod axis is between 15 degree to 75 degree, once the position of orthopedic robot guide pin locator and direction are determined, the position of pilot sleeve and guide pin and direction are just accurately determined thereupon, utilize this orthopedic robot guide pin locator to carry out bone surgery, can realize guide pin position in bone surgery control and stable, and accurately locate the locus of guide pin, this flexure mode structure that the utlity model has special angle makes the installation site of guide pin no longer be subject to the restriction of universal joint center, can be naturally reasonably away from the mechanical arm of orthopedic robot navigation device, limited interference and the collision of C type arm and mechanical arm while having avoided guide pin to insert having an X-rayed in process, simultaneously, guide pin length is no longer subject to the restriction of distance between mechanical arm size and two universal joints, can greatly shorten guide pin length, reduce the impact that guide pin is subject to the restriction of size between the X-ray light source at C type arm two ends of orthopedic robot and X-ray imaging device, overcome the interference of guide pin and C type arm, the problem of having avoided existing location technology to be restricted in the application of orthopaedics Minimally Invasive Surgery, insert and in process, still can utilize the perform the operation perspective checking of relevant position of C type arm at guide pin, and guide pin contraction in length, the manufacture difficulty of having avoided guide pin length length that the requirement of existing straight rod type guider is used in conjunction with to cause, the problem that cost is higher.So just can in maximum magnitude, unhinderedly adjust this orthopedic robot guide pin locator and patient's relative position, be applicable to the orthopaedics Minimally Invasive Surgery at any suffering limb position, thereby meet better the demand of operation.
The fixed cover that can not slide along connecting rod axis is set on connecting rod, fixed cover on connecting rod and slip cap are the parts of realizing clamping with the universal joint of orthopedic robot navigation device, by with the clamping of two universal joints, connecting rod can be arranged on two location lines between universal joint central point, position and direction that flexure type is guide locating device provided are all fixed, just realize guide locating device provided self the location of flexure type, the position of pilot sleeve and guide pin and the accurate location of direction are further realized, the mechanical arm of orthopedic robot navigation device is by driving whole orthopedic robot guide pin locator to do the motion of N degree of freedom with the universal joint of fixed cover and slip cap clamping, realize more neatly location and the guide function of orthopedic robot guide pin locator.
On fixed cover, be provided with for two planes of universal joint clamping, these two planes coordinate with universal joint, can limit relatively rotating between fixed cover and universal joint, have further realized the location of guide pin sleeve, finally realize the location of guide pin, improve the precision of orthopaedics Minimally Invasive Surgery.
Sleeve fixed structure on support during flexure type is guide locating device provided is the through hole arranging on support, and this through hole mates with pilot sleeve, inserts and fixed guide sleeve by this through hole, realizes the fixing of guide pin, this easy realization simple in structure; On the wall of through hole, be provided with withdraw of the needle groove, this withdraw of the needle groove be axially connect along through hole for taking out the breach of guide pin, after in guide pin is inserted into suffering limb by pilot sleeve inside, can remove pilot sleeve along through hole, the part that guide pin does not insert suffering limb can exit along through hole, but directly exit by the withdraw of the needle groove on through-hole wall, make simple to operate, reduce from through hole and moved back the guide locating device provided Large Amplitude Motion of whole flexure type that guide pin brings, shorten the spent time of whole operation, improved operation efficiency.
The orthopedic robot navigation device that this utility model relates to, comprise support, the first series connection mechanical arm, the second series connection mechanical arm and orthopedic robot guide pin locator of the present utility model, the first series connection mechanical arm comprises the first horizontal movement assembly, the first vertical motion assembly and the first universal joint that are connected in series, and the first universal joint can be realized the motion of two degree of freedom in the plane that the first horizontal movement assembly and the first vertical motion assembly form; Described the second series connection mechanical arm comprises the second horizontal movement assembly, the second vertical motion assembly and the second universal joint that are connected in series, the second universal joint also can be realized the motion of two degree of freedom in the plane that the second horizontal movement assembly and the second vertical motion assembly form, the first universal joint and slip cap clamping, have fixed cover on connecting rod time, the second universal joint and fixed cover clamping, in the time there is no fixed cover on connecting rod, certain the part clamping on the second universal joint and connecting rod beyond slip cap.In the time that the first universal joint and the second universal joint move to impact point geometric position respectively in plane separately, position and the direction of the orthopedic robot guide pin locator after clamping are all fixed, just realize the location of orthopedic robot guide pin locator self, this orthopedic robot guide pin locator finally can be realized the motion of four degree of freedom, therefore this orthopedic robot guide pin locator is in fact a device with positioning action and guide effect.Hands art is carried out in the side that orthopedic robot navigation device of the present utility model is placed on to suffering limb, once the position of orthopedic robot guide pin locator and direction are determined, fixing accurately on just can implementation space of operation pathway, for example the most frequently usedly guide pin is inserted into the orthopaedics Minimally Invasive Surgery in suffering limb, by the sleeve fixed structure fixed guide sleeve of orthopedic robot guide pin locator, guide pin is finally inserted in suffering limb by pilot sleeve inside, so once the position of orthopedic robot guide pin locator and direction are determined, the position of pilot sleeve and guide pin and direction are just accurately determined thereupon, this device is without U-shaped this equipment is set, therefore saved the complicated technology while processing U-shaped, reduce cost, solved U-shaped because secular distortion reason causes locating the inaccurate problem of bringing error simultaneously.In addition, because orthopedic robot navigation device of the present utility model is in the side of suffering limb hands art, and be provided with the orthopedic robot guide pin locator of flexure mode structure, can greatly shorten the guide pin length of cooperation, and make guide pin away from the mechanical arm of orthopedic robot, overcome the interference of guide pin and C type arm, after guide pin position is accurately determined, just this guide pin can be inserted in suffering limb, can in larger more fully scope, adjust this orthopedic robot navigation device and patient's relative position, and easy to adjust flexible, operate also very easy, easily obtain the putting position of orthopedic robot navigation device the best, improve the compliance of this device, therefore applicable to the skeletal fixation at any suffering limb position, and be not only the intramedullary pin hands art for tibia or femur, therefore this device of the present utility model has been broken in prior art due to the limitation to operative site causing in the inner placement of locating rack suffering limb, and the guide pin length of having avoided the requirement of available technology adopting straight rod type guider to be used in conjunction with is long and cost is high and exist the position of guide pin and direction to be subject to the problem that C type arm hinders.
The first universal joint is set and includes with the second universal joint the base being connected successively, horizontally rotate parts, vertically rotary part and clamping part, clamping part comprises that vee-block and wedge complete the clamping of pilot sleeve, adopt V-shaped groove positioning principle, and coordinate horizontally rotating and accurate location that vertically the vertical rotation of rotary part realizes pilot sleeve of horizontal rotary part, in the time of operation, directly sterilizing covers or other nontoxic thin film in these two universal joint upper covers, this sterilizing covers or nontoxic thin film can be isolated orthopedic robot guide pin locator and two universal joints completely, by effectively isolating between pilot sleeve and surgical navigational robot body, prevent the even pollution of surgical navigational robot to operative space of universal joint, make operative space reach the aseptic standard of requirements of operation, can also effectively prevent sterilizing covers or nontoxic thin film fold, at utmost reduce the impact on pilot sleeve positioning precision of sterilizing covers or nontoxic thin film, even if make across sterilizing covers, orthopedic robot guide pin locator still can accurately be located, precision is high, location and good fixing effect, can meet the requirement of the positioning precision of the pilot sleeve in orthopaedics Minimally Invasive Surgery, and without perioperatively to surgical instrument fixing device even each parts of surgical navigational robot assemble, dismounting, and the sterilization processing such as high temperature steaming.
Preferred setting horizontally rotates parts and comprises Y shaped bracket and swivel bearing, the Y shape bottom of Y shaped bracket is connected with base by swivel bearing, vertically rotary part is U-shaped support, U-shaped two arms of U-shaped support are respectively symmetrical and be connected with the inner shafts of Y shape two arms of Y shaped bracket, vee-block is arranged at a U-shaped arm inner side of U-shaped support, and wedge is arranged at the another one U-shaped arm inner side of U-shaped support.The gimbal structure compactness of this ad hoc structure, can coordinate navigation instrument human body to realize spatially fixing accurately of operation pathway, and can in large as far as possible scope, adjust flexibly pilot sleeve and patient's relative position, be applicable to the orthopaedics Minimally Invasive Surgery at any suffering limb position, thereby the demand and the technique manufacture that meet better operation are simple, easy to operate, and improved precision.
The navigation system that this utility model relates to comprises C type arm, computer and be stored in the image control function software in computer, and orthopedic robot navigation device of the present utility model, orthopedic robot navigation device comprises orthopedic robot guide pin locator of the present utility model, suffering limb is placed on operation table, orthopedic robot navigation device is placed on to suffering limb side, utilize being radiated at of X-ray light source on C type arm on imaging plane, to form image, then obtain the locating information of guide pin by the image control function software in computer based on Binocular Vision Principle, finally regulate orthopedic robot navigation device according to these locating information, in order to have realized the guide locating device provided accurate location of flexure type, thereby realize spatially fixing accurately of operation pathway.Navigation system of the present utility model, because guide pin is away from the mechanical arm of orthopedic robot, has overcome the interference of guide pin and C type arm, therefore whole system is reliable and stable, and is applicable to the skeletal fixation at any suffering limb position, can be good at meeting operation demand.
Brief description of the drawings
Fig. 1 is the preferred structure schematic diagram of this utility model orthopedic robot guide pin locator.
Fig. 2 is the structural representation of a kind of preferred embodiment of this utility model orthopedic robot navigation device.
Fig. 3 is the structural representation of the another kind of preferred embodiment of this utility model orthopedic robot navigation device.
Fig. 4 is the structural representation of the universal joint in Fig. 2.
Fig. 5 is the structural representation of navigation system of the present utility model.
In figure, each label lists as follows:
1-connecting rod; 2-support; 3-slip cap; 4-fixed cover; 5-alignment pin; 6-catch; 7-through hole; 8-withdraw of the needle groove; 9-pilot sleeve; 10-guide pin; 11-the first horizontal movement assembly; 12-the first vertical motion assembly; 13-the first universal joint; 14-orthopedic robot guide pin locator; 15-horizontal adjustment assembly; 16-height adjustment assembly; 17-control panel; 18-the second horizontal movement assembly; 19-the second vertical motion assembly; 20-the second universal joint; 21-support; 22-foot wheel; 23-base; 24-swivel bearing; 25-Y shape support; 26-U shape support; 27-V shape piece; 28-wedge; 29-Compress Spring; 30-Y shape support axis; 31-U shape support axis; 32-X radiant; 33-C type arm; 34-X photoimaging device; 35-computer; 36-orthopedic robot navigation device; 37-suffering limb.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described.
This utility model relates to a kind of orthopedic robot guide pin locator, its preferred structure as shown in Figure 1, comprise that flexure type is guide locating device provided, guide locating device provided interconnected connecting rod 1 and the support 2 of comprising of this flexure type, on connecting rod 1, be provided with the slip cap 3 that can slide along connecting rod axis, preferably on this connecting rod 1, be also provided with fixed cover 4, this fixed cover 4 is fixed on connecting rod 1 it and can not slides along connecting rod 1 axis, on support 2, be provided with sleeve fixed structure, this sleeve fixed structure is used for fixedly mounting pilot sleeve 9, in pilot sleeve 9, penetrate guide pin 10 to lead for guide pin 10, this orthopedic robot guide pin locator is being installed after pilot sleeve 9, the angle of pilot sleeve 9 axis and connecting rod 1 axis is between 15 degree to 75 degree, preferably between 25 degree to 50 degree, this embodiment is 30 degree.Fixed cover and 4 slip caps 3 are the parts of realizing clamping with the universal joint of orthopedic robot navigation device.Certainly, if fixed cover 4 is not set, orthopedic robot navigation device universal joint and slip cap 3 clampings, other certain the part clamping directly and on connecting rod of another universal joint.
On fixed cover 4, be provided with two planes, these two planes can be mutually vertical, these two planes are for coordinating with universal joint, realize the clamping of universal joint and fixed cover 4, can limit the rotation of fixed cover 4 in universal joint, be conducive to the fixing of this utility model orthopedic robot guide pin locator, the location of further having realized guide pin sleeve 9, finally realize the location of guide pin 10, improve the precision of orthopaedics Minimally Invasive Surgery.In addition, anti-skidding cover 3 catch that come off 6 can also be preferably set on connecting rod 1, on fixed cover 4, be provided with alignment pin 5, after two planes and universal joint clamping of fixed cover 4, alignment pin 5 and the laminating of universal joint side, slide before and after the relative universal joint of restriction fixed cover 4.
Sleeve fixed structure in embodiment illustrated in fig. 1 is mating with pilot sleeve 9 to insert the also through hole 7 of fixed guide sleeve 9 of arranging on support 2, on the wall of through hole 7, be provided with withdraw of the needle groove 8, this withdraw of the needle groove 8 for axially connect along through hole 7 for taking out the breach of guide pin 10.Insert pilot sleeve 9 along this through hole 7, reach the effect that pilot sleeve 9 is fixing and lead, after operation completes, guide pin 10 is inserted in suffering limb by pilot sleeve 9, can first extract pilot sleeve 9 out along through hole 7, exit by the withdraw of the needle groove 8 on through-hole wall the part that guide pin 10 is fixed by orthopedic robot guide pin locator again, guide pin 10 and orthopedic robot guide pin locator are hightailed, guide pin 10 does not insert the part of suffering limb without exiting from through hole 7, withdraw of the needle groove 8 is set, and that guide pin 10 is exited is simple to operate, reduce from through hole 7 and moved back the guide locating device provided Large Amplitude Motion of whole flexure type that guide pin 10 brings, improve operation efficiency.Certainly, the sleeve fixed structure shown in Fig. 1 not exclusive structure, also directly sleeve fixed structure is set to the buckling groove for clamping pilot sleeve 9.
The flexure type of the orthopedic robot guide pin locator that this utility model provides is guide locating device provided, and the connecting rod 1 comprising and support 2 can be one-body molded or these two parts are formed by fixedly connecting by modes such as welding.Orthopedic robot guide pin locator is the termination on orthopedic robot navigation device, controlling and stablizing for bone surgery guide pin position, need the accurately locus of location guide pin, the flexure mode structure of this orthopedic robot guide pin locator can shorten the guide pin length coordinating greatly, and make guide pin away from the mechanical arm of orthopedic robot navigation device, overcome the interference of guide pin and C type arm, the problem of having avoided the application of orthopaedics Minimally Invasive Surgery to be restricted, thus meet better the requirement of performing the operation.
Adopt orthopedic robot guide pin locator of the present utility model orthopedic robot navigation device preferred structure as shown in Figure 3, comprise orthopedic robot guide pin locator 14, the first series connection mechanical arm, the second series connection mechanical arm, horizontal adjustment assembly 15, height adjustment assembly 16 and support 21, the first series connection mechanical arm comprises the first horizontal movement assembly 11 being connected in series, the first vertical motion assembly 12 and the first universal joint 13, the second series connection mechanical arm comprises the second horizontal movement assembly 18 being connected in series, the second vertical motion assembly 19 and the second universal joint 20, the first horizontal movement assembly 11 is all connected with support 21 with height adjustment assembly 16 by horizontal adjustment assembly 15 successively with the second horizontal movement assembly 18, between the first horizontal movement assembly 11 and the first vertical motion assembly 12, between the first vertical motion assembly 12 and the first universal joint 13, between the second horizontal movement assembly 18 and the second vertical motion assembly 19 and between the second vertical motion assembly 19 and the second universal joint 20, be all connected by guide rail, the first universal joint 13 and slip cap 3 clampings, the second universal joint 20 and fixed cover 4 clampings.In the time fixed cover not being set on connecting rod 1, the first universal joint 13 and slip cap 3 clampings, the second universal joint 20 and connecting rod 1 certain part clamping except slip cap 3.
On the first horizontal movement assembly 11, be provided with guide rail (also can by feed screw nut as driver part), can on the first horizontal movement assembly 11, sensor or show rulers scale etc. be set as displacement detector, the first vertical motion assembly 12 can horizontal slip on the first horizontal movement assembly 11, thereby drive the first universal joint 13 to do horizontal movement, on the first vertical motion assembly 12, be also provided with guide rail (also can by feed screw nut as driver part) and displacement detector is set, the first universal joint 13 can vertically slide on the first vertical motion assembly 12, therefore the first universal joint 13 can be realized the motion of two degree of freedom in the perpendicular that the first horizontal movement assembly 11 and the first vertical motion assembly 12 form, in like manner, the second universal joint 20 can be realized the motion of two degree of freedom in the perpendicular that the second horizontal movement assembly 18 and the second vertical motion assembly 19 form, and first universal joint 13 and the second universal joint 20 in plane separately, do relatively independent motion.In the time that the first universal joint 13 and the second universal joint 20 move to respectively impact point geometric position separately, simultaneously also realize the accurate location in self position and direction with the orthopedic robot guide pin locator 14 of the first universal joint 3 and the second universal joint 13 clampings, this orthopedic robot guide pin locator finally can be realized the motion of four degree of freedom, therefore orthopedic robot guide pin locator 14 is in fact device pilot sleeve 9 and guide pin 10 to positioning action and guide effect.In the time of the most frequently used orthopaedics Wicresoft navigating surgery guide pin 10 being inserted in suffering limb, suffering limb is placed on operation table, the location of orthopedic robot guide pin locator 14 is carried out in the side that orthopedic robot navigation device of the present utility model is placed on operation table, pilot sleeve 9 is put into the sleeve fixed structure of orthopedic robot guide pin locator 14, once the position of orthopedic robot guide pin locator 14 and direction are determined, the position of pilot sleeve 9 and direction are just accurately determined thereupon, guide pin 10 is inserted into pilot sleeve 9, the position of guide pin 10 and direction are just accurately determined thereupon simultaneously, and guide pin 10 forms special angle with connecting rod 1, guide pin 10 is away from two series connection mechanical arms of orthopedic robot navigation device, so doctor can be inserted into accurately suffering limb inside by guide pin 10 and perform the operation.
Preferably, can castor 22 be set in support 21 bottom surroundings, the convenient like this passing to whole orthopedic robot navigation device, can shift flexibly this device onto operation bedside, can support fixture be set in the bottom of support 21 in addition, adjusting behind the position of this orthopedic robot navigation device, support fixture can be controlled castor 22 and make it to be lifted away from ground, prevents that the position of orthopedic robot navigation device in operation is offset.Height adjustment assembly 16 can be realized the significantly adjustment of two series connection mechanical arms in short transverse, horizontal adjustment assembly 15 can be realized the significantly adjustment in the horizontal direction of two series connection mechanical arms, make orthopedic robot navigation device be adjusted to best putting position, be equivalent to, according to the present height of suffering limb and position on operation table, orthopedic robot guide pin locator 14 has been done to corresponding adjustment, without mobile support, greatly improve the motility of orthopedic robot navigation device, shorten operating time, thereby it is convenient to perform the operation.Even in operation, can avoid the interference to doctor by the motion of horizontal adjustment assembly 15 and height adjustment assembly 16, after doctor's surgical action finishes, orthopedic robot navigation device can accurately return to the position before motion, and this function has improved the motility of orthopedic robot navigation device greatly.In addition, a control panel 17 can also be set on this device, and arrange and can control the control knob that the first horizontal movement assembly 11, the first vertical motion assembly 12, the second horizontal movement assembly 18, the second vertical motion assembly 19, height adjustment assembly 16 and horizontal adjustment assembly 15 move on control panel 17.Before operation, can the first series connection mechanical arm and second series connection mechanical arm outer cover on sterilizing covers, again by orthopedic robot guide pin locator 14 respectively with the first universal joint 13 and the first universal joint 20 clampings, can realize whole device except orthopedic robot guide pin locator 14 and the isolation completely of operative space by sterilizing covers like this, prevent the pollution of orthopedic robot navigation device to operative space, make operative space reach the aseptic standard of requirements of operation; And without at perioperatively, each parts of orthopedic robot navigation device being assembled, dismantled, and the sterilization processing such as high temperature steaming, more solve the parts that in orthopedic robot navigation device, volume is larger and electrical category device and cannot carry out at all the problem of conventional high temperature steaming sterilization.
The preferred structure of this utility model orthopedic robot navigation device can also be as shown in Figure 2, Fig. 2 is the part-structure figure of orthopedic robot navigation device, this orthopedic robot navigation device comprises orthopedic robot guide pin locator 14 equally, the first series connection mechanical arm, the second series connection mechanical arm and support (not shown), the first series connection mechanical arm comprises the first horizontal movement assembly (not shown) being connected in series, the first vertical motion assembly 12 and the first universal joint 13, the second series connection mechanical arm comprises the second horizontal movement assembly (not shown) being connected in series, the second vertical motion assembly 19 and the second universal joint 20.The first universal joint 13 and the second universal joint 20 in this embodiment all adopt the gimbal structure shown in Fig. 4, this universal joint comprises the base 23 connecting successively, horizontally rotate parts, vertically rotary part and clamping part, base 23 can slide along guide rail on the vertical motion assembly of series connection mechanical arm, horizontally rotating parts is the parts that can rotate around self vertical axis, horizontally rotate parts and comprise Y shaped bracket 25 and swivel bearing 24, the Y shape bottom of Y shaped bracket 25 is connected with base 23 by swivel bearing 24, the outside of swivel bearing 24 coordinates with base 23, match with the Y shape bottom of Y shaped bracket 25 in inner side.Y shaped bracket 25 can be done 360 ° of rotations around Y shaped bracket axis 30.Vertically rotary part is and horizontally rotates the parts that parts are flexibly connected and can rotate around own level axis, vertically rotary part is U-shaped support 26, U-shaped two arms of U-shaped support 26 are connected axisymmetricly with the inner side of Y shape two arms of Y shaped bracket 25 respectively, now Y shaped bracket 25 is the support member of U-shaped support 26, U-shaped support 26 can rotate around U-shaped support axis 31, and this U-shaped support axis 31 intersects vertically with Y shaped bracket axis 30.Clamping part is the clamping positioning element of pilot sleeve 9, comprise that vee-block 27 and wedge 28 complete the clamping of orthopedic robot guide pin locator 14, vee-block 27 is arranged at a U-shaped arm inner side of U-shaped support 26, wedge 28 is arranged at the another one U-shaped arm inner side of U-shaped support 26, the corresponding setting in vee-block 27 and wedge 28 left and right on two U-shaped arms of U-shaped support 26, the inclined-plane of the corresponding wedge 28 of V-shaped groove of vee-block 27, clamping part adopts V-shaped groove location, and coordinate horizontally rotating and clamping that vertically the vertical rotation of rotary part realizes orthopedic robot guide pin locator 14 of horizontal rotary part, accurately location and clamping.
This universal joint also comprises the Compress Spring 29 of vertical setting, the bottom of wedge 28 is fixed in one end of this Compress Spring 29, the other end is fixed on the inner side of the U-shaped bottom of U-shaped support 26, wedge 28 is slidably connected with the U-shaped arm of U-shaped support 26, wedge 28 is the clamping device of orthopedic robot guide pin locator 14, under the effect of Compress Spring 29, wedge 28 moves upward, Automatic-clamping orthopedic robot guide pin locator 14, specifically step up slip cap 3 by the wedge 28 of the first universal joint 13, step up fixed cover 4 or directly step up connecting rod 1 by the wedge 28 of the second universal joint 20.Slip cap 3 and fixed cover 4 snap in respectively in universal joint, on fixed cover 4, orthogonal plane coordinates with the V-block 27 of universal joint, restriction fixed cover 4 is in the interior rotation of V-block 27, alignment pin 5 and the laminating of universal joint side, slide in restriction fixed cover 4 front and back, it is the slip of limiting rod 1 and whole orthopedic robot guide pin locator 14, realize by vee-block 27 requirement that orthopedic robot guide pin locator 14 is located, promote wedge 28 by Compress Spring 29 and clamp orthopedic robot guide pin locator 14 and realize fixing requirement.Along with the horizontal movement assembly in two series connection mechanical arms and the motion of vertical motion assembly, two universal joints step up orthopedic robot guide pin locator 14, realize the multivariant accurate location of the biplane of orthopedic robot guide pin locator 14, pilot sleeve 9 and guide pin 10.
Fig. 5 is the structural representation of navigation system of the present utility model, this system comprises the orthopedic robot navigation device 14 shown in Fig. 2 or Fig. 3, also comprise C type arm 33, computer 35 and be stored in the image control function software in computer 35, orthopedic robot navigation device 36 is placed on the side of suffering limb 37, wherein, C type arm 33 comprises X-ray light source 32 and X-ray imaging device 34, X-ray light source 32 is from two angular illumination suffering limbs 37, and form image on X-ray imaging device 34, to after this image acquisition, transfer in computer 35 through video data line, image control function software in machine 35 sets up two-dimensional coordinate system and carries out computing based on Binocular Vision Principle and finally determine operation pathway as calculated, determine need insert guide pin axial location coordinate and as impact point geometric position, operation button can be set in image control function software, clicking the robot guide pin locator 14 that can control in orthopedic robot navigation device 36 after this operation button moves, further, move to respectively impact point geometric position by the first universal joint 13 and the second universal joint 20, then robot guide pin locator 14 is snapped fit onto in the first universal joint 13 and the second universal joint 20, pilot sleeve 9 is put into the sleeve fixed structure (as through hole 7) of robot guide pin locator 14, again guide pin 10 is inserted to this pilot sleeve 9, guide pin 10 is inserted in suffering limb 37 and completes operation the most at last.Image control function software in computer 35 also can be set to be connected with the control knob on control panel 17 in orthopedic robot navigation device 36, this control knob is used for controlling the assembly motions such as the first horizontal movement assembly 11, the first vertical motion assembly 12, the second horizontal movement assembly 18, the second vertical motion assembly 19, height adjustment assembly 16 and horizontal adjustment assembly 15, makes the first universal joint 13 and the second universal joint 20 in orthopedic robot navigation device 36 move to respectively impact point geometric position by pressing control knob.
It should be pointed out that the above detailed description of the invention can make the invention of those skilled in the art's comprehend, but do not limit the present invention in any way creation.Therefore; although this description has been described in detail the invention with reference to drawings and Examples; but; those skilled in the art are to be understood that; still can modify or be equal to replacement the invention; in a word, all do not depart from technical scheme and the improvement thereof of the spirit and scope of the invention, and it all should be encompassed in the middle of the protection domain of the invention patent.
Claims (11)
1. an orthopedic robot guide pin locator, it is characterized in that, comprise that flexure type is guide locating device provided, guide locating device provided interconnected connecting rod and the support of comprising of described flexure type, on described connecting rod, be provided with the slip cap that can slide along connecting rod axis, on described support, being provided with sleeve fixed structure, is the pilot sleeve of guide pin guiding by described sleeve fixed structure fixed installation, and described pilot sleeve is installed the angle of rear its axis and connecting rod axis between 15 degree to 75 degree.
2. orthopedic robot guide pin locator according to claim 1, it is characterized in that, on described connecting rod, be also provided with the fixed cover that can not slide along connecting rod axis, described fixed cover and slip cap are the parts of realizing clamping with the universal joint of orthopedic robot navigation device.
3. orthopedic robot guide pin locator according to claim 2, is characterized in that, on described fixed cover, be provided with for two planes of described universal joint clamping.
4. orthopedic robot guide pin locator according to claim 3, is characterized in that, two planes on described fixed cover are mutually vertical.
5. according to the orthopedic robot guide pin locator one of claim 2 to 4 Suo Shu, it is characterized in that, on described fixed cover, be provided with alignment pin; And/or, on described connecting rod, be provided with the catch that prevents that described slip cap from coming off.
6. according to the orthopedic robot guide pin locator one of claim 1 to 4 Suo Shu, it is characterized in that, the angle that described pilot sleeve is installed rear its axis and connecting rod axis is 30 degree.
7. according to the orthopedic robot guide pin locator one of claim 1 to 4 Suo Shu, it is characterized in that, described sleeve fixed structure is mating with pilot sleeve to insert the also through hole of fixed guide sleeve of arranging on support.
8. orthopedic robot guide pin locator according to claim 7, is characterized in that, is provided with withdraw of the needle groove on the wall of described through hole, described withdraw of the needle groove be axially connect along through hole for taking out the breach of guide pin.
9. an orthopedic robot navigation device, comprise support, the first series connection mechanical arm and the second series connection mechanical arm, described the first series connection mechanical arm comprises the first horizontal movement assembly being connected in series, the first vertical motion assembly and the first universal joint, described the second series connection mechanical arm comprises the second horizontal movement assembly being connected in series, the second vertical motion assembly and the second universal joint, described the first horizontal movement assembly is all connected with support with the second horizontal movement assembly, between described the first horizontal movement assembly and the first vertical motion assembly, between the first vertical motion assembly and the first universal joint, between the second horizontal movement assembly and the second vertical motion assembly and between the second vertical motion assembly and the second universal joint, be all connected by guide rail, it is characterized in that, also comprise the orthopedic robot guide pin locator that one of claim 1 to 8 is described, described the first universal joint and described slip cap clamping, in the time being provided with fixed cover on described connecting rod, described the second universal joint and described fixed cover clamping, in the time fixed cover not being set on described connecting rod, certain the part clamping on described the second universal joint and described connecting rod beyond slip cap.
10. orthopedic robot navigation device according to claim 9, it is characterized in that, described the first universal joint and the second universal joint include the base that is connected successively, horizontally rotate parts, vertically rotary part and clamping part, described clamping part comprises that vee-block and wedge complete the clamping of pilot sleeve, described vee-block and wedge are all arranged on vertical rotary part, and the inclined-plane of the corresponding described wedge of the V-shaped groove of described vee-block; Described clamping part adopts V-shaped groove location, and coordinates horizontally rotating and accurate location that vertically the vertical rotation of rotary part realizes pilot sleeve of horizontal rotary part.
11. orthopedic robot navigation devices according to claim 10, it is characterized in that, the described parts that horizontally rotate comprise Y shaped bracket and swivel bearing, the Y shape bottom of described Y shaped bracket is connected with base by swivel bearing, described vertical rotary part is U-shaped support, U-shaped two arms of described U-shaped support are connected axisymmetricly with the inner side of Y shape two arms of Y shaped bracket respectively, and described vee-block is arranged at a U-shaped arm inner side of U-shaped support, and wedge is arranged at the another one U-shaped arm inner side of U-shaped support; And/or, described in to horizontally rotate parts be can be around the parts of self vertical axis rotation, described vertical rotary part is and horizontally rotates the parts that parts are flexibly connected and can rotate around own level axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420072294.4U CN203885617U (en) | 2014-02-19 | 2014-02-19 | Orthopaedic robot guide needle locator and navigation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420072294.4U CN203885617U (en) | 2014-02-19 | 2014-02-19 | Orthopaedic robot guide needle locator and navigation device |
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| CN203885617U true CN203885617U (en) | 2014-10-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103815970A (en) * | 2014-02-19 | 2014-05-28 | 北京天智航医疗科技股份有限公司 | Orthopaedic robot guide needle positioner, navigation unit and positioning system |
| CN105411635A (en) * | 2015-12-22 | 2016-03-23 | 雷俊虎 | Knee joint anterior cruciate ligament femoral tunnel needle withdrawal direction guiding and positioning system |
| CN105434048A (en) * | 2016-01-25 | 2016-03-30 | 杭州三坛医疗科技有限公司 | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device |
| CN105748143A (en) * | 2016-04-29 | 2016-07-13 | 谢小波 | Femur neck guider |
| CN111195157A (en) * | 2020-02-28 | 2020-05-26 | 徐永革 | Guiding device for brain surgery positioning |
| CN113069358A (en) * | 2021-03-22 | 2021-07-06 | 四川大学华西医院 | Full-automatic device for dry powder water-dissolving process for clinical laboratory and use method |
-
2014
- 2014-02-19 CN CN201420072294.4U patent/CN203885617U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103815970A (en) * | 2014-02-19 | 2014-05-28 | 北京天智航医疗科技股份有限公司 | Orthopaedic robot guide needle positioner, navigation unit and positioning system |
| CN105411635A (en) * | 2015-12-22 | 2016-03-23 | 雷俊虎 | Knee joint anterior cruciate ligament femoral tunnel needle withdrawal direction guiding and positioning system |
| CN105434048A (en) * | 2016-01-25 | 2016-03-30 | 杭州三坛医疗科技有限公司 | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device |
| CN105748143A (en) * | 2016-04-29 | 2016-07-13 | 谢小波 | Femur neck guider |
| CN105748143B (en) * | 2016-04-29 | 2018-05-25 | 谢小波 | Neck of femur guider |
| CN111195157A (en) * | 2020-02-28 | 2020-05-26 | 徐永革 | Guiding device for brain surgery positioning |
| CN113069358A (en) * | 2021-03-22 | 2021-07-06 | 四川大学华西医院 | Full-automatic device for dry powder water-dissolving process for clinical laboratory and use method |
| CN113069358B (en) * | 2021-03-22 | 2023-07-21 | 四川大学华西医院 | Full-automatic device for dry powder water-soluble process for clinical laboratory and use method |
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Inventor after: Tian Wei Inventor after: Zhang Songgen Inventor after: Liu Yajun Inventor after: Zhang Weijun Inventor after: Xia Wei Inventor before: Zhang Songgen Inventor before: Zhang Weijun Inventor before: Xia Wei |
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Free format text: CORRECT: INVENTOR; FROM: ZHANG SONGGEN ZHANG WEIJUN XIA WEI TO: TIAN WEI ZHANG SONGGEN LIU YAJUN ZHANG WEIJUN XIA WEI |
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