CN102485177A - Vertebral lamina self-adapting safe decompression spinal surgery mechanical arm - Google Patents
Vertebral lamina self-adapting safe decompression spinal surgery mechanical arm Download PDFInfo
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- CN102485177A CN102485177A CN2010105779150A CN201010577915A CN102485177A CN 102485177 A CN102485177 A CN 102485177A CN 2010105779150 A CN2010105779150 A CN 2010105779150A CN 201010577915 A CN201010577915 A CN 201010577915A CN 102485177 A CN102485177 A CN 102485177A
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- cutter
- vertebral plate
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- vertebral lamina
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Abstract
The invention relates to a vertebral lamina self-adapting safe decompression spinal surgery mechanical arm, which is composed of a connection and fixation mechanism, a telescoping mechanism, a cutter rotating mechanism, a guide and protection support, an annular water curtain mechanism and the like. The invention is characterized in that the guide and protection support and the lower end surface of the cutter form a certain angle; when in operation, the guide and protection support and the cutter hold the vertebral lamina; the invention not only can automatically adapt to the convex and concave changes of the lower surface of the vertebral lamina to directly perform full thickness cutting on the vertebral lamina, but also can utilize the vertebral lamina, the guide and protection support and the water curtain to protect the bottom and the circumference of the rapidly rotating cutter, thereby preventing the instrument from moving too deeply and winding soft tissues in the vertebral canal, and also preventing the friction between the cutter and the cutting surface from generating high temperature and injuring the nerves. The invention has the advantages of reasonable and ingenious structure, high safety and high efficiency, is simple to operate, can lower the work intensity of the doctor, and is applicable to various vertebral lamina cutting decompression surgeries.
Description
The invention belongs to a kind of medical surgical instrument.
Mention spinal operation, like intervertebral disk hernia, spondylolishesis, spinal fracture, infection, deformity, tumor etc., people are " turning pale at the mention of the tiger ", are in fear of that injured nerve causes paralysis in the operation process.The vertebral lamina fenestration decompression is one of of paramount importance link in the operation process as main treatment means.Therefore, the laminectomy for decompression of safety has very important significance in field of spinal surgery.The operating theater instruments that is used for laminectomy for decompression at present mainly contains laminectomy rongeur, Electric grinding drill, ultrasound knife, robot etc.During the laminectomy rongeur interlock if any possibly crushing nerve accidentally, the manually-operated injured nerve of also might accidentally dropping.Though Electric grinding drill can reduce the intensity of working doctor; But because rotating speed is high; There are many risk factors; Like friction generates high temperature between bistrique and the facet, be prone to twine soft tissue, artificial grinding in the canalis spinalis and be difficult to accurately to control that the degree of depth, instability that bistrique gets into are prone to accidentally drop etc., all might cause nerve injury, thereby it is generally used for the vertebral plate wear down can not directly be used for vertebral plate through thickness excision decompression.Ultrasound knife efficient is lower, also can heat production in the deep process, be generally used for the carving of fritter osseous tissue.Spinal surgery robot system based on force feedback applies certain pressure on cutter; When vertebral plate osseous tissue wear down during to certain thickness; Pressure descends and stops to grind bone through force feedback control, and is the same with Electric grinding drill, can not directly be used for vertebral plate through thickness excision decompression.
The purpose of this invention is to provide a kind of can adapt to automatically that vertebral plate lower surface convex-concave changes, directly carry out vertebral plate through thickness excision decompression, spinal operation mechanical arm safely and efficiently.
Technical scheme of the present invention is to realize like this.Vertebral plate adaptive security decompression spinal operation mechanical arm is formed by connecting fixed mechanism, telescoping mechanism, cutter rotating mechanism, guiding protection holder, annular water curtain mechanism etc.Connecting fixed mechanism is used for being connected with robot body fixing.The length of scalable this mechanical arm of adjusting of telescoping mechanism.The cutter rotating mechanism is made up of motor, bearing, rotating shaft etc.All there is blade the side of cutter and lower surface, can carry out the cutting of side and lower surface.Guiding protection holder can rotate freely by 360 degree below mechanical arm, and its leading portion is sphere.Guiding is protected holder and cutter lower surface at an angle, and the two is " duckbilled " shape that upper lip is long, lower lip is short norma lateralis.Annular water curtain mechanism is made up of the fine duct of force (forcing) pump, water inlet, annular spread, water jet etc.Before the operation this mechanical arm is connected and fixed on robot body, mechanical arm can rotatablely move around X (operating-table long axis direction), Y (operating-table short-axis direction) axle.Through robot body decline cutter, make its lower surface directly touch the vertebral plate or the sclerotin upper surface at the proximal edge place of the tapered openings of opening above that during operation, so can avoid cutter to get into canalis spinalis, with the assurance operation safety.With the cutter lower surface is that the center of circle is to this robotic arm of direction rotation that deviates from the proximal edge sclerotin; Guiding protection holder leading portion sphere promptly extend the vertebral plate below a little; Make sclerotin closely touch guiding protection holder side support chip along X and/or this robotic arm of a little translation of Y direction; Guiding protection holder i.e. " centering " automatically, its leading portion just all get into desire cutting place vertebral plate under, the guiding protection is held in the palm and just just as " duckbilled ", vertebral plate is clamped with the cutter lower surface like this.Start the cutter rotation and make this mechanical arm around X and/or Y direction rotary oscillation; Because the equal machinable in side and lower surface of cutter; The vertebral plate sclerotin is promptly removed by the part mill, and its remainder edge is ">" shape, because this vertebral plate remainder sclerotin has certain intensity; Its extruding guiding protection holder is also elongated robotic arm automatically, and guiding protection holder can adapt to the convexo concave of vertebral plate lower surface automatically and adjust height.Guiding protection holder adapts in the adjustment process at this, remains with the tight of vertebral plate lower surface to contact, and tissues such as ligamenta flava, dural sac and vertebral plate and cutter are separated.Reduce like vertebral plate remainder sclerotin intensity, the robotic arm that is elongated promptly bounces back automatically, moves away from nervous tissue in the guiding protection holder.Repeat aforesaid operations this moment, can realize " move on the limit, cut on the limit, limit protect ", thus the assurance operation safety.When starting the cutter rotation, start annular water curtain mechanism; It sprays thin water column and forms annular water curtain around cutter; Intraspinal soft tissue and cutter are isolated; Like this vertebral plate remaining bone tissue, guiding protection holder and water curtain can from the bottom with all around the cutter protection of high speed rotating is got up; Avoid intraspinal soft tissue to contact with it and take place to twine and injured nerve, the water of simultaneously annular water curtain mechanism ejection can also be avoided friction generates high temperature between cutter and the facet and the nerve injury that possibly cause, and guarantees that mechanical arm directly carries out the safety of vertebral plate through thickness excision decompression operation.
Structure of the present invention combines detailed description of the drawings following.
Vertebral plate adaptive security decompression spinal operation mechanical arm is formed by connecting fixed mechanism, telescoping mechanism, cutter rotating mechanism, guiding protection holder, annular water curtain mechanism etc.Connecting fixed mechanism 1 is used for being connected with robot body fixing.Telescoping mechanism is formed the length of scalable this mechanical arm of adjusting by spring 2, expansion link 3 etc.The cutter rotating mechanism is made up of motor 4, bearing block 5, bearing 8, rotating shaft A 6 and rotating shaft B 9 and joint 7 etc.All there is blade the side of cutter 12 and lower surface, can carry out the cutting of side and lower surface.Guiding protection holder 17 leading portions can rotate freely by 360 degree outside the front end plug 13 below mechanical arm, and its leading portion is sphere 15, and back segment links to each other with side support chip 14.Guiding is protected holder 17 and cutter lower surface 18 at an angle, and the two is " duckbilled " shape that upper lip is long, lower lip is short norma lateralis.Annular water curtain mechanism is made up of the fine duct 11 of force (forcing) pump, water inlet 10, annular spread, water jet 16 etc.Before the operation this mechanical arm is connected and fixed on robot body, mechanical arm can rotatablely move around X (operating-table long axis direction), Y (operating-table short-axis direction) axle.Through robot body decline cutter 12, make its lower surface 18 directly touch the vertebral plate or sclerotin 19 upper surfaces 20 at the proximal edge place of the tapered openings of opening above that during operation, so can avoid cutter 12 to get into canalis spinalis, with the assurance operation safety.With cutter lower surface 18 is that the center of circle is to this robotic arm of direction rotation that deviates from the proximal edge sclerotin; Guiding protection holder 17 leading portion spheres 15 promptly extend the vertebral plate below a little; Make sclerotin closely touch guiding protection holder side support chip 14 along X and/or this robotic arm of a little translation of Y direction; Guiding protection holder 17 i.e. " centerings " automatically, its leading portion just all get into desire cutting place vertebral plate 19 under, the guiding protection asks 17 just just as " duckbilled ", vertebral plate to be clamped with cutter lower surface 18 like this.Start the cutter rotation and make this mechanical arm around X and/or Y direction rotary oscillation; Because the equal machinable in side and lower surface of cutter; The vertebral plate sclerotin is promptly removed by the part mill, and its remainder edge is ">" shape, because this vertebral plate remainder sclerotin 19 has certain intensity; Its extruding guiding protection holder 17 is also elongated robotic arm telescoping mechanism 2,3 automatically, and guiding protection holder 17 can adapt to the convexo concave of vertebral plate lower surface 21 automatically and adjust height.The guiding protection holds in the palm 17 in this adaptation adjustment process, remains with the tight of vertebral plate lower surface 21 to contact, and tissues such as ligamenta flava, dural sac 22 and vertebral plate and cutter 12 are separated.Reduce like vertebral plate remainder sclerotin 19 intensity, the robotic arm telescoping mechanism 2,3 that is elongated promptly bounces back automatically, moves away from nervous tissue 22 in the guiding protection holder 17.Repeat aforesaid operations this moment, can realize " move on the limit, cut on the limit, limit protect ", thus the assurance operation safety.When starting cutter 12 rotations, start annular water curtain mechanism; Force (forcing) pump sprays thin water column through the fine duct 11 of water inlet 10, annular spread, water jet 16 etc. and forms annular water curtain around cutter 12; Intraspinal soft tissue and cutter are isolated; Like this vertebral plate remaining bone tissue 19, guiding protection holder 17 and water curtain can from the bottom with all around the cutter 12 of high speed rotating is protected; Avoid intraspinal soft tissue to contact with it and take place to twine and injured nerve; The water of simultaneously annular water curtain mechanism ejection can also be avoided friction generates high temperature between cutter and the facet and the nerve injury that possibly cause, and guarantees that mechanical arm directly carries out the safety of vertebral plate through thickness excision decompression operation.
The present invention has the following advantages: rational in infrastructure ingenious, safe and efficient, easy and simple to handle, can reduce doctor's working strength, and be applicable to multiple spinal column pressure reduction operation.
The Figure of description explanation:
1. connect fixed mechanism 2. springs 3. expansion links 4. motors 5. bearing blocks 6. rotating shaft A 7. joints 8. bearings 9. rotating shaft B 10. water inlets 11. fine ducts 12. cutters 13. front end plugs 14. guiding protection holder side support chips 15. guiding protection holder leading portion spheres 16. water jets 17. guiding protection holders 18. cutter lower surfaces 19. vertebral plate remainder sclerotin, 20. vertebral plate remainder sclerotin upper surfaces, 21. vertebral plate lower surfaces, 22. nervous tissues
Fig. 1: vertebral plate adaptive security decompression spinal operation mechanical arm structure chart
Fig. 2: the partial enlarged drawing of Fig. 1 lower end
Fig. 3: vertebral plate adaptive security decompression spinal operation mechanical arm operation principle sketch map
Claims (5)
1. vertebral plate adaptive security decompression spinal operation mechanical arm, it is formed by connecting fixed mechanism, telescoping mechanism, cutter rotating mechanism, guiding protection holder, annular water curtain mechanism etc.It is characterized in that: guiding protection holder and cutter lower surface are at an angle; The two clamps vertebral plate during work; Can not only adapt to the variation of vertebral plate lower surface convex-concave automatically and directly carry out the excision of vertebral plate through thickness; Can also utilize vertebral plate, guiding protection holder and water curtain from the bottom with all around with the cutter protection of high speed rotating, avoid that apparatus work is dark excessively, friction generates high temperature and injured nerve between the intraspinal soft tissue of winding and cutter and the facet.
2. according to claim 1 described vertebral plate adaptive security decompression spinal operation mechanical arm, it is characterized in that: telescoping mechanism can prolong or shorten the length of mechanical arm.
3. according to claim 1 described vertebral plate adaptive security decompression spinal operation mechanical arm, it is characterized in that: all there is blade the side of cutter and lower surface, can carry out the cutting of side and lower surface.
4. according to claim 1 described vertebral plate adaptive security decompression spinal operation mechanical arm, it is characterized in that: guiding protection holder can rotate freely by 360 degree below mechanical arm, and its leading portion can be sphere or other shapes.
5. according to claim 1 described vertebral plate adaptive security decompression spinal operation mechanical arm; It is characterized in that: annular water curtain mechanism can spray thin water column or other liquid state and/or the nontoxic medium of gaseous state and form annular curtain barrier around cutter; Intraspinal soft tissue and cutter are isolated, avoid twining and injured nerve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105779150A CN102485177A (en) | 2010-12-01 | 2010-12-01 | Vertebral lamina self-adapting safe decompression spinal surgery mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105779150A CN102485177A (en) | 2010-12-01 | 2010-12-01 | Vertebral lamina self-adapting safe decompression spinal surgery mechanical arm |
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| CN102485177A true CN102485177A (en) | 2012-06-06 |
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| CN2010105779150A Pending CN102485177A (en) | 2010-12-01 | 2010-12-01 | Vertebral lamina self-adapting safe decompression spinal surgery mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103300906A (en) * | 2013-07-03 | 2013-09-18 | 青岛理工大学 | Six-freedom-degree automatic adjusting mechanical arm grinding and clamping device for medical surgical operation |
| US11123088B2 (en) | 2020-01-16 | 2021-09-21 | Spinal Innovations, Llc | Pressure activated surgical tool for use in spinal decompression procedures and methods of using the same |
| CN113440260A (en) * | 2021-08-10 | 2021-09-28 | 苏州点合医疗科技有限公司 | Self-adaptation decompression tunnel type robot arm for robot |
| CN118021384A (en) * | 2024-04-11 | 2024-05-14 | 苏州铸正机器人有限公司 | Power skeleton cutting device with locate function |
| JP7631626B2 (en) | 2021-12-20 | 2025-02-18 | レム サージカル アーゲー | Synchronized Robotic Bone Cutting |
-
2010
- 2010-12-01 CN CN2010105779150A patent/CN102485177A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103300906A (en) * | 2013-07-03 | 2013-09-18 | 青岛理工大学 | Six-freedom-degree automatic adjusting mechanical arm grinding and clamping device for medical surgical operation |
| CN103300906B (en) * | 2013-07-03 | 2015-02-18 | 青岛理工大学 | Six-freedom-degree automatic adjusting mechanical arm grinding and clamping device for medical surgical operation |
| US11123088B2 (en) | 2020-01-16 | 2021-09-21 | Spinal Innovations, Llc | Pressure activated surgical tool for use in spinal decompression procedures and methods of using the same |
| US12016577B2 (en) | 2020-01-16 | 2024-06-25 | Spinal Innovations, Llc | Pressure activated surgical tool for use in spinal decompression procedures and methods of using the same |
| US12023052B2 (en) | 2020-01-16 | 2024-07-02 | Spinal Innovations, Llc | Pressure activated surgical tool for use in spinal decompression procedures and methods of using the same |
| CN113440260A (en) * | 2021-08-10 | 2021-09-28 | 苏州点合医疗科技有限公司 | Self-adaptation decompression tunnel type robot arm for robot |
| JP7631626B2 (en) | 2021-12-20 | 2025-02-18 | レム サージカル アーゲー | Synchronized Robotic Bone Cutting |
| CN118021384A (en) * | 2024-04-11 | 2024-05-14 | 苏州铸正机器人有限公司 | Power skeleton cutting device with locate function |
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Application publication date: 20120606 |