CN102648870A - Spinal pedicle screw implantation feedback force information collection device - Google Patents

Abstract

A pedicle screw implantation feedback force information acquisition device includes a handle, a torsional force transmission mechanism, a tension and compression force transmission mechanism, an operating head and a reference frame. The torsion force transmission mechanism is embedded in the groove of the handle, the tension and pressure force transmission mechanism is connected to the front end of the torsion force transmission mechanism, the operating head is connected to the front end of the tension and pressure force transmission mechanism, and the reference frame is connected to the tension and pressure joint. The pedicle screw implantation feedback force information acquisition device of the present invention is used in conjunction with the optical positioning system, which can directly act on the human thoracic and lumbar spine during the pedicle screw implantation operation, and simultaneously collect feedback force information; it can also be used through a special The information collection experiment acts on human thoracic and lumbar vertebrae specimens to collect feedback force information. The collected force sense information can be used for force sense model construction in the virtual pedicle screw implantation operation system.

Description

Pedicle screw implantation feedback force information acquisition device

technical field

The invention relates to virtual simulation technology, in particular to a pedicle screw implantation feedback force information acquisition device.

Background technique

Surgical virtual simulation is the application of virtual reality technology in the medical field, and it is an important research direction in the field of digital surgery technology. With the help of surgical virtual simulation technology, doctors can formulate optimized surgical plans; they can also perform repeated exercises without using cadaver specimens, thereby reducing surgical training costs for surgeons and shortening the training period. Few opportunities for hands-on operation and high cost of operating objects (cadaveric specimens) are of great significance for improving the quality and efficiency of medical surgery training.

The spine is one of the most important organs of the human body. In recent years, the incidence of spinal lesions and fractures and dislocations is on the rise. Spinal internal fixation surgery based on pedicle screw implantation has the advantages of short cycle time and quick results, and is often the first choice of doctors and patients. Spinal pedicle screw implantation surgery needs to determine the ideal screw entrance on the vertebral body, and monitor the relative position and posture relationship between the screw or surgical tool and the vertebral body in real time. Moreover, the doctor's viewing area is limited, relying on repeated acquisition The X-ray of the affected area discontinuously obtains the relative pose information between the implant or surgical tool and the affected bone, which puts high demands on the doctor's surgical operation level. In order to improve the technical level of doctors at a lower cost in a short period of time, it is necessary to develop a virtual simulation system for the implantation of spinal pedicle screws.

In order to achieve a realistic surgical virtual simulation effect, so as to output different feedback forces according to the different physical characteristics of different parts of the human vertebral body and the different parameters such as drilling and screw implantation depth, orientation, speed, acceleration, etc., a force feedback system is essential. Part. The basic force-feedback system includes force-feedback devices and force-feedback modeling. The existing force sensory model involves a large number of complex calculations and is highly theoretical. However, the structure and biomechanical characteristics of the human vertebral body are very complex. Certain differences affect the fidelity of surgical virtual simulation. Compared with pure theoretical calculation, it is a more direct and effective solution to collect the real feedback force information in the actual pedicle screw implantation through the force sensing device, and to conduct modeling analysis and research on this basis .

After searching the documents of the prior art, it is found that the Chinese invention patent "virtual scalpel device" (notification number CN1176448C) with the patent number ZL02118522.0 discloses a virtual scalpel, and the Chinese invention patent "one A Force Acquisition Device for a Scalpel" (publication number is CN1677064A) then discloses the force acquisition device for this virtual scalpel, and the Chinese invention patent "Virtual Surgery Force Sense Information Acquisition Device" (publication number is CN101653356A) whose application number is 200910308169.2 Disclosed is a virtual operation force sense information acquisition device. These three patents all involve the collection of human soft tissue force feedback information, but do not consider the clamping and positioning of the operating object (human tissue) during the information collection process. So far, there is no force information for the virtual surgery of pedicle screw implantation. acquisition device.

Contents of the invention

The object of the present invention is to provide a feedback force information acquisition device for pedicle screw implantation in order to solve the above-mentioned problems in the prior art.

In order to achieve the above object, the present invention adopts the following technical solutions: a pedicle screw implantation feedback force information acquisition device, which includes:

The handle is composed of a pear-shaped tail part and a cylindrical head part connected together, and an axially penetrating groove is arranged in the handle;

The torsion force transmission mechanism is embedded in the groove of the handle, including a torque sensor and a torsion joint connected by a movable ferrule. The torque sensor is set at the rear of the cylindrical head of the handle, and the torsion joint is set at the cylindrical head The front part of the head is rotatably connected with the cylindrical head;

The tension-compression force transmission mechanism is connected to the front end of the torsion force transmission mechanism, including a tension-compression joint and a tension-pressure sensor. The tension-compression joint is nested with the twist joint and forms a movable connection with the twist joint. The rear part of the tension-compression joint is provided with The cavity, the tension-pressure sensor is arranged in the cavity of the tension-compression joint and is fixedly connected with the tension-compression joint, and the rear part of the tension-compression sensor is fixedly connected with the twist joint;

The operating head is connected to the front end of the tension-pressure force transmission mechanism, including the installation sleeve and the cutter, the installation sleeve is fixedly connected with the tension-compression joint, and the cutter is nested and movably connected with the installation sleeve and connected with the tension-compression joint nested transmission;

Reference frame, attached to tension and compression joints.

The outer surface of the pear-shaped tail of the handle is provided with an axial anti-slip groove; the wall of the cylindrical head of the handle is provided with 6 threaded holes for fixing the torsion sensor and 8 for positioning the torsion sensor. Threaded holes for connectors.

The main body of the torque sensor is in the shape of a cylinder, the surface of the cylinder is provided with an axial anti-slip groove, and a wire is connected to the tail end of the cylinder, and the wire passes through the pear-shaped tail of the handle; the twist joint has a stepped shaft structure , including a front section with a larger diameter and a rear section with a smaller diameter; the outer wall of the front section of the twist joint is provided with four evenly spaced axial chutes; the outer wall of the rear section of the twist joint is provided with two annular slide slots, The cavity in the handle forms a clearance fit. By screwing 8 connecting screws into the 8 threaded holes used to connect the twist joint in the cylindrical head of the handle, the 8 connecting screws and the two holes in the rear section of the twist joint The annular chute cooperates to realize the rotatable connection between the twist joint and the cylindrical head of the handle.

The tension-compression sensor includes a head threaded shaft section, a middle disk section and a rear threaded shaft section, the head threaded shaft section is fixedly connected with the tension-compression joint, and the middle disk-shaped section is connected with a wire, and the wire radially passes through the The tension-compression joint protrudes outward, and the rear threaded shaft section is fixedly connected with the torsion joint of the torsion force transmission mechanism; the tension-compression joint includes a rear section, a middle section and a front section whose diameters are successively reduced; the rear section of the tension-compression joint The inner cavity is set in the rear section of the tension-compression joint and extends to the middle section. The outer surface of the cavity wall in the rear section is provided with two symmetrically distributed cut planes, and the cavity wall is provided with 4 radial screw holes evenly spaced; The front section of the tension-compression joint is a threaded shaft, and the top of the threaded shaft protrudes in a V shape; by screwing 4 connecting screws into the 4 screw holes, the heads of the 4 connecting screws are aligned with the 4 shafts on the twist joint. Cooperate with the chute to realize the movable connection of the tension-compression joint and the twist joint.

The cutter is one of a bone breaker, a passer or a threaded tap. The tail end of the cutter is provided with a V-shaped connecting groove for connecting with the V-shaped protrusion nested transmission of the tension-compression joint. The front end of the cutter is A cutting edge is provided; the installation sleeve is a cylindrical structure, and the outer surface of the front part of the installation sleeve is provided with two symmetrically distributed cutting planes.

The reference frame includes a support rod, a cross-shaped ball-carrying frame and an infrared reflective ball connected in sequence; The intersection is fixedly connected, and a total of 4 infrared reflective balls are respectively connected to the 4 corners of the cross-shaped ball carrier.

The pedicle screw implantation feedback force information acquisition device of the present invention is used in conjunction with the optical positioning system, which can directly act on the human thoracic and lumbar spine during the pedicle screw implantation operation, and simultaneously collect feedback force information; it can also be used through a special The information collection experiment acts on human thoracic and lumbar vertebrae specimens to collect feedback force information. The collected force sense information can be used for force sense model construction in the virtual pedicle screw implantation operation system.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of a pedicle screw implantation feedback force information acquisition device of the present invention;

Fig. 2 is a schematic cross-sectional structure diagram of the pedicle screw implantation feedback force information acquisition device of the present invention;

Fig. 3 is the three-dimensional structure schematic diagram of the handle in the present invention;

Fig. 4 is a three-dimensional structural schematic diagram of the torsional force transmission mechanism in the present invention;

Fig. 5 is a three-dimensional structural schematic diagram of a twist joint in the present invention;

Fig. 6 is a three-dimensional structural schematic diagram of the tension-compression force transmission mechanism in the present invention;

Fig. 7 is a three-dimensional structural schematic diagram of a tension-compression joint in the present invention;

Fig. 8 is a schematic diagram of the three-dimensional structure of the tension and pressure sensor in the present invention;

Fig. 9 is a schematic diagram of the three-dimensional structure of the operating head in the present invention;

Fig. 10 is a schematic diagram of the three-dimensional structure of the mounting sleeve of the present invention;

Fig. 11 is a schematic diagram of the three-dimensional structure of the cutter in the present invention;

Fig. 12 is a schematic perspective view of the three-dimensional structure of the reference frame in the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to FIG. 1 and FIG. 2 , the pedicle screw implantation feedback force information acquisition device of the present invention includes a handle 1 , a torsional force transmission mechanism 2 , a tension and compression force transmission mechanism 3 , an operating head 4 and a reference frame 5 .

Continue to refer to Fig. 1 and Fig. 2, and refer to Fig. 3 together, the handle 1 in the present invention is composed of a pear-shaped tail 11 and a cylindrical head 12 which are integrated, and an axially through groove 13 is arranged in the handle. There is an axial anti-slip groove 111 on the outer surface of the pear-shaped tail 11, and 6 threaded holes 121 for fixing the torsion sensor and 8 threaded holes for positioning the torsion joint are provided on the wall of the cylindrical head 12 122.

Continue to refer to Fig. 1 and Fig. 2, and refer to Fig. 4 and Fig. 5 for cooperation. The torsional force transmission mechanism 2 in the present invention is embedded in the groove 13 of the handle 1, and includes a torque sensor 21 and a torsion joint 22 connected by a movable ferrule. The torque sensor 21 is arranged at the rear of the cylindrical head 12 of the handle, and the twist joint 22 is arranged at the front of the cylindrical head 12 of the handle and forms a rotatable connection with the cylindrical head 12 . The main body of the torque sensor 21 is in the shape of a cylinder, and the surface of the cylinder is provided with an axial anti-skid groove 211 . A wire 23 is connected to the end of the cylinder, and the wire passes through the pear-shaped tail 11 of the handle. The twist joint 22 has a stepped shaft structure, including a front section 221 with a larger diameter and a rear section 222 with a smaller diameter. The outer wall of the front section is provided with four axial slide grooves 223 evenly spaced, and the outer wall of the rear section is provided with two annular slide grooves. 224, the rear section 222 of the twist joint forms a clearance fit with the mold cavity 13 in the handle. By screwing 8 connecting screws into the 8 threaded holes 122 for connecting the twist joints of the cylindrical head 12 of the handle, the 8 connecting screws are matched with the two annular slide grooves 224 in the rear section of the twist joint 22, A rotatable connection of the twist joint 22 to the cylindrical head 12 of the handle is achieved. The above-mentioned torque sensor 21 only bears the torsional moment, and the torsion joint 22 bears the torsional moment and the pulling pressure at the same time.

Continue to refer to Fig. 1 and Fig. 2, and refer to Fig. 6, Fig. 7 and Fig. 8 for cooperation. The tension-compression force transmission mechanism 3 in the present invention is connected to the front end of the torsional force transmission mechanism 2, and includes a tension-compression joint 31 and a tension-compression sensor 32. The tension-compression joint 31 is nested and connected with the twist joint 22 and forms a movable connection with the twist joint 22. The rear part of the tension-compression joint 31 is provided with a cavity, and the cavity is arranged at the rear section of the tension-compression joint 31 and extends to the middle section. The tension-compression sensor 32 is arranged in the cavity and is fixedly connected with the tension-compression joint 31 , and the rear part of the tension-compression sensor 32 is fixedly connected with the twist joint 22 . The tension-compression joint 31 includes a rear section 311, a middle section 312, and a front section 313 whose diameters are successively reduced; the outer surface of the rear section 311 is provided with two symmetrically distributed cut planes 3111, and four radial screw holes 3112 evenly spaced apart. ; The front section 313 of the tension-compression joint is a threaded shaft, and the top of the threaded shaft extends to a V-shaped protrusion 314 . By screwing 4 connecting screws into the 4 screw holes 3112, the heads of the 4 connecting screws cooperate with the 4 axial slide grooves 223 on the twist joint 22 to realize the movement of the pull-press joint 31 and the twist joint 22 connect. The tension-pressure sensor 32 includes a head threaded shaft section 321, a middle disk section 322 and a rear threaded shaft section 323. The head threaded shaft section 321 is fixedly connected to the tension-press joint 31, and the middle disk-shaped section 322 is connected with a wire 33. The wire 33 extends radially through the compression joint 31 , and the rear threaded shaft section 323 is fixedly connected to the twist joint 22 of the twist force transmission mechanism. The above-mentioned tension-compression sensor 32 only bears tension pressure, and the tension-compression joint 31 bears torsional moment and tension pressure at the same time.

Continue to refer to Fig. 1 and Fig. 2, and refer to Fig. 9, Fig. 10 and Fig. 11 for cooperation. The operating head 4 in the present invention is connected to the front end of the pull-press force transmission mechanism 3, and includes an installation sleeve 41 and a cutter 42. The installation sleeve 41 and the The tension-compression joint 31 is fixedly connected, and the cutter 42 is nestedly connected with the installation sleeve 41 and is nestedly connected with the tension-compression joint 31 . The mounting sleeve 41 has a cylindrical structure, and the front outer surface of the mounting sleeve 41 is provided with two symmetrically distributed cut planes 411 . The cutter 42 is one of a bone breaker, a passer or a screw tap, and the tail end of the cutter 42 is provided with a V-shaped connecting groove 421 for nesting and driving connection with the V-shaped protrusion 314 of the tension-compression joint 31, cutting The front end of the device is provided with a cutting edge 422 .

Continue to refer to Fig. 1 and Fig. 2, and refer to Fig. 12 for cooperation. In the present invention, the reference frame 5 is connected to the tension and compression joint 31, including a support rod 51, a cross-shaped ball carrier 52 and an infrared reflective ball 53 connected in sequence; The lower end of the rod 51 is fixed on the tension-compression joint 31 of the tension-compression force transmission mechanism, the upper end of the pole 51 is fixedly connected with the cross point of the cross-shaped ball-carrying frame 52, and four infrared reflective balls 53 are respectively connected to the cross-shaped ball-carrying frame 52. at the 4 corners.

Claims (6)

1. a pedicle screw is implanted the feedback force information collecting device, it is characterized in that, comprising:

Handle is made up of pyriform afterbody that fuses and cylindrical shape head, is provided with the type groove of axial perforation in the handle;

Reverse force transmission mechanism; Be inlaid in the type groove of handle; Comprise torque sensor and twisting joint that movable cutting ferrule links to each other, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms with the cylindrical shape head and is rotatably connected;

The tension and compression force transmission mechanism; Be connected the front end that reverses force transmission mechanism; Comprise tension and compression joint and tension-compression sensor, tension and compression joint and twisting joint be nested to link to each other and forms removable the connection with twisting joint, and the rear portion of tension and compression joint is provided with die cavity; Tension-compression sensor is arranged in the die cavity of tension and compression joint and with the tension and compression joint and is fixedly connected, and the rear portion of tension-compression sensor is fixedly connected with twisting joint;

Operating head is connected the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs pulloverly to be fixedly connected with the tension and compression joint, and sickle and installation are pullover nestedly to link to each other and link to each other with the nested transmission of tension and compression joint;

Frame of reference is connected on the tension and compression joint.

2. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device, and it is characterized in that: the pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed hole and 8 screwed holes that are used to locate twisting joint of being used for fixing torsion sensor.

3. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device; It is characterized in that: the main body of described torque sensor is the cylinder bodily form; Periphery is provided with axial anti-slip tank, and the cylinder tail end is connected with a lead, and this lead passes from the pyriform afterbody of handle; Described twisting joint is the multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is bigger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with the twice annular groove; Die cavity in twisting joint back segment and the handle forms matched in clearance; Through 8 attachment screws are screwed in from the screwed hole that 8 of the cylindrical shape head of handle are used to connect twisting joint; 8 attachment screws are cooperated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle.

4. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device; It is characterized in that: described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part; The head threads shaft part is fixedly connected with the tension and compression joint; The middle part is connected with lead for discoid section, and it is protruding that this lead radially passes the tension and compression joint, and the rear threads shaft part is fixedly connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to the stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetrical distribution, and the chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is a thread spindle, postpones and be the V-arrangement protrusion in the top of thread spindle; Through in 4 screw holes, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides on the twisting joint, realization tension and compression joint is connected with the removable of twisting joint.

5. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device; It is characterized in that: a kind of in broken bone object, circuit-closer or the screw thread screw tap of described sickle; The sickle tail end has and is used for protruding the V-arrangement link slot that nested transmission links to each other with the V-arrangement of tension and compression joint, and the sickle front end is provided with cutting edge; Described installation is pullover to be the cylindrical tube shape structure, pullover forward outer surface is installed is provided with two faces that scabble that are symmetrical distribution.

6. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device, it is characterized in that: described frame of reference comprises that pole, cross that order fuses carry ball-collecting rack and infrared external reflection ball; The pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and pole upper end is connected with the cross point that cross carries ball-collecting rack, the infrared external reflection ball totally 4 be connected to 4 angle point places that cross carries ball-collecting rack.

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