Following type spine self-positioning navigation operation machine hand and positioning method thereof

Abstract

The invention discloses a following type spine self-positioning navigation operation machine hand. The following type spine self-positioning navigation operation machine hand comprises a general part and a special part, wherein the general part comprises a following connecting mechanism, a posture adjusting mechanism, control software, a sensor, an adjusting plate and the like; and the special part comprises a detection positioning unit and an embedding execution unit and is divided into thoracolumbar and cervical special parts. The following type spine self-positioning navigation operation machine hand and the target vertebra maintain relative rest through the following mechanism; the preset points on the target vertebra are selected to serve as the specific points, the specific points are locked by left and right probes and locking needles, and a virtual rotating axis center is established in the coordinate system of a robot, so that the machine hand can adjust the posture, the positioning method of vertebral pedicle embedding points and the embedding angle is determined, and the vertebral pedicle is embedded accurately through digital guide. The operation machine hand with the structure can improve the accuracy of positioning and embedding in the process of the operation and guarantee the safety and the curative effect of the spine operation. The invention also discloses a positioning method of the following type spine self-positioning navigation operation machine hand.

Description

technical field [0001] The invention belongs to a medical operation instrument, in particular to a follow-up spinal self-positioning and navigation operation robot hand and a positioning method thereof. Background technique [0002] As we all know, the pedicle is a small columnar structure connecting the human vertebral body and the vertebral arch. Puncture or internal fixation through the pedicle has become one of the main surgical methods in spinal surgery. There are various methods, such as vertebroplasty Surgery, spinal fracture internal fixation, spondylolisthesis internal fixation, scoliosis correction, etc. Since the vertebrae are hidden in the deep part of the human body and move up and down with breathing, puncture or insertion through the pedicle is like "shooting a moving target blindfolded", and accurate insertion is not easy. At present, the methods used for transpedicular implantation can be summarized into four types: 1. Artificial implantation is supplemente...

AI Technical Summary

Problems solved by technology

These methods have their own advantages but also have certain shortcomings, such as cumbersome and time-consuming operations, easy image drift, tracking system is easily disturbed, and real-time dynamic monitoring is not possible; invasive surgical conditions; some are limited by existing navigation methods, although their own accuracy is very high, it is difficult to further improve the placement accuracy, etc.

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