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Spine minimally invasive surgery robot auxiliary positioning equipment and usage method thereof

A robot-assisted, minimally invasive surgery technology, applied in the field of medical devices, can solve problems such as difficulty in meeting surgical accuracy requirements, bleeding, and prolonging surgical operation time, so as to shorten the training period, increase surgical time, and avoid large wounds.

Pending Publication Date: 2020-06-26
BEIJING JISHUITAN HOSPITAL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, when the existing orthopedic robot is used to perform spinal surgery on the patient or the spinal model, it is found that when the existing clamping instrument is used to fix the patient tracker on the bony protrusion of the spine, the epidermal incision is required. The process is easy to cause bleeding, which prolongs the operation time and makes it difficult to meet the high standard of surgical accuracy.

Method used

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  • Spine minimally invasive surgery robot auxiliary positioning equipment and usage method thereof
  • Spine minimally invasive surgery robot auxiliary positioning equipment and usage method thereof
  • Spine minimally invasive surgery robot auxiliary positioning equipment and usage method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0042] Embodiment 1 provides a robot-assisted positioning device for spinal minimally invasive surgery, and its structure will be described in detail below.

[0043] refer to figure 1 , the robot-assisted positioning device for minimally invasive spinal surgery includes a navigation tracer 1 , a universal joint 2 , a three-bar connector 3 , a left connecting rod 41 and a right connecting rod 42 , a left Kirschner wire 51 and a right Kirschner wire 52 .

[0044]Wherein, the navigation tracer 1 includes a polygonal frame support 11, which is a trapezoidal frame support, and four corners of the polygonal frame support 11 are respectively provided with four navigation tracer connecting ball sockets 12. The X-shaped support rib 13 is fixed diagonally in the polygonal frame support 11, and the center of the intersection of the X-shaped support rib 13 is provided with a vertical through hole. It is inserted in the vertical through hole of the X-shaped support rib 13.

[0045] The u...

Embodiment 2

[0055] Due to the robot-assisted positioning device for spinal minimally invasive surgery provided by Embodiment 1, its left connecting rod 41 and right connecting rod 42 are limited to the movement on the same horizontal plane, but during the spinal surgery process, it is necessary to adjust the left connecting rod 41 and the right connecting rod. 42 are located on the same vertical plane. For this reason, the robot-assisted positioning equipment for minimally invasive spinal surgery provided in Embodiment 2, on the basis of Embodiment 1, the three-bar connector 3 and the lower rod 22 and their connection relationship A further improvement has been made, and the improvement of its structure will be described in detail below.

[0056] refer to Figure 5 , The angle between the first rod 43 and the second rod 44 of the left connecting rod 41 and the right connecting rod 42 is an obtuse angle.

[0057] refer to Figure 4 and Figure 6 , the three-bar connector 3 includes a sl...

Embodiment 3

[0064] Embodiment 3 provides a method of using a robot-assisted positioning device for minimally invasive surgery of the spine. The robot-assisted positioning device for minimally invasive surgery of the spine provided in Embodiment 2 is used, and the Tianji brand orthopedic surgical robot produced by Tianzhihang is configured. The orthopedic surgery The robot is composed of a mechanical arm host, an optical tracking system, and a main control trolley. The existing Chinese invention patent publication high-simulation spine surgery model application number (CN201810941626.0) is used as the experimental object. Refer to Figure 8 and Figure 9 , the method includes the following steps:

[0065] Step S1: The left Kirschner wire 51 and the right Kirschner wire 52 are punctured on the bilateral pedicles of the spine 200 through the epidermis of the prosthesis model 100, and the distance between the vertebral pedicles is 21.57 to 51.16 mm.

[0066] Step S2: Connect the navigation t...

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Abstract

The invention discloses spine minimally invasive surgery robot auxiliary positioning equipment and a usage method thereof. The equipment comprises navigation tracers, a polygonal frame support, a universal joint and a three-rod connecting part, and the polygonal frame support is provided with a plurality of navigation tracer connecting ball sockets; an upper rod part and a lower rod part are respectively arranged at two ends of the universal joint; the three-rod connecting part is fixedly connected with the lower rod part; a left connecting rod and a right connecting rod are arranged on the two sides of the three-rod connecting part respectively. The left kirschner wire and the right kirschner wire are detachably and fixedly connected with the left connecting rod and the right connecting rod respectively; the method comprises the steps that a kirschner wire is nailed into a spine or other bone structures, then assembling of all components is completed, and finally the method is appliedto spinal or orthopedic operations such as pedicle screw imbedding. According to the spine minimally invasive surgery robot auxiliary positioning equipment and the usage method thereof, the trainingcost of spine surgery can be reduced, the training period of doctors is shortened, and the accuracy of orthopedic surgery such as spine surgery is improved.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a robot-assisted positioning device for minimally invasive spinal surgery and a method for using the same. Background technique [0002] At present, minimally invasive orthopedic surgery has become the main direction of orthopedic development. With the development of computers and their control software, advanced surgical auxiliary equipment such as orthopedic robots have been widely used in orthopedic minimally invasive surgery, which has greatly promoted the development of orthopedic minimally invasive surgery. Patent applications related to this field are gradually increasing, such as the Chinese invention patent "Navigation Device and Positioning System for Orthopedic Robots" (application number CN200910237998.6) and so on. Bones are deeply implanted in the human body and are highly concealed, especially bone structures such as the spine, which cannot be dissected fo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G09B23/28
CPCG09B23/28
Inventor 冯硕田伟刘波
Owner BEIJING JISHUITAN HOSPITAL