A minimally invasive spinal surgery robot-assisted positioning device and its use method
Through the use of minimally invasive spinal surgery robot assisted positioning equipment, K-SN pins are nailed into the spine for positioning, solving the problems of bleeding and prolonging surgical time during spinal surgery fixation in the prior art, achieving high accuracy and rapid training effects.
Patent Information
- Application Number
- CN202010268941.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-04-08
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2040-04-08
AI Technical Summary
In spinal surgery, existing orthopedic robots are used for patient tracer fixation, and wounds need to be cut, resulting in bleeding and prolonged surgery time, making it difficult to meet the requirements of high accuracy.
A minimally invasive spinal surgery robot assisted positioning device is provided, including a navigation tracer, a universal joint, a three-bar connector, a K-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H-H
This device can improve surgical accuracy, reduce surgical time and bleeding risks, reduce training costs, shorten doctors' training cycles, and improve doctors' professionalism and accuracy.
Smart Images
Figure CN111341187B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of medical devices, and in particular to a minimally invasive spine surgery robot-assisted positioning device and a method of using the same. Background Art
[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 increasingly widely used in minimally invasive orthopedic surgery, greatly promoting the development of minimally invasive orthopedic surgery. Patent applications in this field are also gradually increasing, such as the Chinese invention patent "Orthopedic Robot Navigation Device and Positioning System" (application number CN200910237998.6). Bones are deeply embedded in the human body and are highly hidden, especially bone structures such as the spine, which cannot be dissected for naked eye observation. During surgery, it is easy to injure other structures or other tissues and organs in the surgical area, which requires doctors to have high precision during surgery. In order to improve the accuracy of doctors in orthopedic surgeries such as spine, it is usually necessary to start from two aspects: instruments and equipment and doctor operation. On the one hand, in order to improve the accuracy of spinal surgery positioning and avoid damaging tissues and organs in non-diseased areas, it is usually necessary to make an incision or extend the wound and place a patient tracker on the spinous process (refer to the Chinese utility model patent "Non-invasive fixation device for spinal surgery navigation tracker", application number CN201720026308.2). On the other hand, in order to improve the accuracy of doctors' spinal surgery operations, it is necessary to train doctors' operation level. In addition to enhancing doctors' surgical practice and accumulating experience through cadaver dissection and analysis, the Chinese invention patent "A spinal foraminal endoscopic surgery model and its production method" (application number CN201810941626.0) discloses a highly simulated spinal foraminal endoscopic surgery model, which provides doctors with the opportunity to operate on the spinal surgery model to improve their surgical level.
[0003] However, when using existing orthopedic robots to perform spinal surgery on patients or spinal models, it was found that when using existing clamps to fix the patient tracer to the bony protrusion of the spine, an epidermal incision is required. This incision process is prone to bleeding, prolonging the surgical operation time and making it difficult to meet high standards of surgical precision. Summary of the invention
[0004] The purpose of the present invention is to provide an auxiliary device for positioning a minimally invasive spine surgery robot to improve the accuracy of the surgery. In addition, the present invention also provides a method for using the auxiliary device to train doctors to perform spine surgery on a human model, so that the doctors' surgical skills can be quickly improved, the training cost can be saved, and the training cycle can be shortened.
[0005] The present invention provides a minimally invasive spine surgery robot positioning auxiliary device, comprising:
[0006] A navigation tracer comprises a polygonal frame bracket, on which a plurality of navigation tracer connection ball sockets are provided;
[0007] A universal joint, wherein an upper rod and a lower rod are respectively provided at both ends of the universal joint, wherein the upper rod is fixedly connected to the polygonal frame bracket;
[0008] A three-rod connecting member fixedly connected to the lower rod member;
[0009] A left connecting rod and a right connecting rod are respectively arranged on two sides of the three-rod connecting member;
[0010] The left Kirschner wire and the right Kirschner wire are detachably fixedly connected to the left connecting rod and the right connecting rod respectively.
[0011] Specifically, the universal joint is a spherical universal joint, and also includes a movable ball, an arc ball sleeve and a plurality of positioning screws, the movable ball and the arc ball sleeve are fixedly connected to the upper rod and the lower rod respectively; the arc ball sleeve is a ball sleeve with an arc-shaped cross-section, and the arc ball sleeve is arranged on the outside of the movable ball; the arc ball sleeve is provided with a plurality of positioning screw through holes at intervals, the interior of the positioning screw through holes is provided with internal threads, the outer wall of the positioning screw is provided with external threads, and a plurality of the positioning screws are respectively arranged in a plurality of the positioning screw through holes to resist and tighten the movable ball.
[0012] Specifically, the lower rod is a full-thread screw, and the three-rod connecting member includes a screw head and a first nut. The bottom end of the lower rod is fixedly connected to the screw head and is integrally formed. A screw hole is opened at the bottom of the arc ball sleeve, and an internal thread is provided on the inner wall of the screw hole. The top end faces of the left connecting rod and the right connecting rod are vertically provided with through holes. The screw head passes through the through hole of the left connecting rod, the through hole of the right connecting rod and the first nut from bottom to top in sequence, and the top end of the screw head is fixedly connected to the arc ball sleeve by a thread; when the first nut is turned downward along the lower rod, the left connecting rod and the right connecting rod are locked and fixed.
[0013] Specifically, the integrally formed part of the lower rod and the screw head is an external hexagonal full-thread bolt.
[0014] Specifically, a left Kirschner wire hole and a right Kirschner wire hole are respectively opened at the bottom ends of the left connecting rod and the right connecting rod, and a left Kirschner wire positioning screw and a right Kirschner wire positioning screw are respectively arranged on the side walls of the left Kirschner wire hole and the right Kirschner wire hole, and the top ends of the left Kirschner wire and the right Kirschner wire are inserted into the left Kirschner wire hole and the right Kirschner wire hole, and are respectively fastened by the left Kirschner wire positioning screw and the right Kirschner wire positioning screw.
[0015] Specifically, the left connecting rod and the right connecting rod each include a first rod and a second rod, and an end portion of the first rod and an end portion of the second rod are fixedly connected to form a whole.
[0016] Specifically, the three-rod connecting member includes a slotted sleeve, a bolt and a second nut, the slotted sleeve is fixedly connected to the lower rod; the inner wall of the slotted sleeve is provided with an internal thread, and the slotted sleeve is provided with a left connecting rod rod end groove and a right connecting rod rod end groove that are connected to the interior, the top end surfaces of the left connecting rod and the right connecting rod are vertically provided with through holes, the through hole ends of the left connecting rod and the right connecting rod are respectively arranged in the left connecting rod rod end groove and the right connecting rod rod end groove, and the bolt passes through the slotted sleeve and the through holes of the left connecting rod and the right connecting rod; the second nut is sleeved on the exposed end of the bolt to lock and fix the left connecting rod and the right connecting rod.
[0017] Specifically, the left Kirschner wire and the right Kirschner wire are respectively clamped or sleeve-connected to the left connecting rod and the right connecting rod.
[0018] Specifically, the bottom ends of the left connecting rod and the right connecting rod are provided with external threads.
[0019] The top ends of the left Kirschner wire and the right Kirschner wire are provided with external threads.
[0020] The bottom ends of the left connecting rod and the right connecting rod are respectively connected to the top ends of the left Kirschner wire and the right Kirschner wire through inner thread sleeves.
[0021] The present invention provides a method for doctors to use the above-mentioned minimally invasive spinal surgery robot positioning auxiliary device for training on a prosthesis model, comprising the following steps:
[0022] Step S1: the left Kirschner wire and the right Kirschner wire are punctured through the epidermis of the prosthesis model and inserted into the pedicles on both sides of the spine;
[0023] Step S2: firstly connect the navigation tracer, the universal joint, the three-rod connector, the left connecting rod, and the right connecting rod in sequence from top to bottom, and then detachably connect the left connecting rod and the right connecting rod to the left Kirschner wire and the right Kirschner wire respectively to assemble them into a whole;
[0024] Step S3: adjusting the angles of the left connecting rod, the right connecting rod, the upper rod and the lower rod, and locking the universal joint and the three-rod connecting member;
[0025] Step S4: connecting the optical tracking system of the orthopedic surgery robot to the navigation tracer connection ball socket;
[0026] Step S5: Marking the surgical site of the spine;
[0027] Step S6: Conducting surgical simulation training until the surgery is completed;
[0028] Step S7: dismantle the connection between the left connecting rod and the left Kirschner wire and the connection between the right connecting rod and the right Kirschner wire, loosen and tighten the universal joint and the three-rod connector, and remove each component;
[0029] Step S8: Pull out the left Kirschner wire and the right Kirschner wire from the spine.
[0030] The beneficial effects of the present invention are:
[0031] The present invention discloses a minimally invasive spine surgery robot-assisted positioning device and a method for using the same. The Kirschner wire, connecting rod, universal joint and navigation tracer in the device are all detachably connected. First, the Kirschner wire is nailed into the spine or orthopedics, and then the components are assembled before the operation. Finally, the device is used in spinal surgeries such as pedicle screw surgery and orthopedic surgeries. The Kirschner wire positioning is completed in one go without cross infection, which can avoid large wound trauma and heavy bleeding caused by repeated use of surgical forceps, thereby increasing the operation time and reducing the accuracy of the operation. The method for using the device can be applied to orthopedic surgery models such as the spine, which can reduce the training cost of spinal surgery and shorten the training cycle of doctors, thereby improving the doctor's professionalism and accuracy in living spine and orthopedic surgery, and can also reduce patient trauma. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 A schematic diagram of the structure of a robot-assisted positioning device for minimally invasive spine surgery provided in Example 1 of the present invention;
[0033] Figure 2 A cross-sectional view of a three-rod connecting member provided in Example 1 of the present invention;
[0034] Figure 3 A schematic diagram of the structure of a left connecting rod or a right connecting rod provided in Embodiment 1 of the present invention;
[0035] Figure 4 A schematic diagram of the structure of a robot-assisted positioning device for minimally invasive spine surgery provided in Example 2 of the present invention;
[0036] Figure 5 A schematic diagram of the structure of a left connecting rod or a right connecting rod provided in Embodiment 2 of the present invention;
[0037] Figure 6 A schematic structural diagram of a three-rod connecting member provided in Example 2 of the present invention;
[0038] Figure 7 A schematic diagram of the structure of an inner thread sleeve provided in Example 2 of the present invention;
[0039] Figure 8 A front cross-sectional view of the minimally invasive spine surgery robot-assisted positioning device provided in Example 3 of the present invention when applied to a spine surgery model;
[0040] Fig. 9 This is a side sectional view of the minimally invasive spine surgery robot-assisted positioning device provided in Example 3 of the present invention when applied to a spine surgery model. DETAILED DESCRIPTION
[0041] Example 1
[0042] Embodiment 1 provides a robot-assisted positioning device for minimally invasive spinal surgery, and its structure is described in detail below.
[0043] refer to Figure 1 The minimally invasive spine surgery robot-assisted positioning device includes a navigation tracer 1, a universal joint 2, a three-rod 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] The navigation tracer 1 includes a polygonal frame bracket 11, which is a trapezoidal frame bracket, and four navigation tracer connection ball sockets 12 are respectively provided at the four corners of the polygonal frame bracket 11. X-shaped support ribs 13 are diagonally fixed inside the polygonal frame bracket 11, and a vertical through hole is provided at the center of the intersection of the X-shaped support ribs 13. The top end of the upper rod 21 is set as a round head end, and the round head end of the upper rod 21 is tightly fitted and inserted into the vertical through hole of the X-shaped support rib 13.
[0045] The universal joint 2 is a spherical universal joint, including a movable ball, an arc ball sleeve, a plurality of positioning screws 20, and an upper rod 21 and a lower rod 22 at both ends. The arc ball sleeve is a ball sleeve with an arc-shaped cross section, and is set on the outside of the movable ball; the arc ball sleeve is provided with a plurality of positioning screw through holes at intervals, and the interior of the positioning screw through holes is provided with internal threads, and the outer wall of the positioning screw 20 is provided with external threads, and a plurality of positioning screws 20 are respectively provided in a plurality of positioning screw through holes to resist and tighten the movable ball. The movable ball is fixedly connected to the bottom end of the upper rod 21.
[0046] Continue to refer Figure 1 , combined with Figure 2 and Figure 3The lower rod 22 is a full-thread screw, and the three-rod connector 3 includes a screw head 31 and a first nut 32. The bottom end of the lower rod 22 is fixedly connected to the screw head 31 and is integrally formed. A screw hole is opened at the bottom of the arc ball sleeve, and an internal thread is provided on the inner wall of the screw hole. A through hole 40 is vertically provided on the top end surface of the left connecting rod 41 and the right connecting rod 42. The screw head 31 passes through the through hole 40 of the left connecting rod 41, the through hole of the right connecting rod 42 and the first nut 32 from bottom to top, and the top end of the screw head 31 is fixedly connected to the arc ball sleeve by a thread; when the first nut 32 is screwed to move downward along the lower rod 22, the left connecting rod 41 and the right connecting rod 42 are locked and fixed.
[0047] Furthermore, the integrally formed part of the lower rod 22 and the screw head 31 is an external hexagonal full-thread bolt.
[0048] The left K-wire 51 and the right K-wire 52 are detachably fixedly connected to the left connecting rod 41 and the right connecting rod 42 respectively.
[0049] Specifically, refer to Figure 3 The left connecting rod 41 and the right connecting rod 42 both include a first rod 43 and a second rod 44. The end of the first rod 43 and the end of the second rod 44 are fixedly connected to form a whole, and the angle between the first rod 43 and the second rod 44 is a right angle.
[0050] A left Kirschner wire hole and a right Kirschner wire hole are respectively formed at the bottom ends of the left connecting rod 41 and the right connecting rod 42. A left Kirschner wire positioning screw 501 and a right Kirschner wire positioning screw 502 are respectively provided on the side walls of the left Kirschner wire hole and the right Kirschner wire hole. The setting method of the left Kirschner wire positioning screw 501 and the right Kirschner wire positioning screw 502 here is the same as that of the positioning screw 20, which will not be repeated here.
[0051] The top ends of the left K-wire 51 and the right K-wire 52 are inserted into the left K-wire hole and the right K-wire hole, and are fastened by the left K-wire positioning screw 501 and the right K-wire positioning screw 502 respectively.
[0052] It should be noted that, by using the external hexagonal full-thread bolt and the first nut 32 as the lower rod 22 and the three-rod connecting member 3, the left connecting rod 41 and the right connecting rod 42 can be limited to move on the same horizontal plane.
[0053] In order to verify the effectiveness of the device, the spinal imaging data of 100 patients were summarized and it was found that the distance between the vertebral pedicles on both sides ranged from 21.57 to 51.16 mm. Preferably, the distance between the bottom ends of the left Kirschner wire 51 and the right Kirschner wire 52 was 21.57 to 51.16 mm. For the convenience of experimental operation, the height sum of the left connecting rod 41 and the left Kirschner wire 51 was equal to the height sum of the right connecting rod 42 and the right Kirschner wire 52, and the insertion depth was 81.56-120.60 mm.
[0054] Example 2
[0055] Since the robot-assisted positioning device for minimally invasive spine surgery provided in Example 1 has its left connecting rod 41 and the right connecting rod 42 limited to movement on the same horizontal plane, however, during the spinal surgery process, it is necessary to limit the movement of the left connecting rod 41 and the right connecting rod 42 to the same vertical plane. For this reason, the robot-assisted positioning device for minimally invasive spine surgery provided in Example 2, based on Example 1, further improves the three-rod connector 3 and the lower rod 22 and their connection relationship. The structural improvements are 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-rod connector 3 includes a slotted sleeve 30, a bolt and a second nut, wherein the slotted sleeve 30 is fixedly connected to the lower rod 22, and the left connecting rod 41 and the right connecting rod 42 are pivotally connected to the two sides of the three-rod connector 3 respectively.
[0058] In the above embodiment, the inner wall of the slotted sleeve 30 is provided with an internal thread, and the slotted sleeve 30 is provided with a left connecting rod end groove 301 and a right connecting rod end groove 302 connected to the interior, and the top end faces of the left connecting rod 41 and the right connecting rod 42 are vertically provided with a through hole 40.
[0059] The through hole ends of the left connecting rod 41 and the right connecting rod 42 are respectively arranged in the left connecting rod rod end groove 301 and the right connecting rod rod end groove 302, and the bolts pass through the slotted sleeve 30 and the through holes 40 of the left connecting rod 41 and the right connecting rod 42, and the exposed ends are fixed by sleeve-fitting the second nut, so as to fix the left connecting rod 41 and the right connecting rod 42 to the two sides of the three-rod connector 3 respectively.
[0060] As a preferred embodiment, the lower rod 22 is a telescopic rod.
[0061] As a preferred technical solution, the left Kirschner wire 51 and the right Kirschner wire 52 are respectively snap-connected or sleeve-connected to the left connecting rod 41 and the right connecting rod 42 .
[0062] Specifically, the bottom ends of the left connecting rod 41 and the right connecting rod 42 are provided with external threads, the top ends of the left Kirschner wire 51 and the right Kirschner wire 52 are provided with external threads, and the bottom ends of the left connecting rod 41 and the right connecting rod 42 are respectively connected to the top ends of the left Kirschner wire 51 and the right Kirschner wire 52 through the inner thread sleeve 6. The external structure of the inner thread sleeve 6 is as shown in FIG. Figure 7 shown.
[0063] Example 3
[0064] Example 3 provides a method for using a minimally invasive spine surgery robot-assisted positioning device, using the minimally invasive spine surgery robot-assisted positioning device provided in Example 2, and configured with the Tianji brand orthopedic surgical robot produced by Tianzhihang Company, the orthopedic surgical robot is composed of a robotic arm host, an optical tracking system, and a main control trolley, etc., with the existing Chinese invention patent public high-simulation spine surgery model application number (CN201810941626.0) as the experimental object, reference Figure 8 and Fig. 9 , the method comprises the following steps:
[0065] Step S1: The left Kirschner wire 51 and the right Kirschner wire 52 are punctured through the epidermis of the prosthesis model 100 and inserted into the pedicles on both sides of the spine 200, and the distance between the vertebral pedicles is 21.57 to 51.16 mm.
[0066] Step S2: firstly connect the navigation tracer 1, the universal joint 2, the three-rod connector 3, the left connecting rod 41, and the right connecting rod 42 in sequence from top to bottom, and then detachably connect the left connecting rod 41 and the right connecting rod 42 to the left Kirschner wire 51 and the right Kirschner wire 52 respectively to assemble them into a whole;
[0067] Step S3: adjusting the angles of the left connecting rod 41, the right connecting rod 42, the upper rod 21 and the lower rod 22, and locking the universal joint 2 and the three-rod connecting member 3;
[0068] Step S4: connecting the optical tracking system of the orthopedic surgery robot to the navigation tracer connection ball socket 12;
[0069] Step S5: Marking the surgical site of the spine 200;
[0070] Step S6: Conducting surgical simulation training until the surgery is completed;
[0071] Step S7: dismantle the connection between the left connecting rod 41 and the left Kirschner wire 51 and the connection between the right connecting rod 42 and the right Kirschner wire 52, loosen and tighten the universal joint 2 and the three-rod connector 3, and remove each component;
[0072] Step S8 : Pull out the left Kirschner wire 51 and the right Kirschner wire 52 from the spine 200 .
[0073] The method of using the robot-assisted positioning device for minimally invasive spinal surgery can be used in the training of professional skills for orthopedic surgeons. With the help of orthopedic surgical robots, it provides solutions to the calibration and elimination of human errors during operations, such as accurate bone resection, precise placement of implants, and artificial joint replacement, which have plagued clinical practice for hundreds of years.
[0074] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.
Claims
1. A robot-assisted positioning device for minimally invasive spinal surgery. It is characterized in that include A navigation tracer (1) comprises a polygonal frame bracket (11), wherein the polygonal frame bracket (11) is provided with a plurality of navigation tracer connection ball sockets (12); A universal joint (2), wherein an upper rod (21) and a lower rod (22) are respectively provided at both ends of the universal joint (2), wherein the upper rod (21) is fixedly connected to the polygonal frame bracket (11); A three-rod connecting member (3) fixedly connected to the lower rod member (22); A left connecting rod (41) and a right connecting rod (42) are respectively arranged on two sides of the three-rod connecting member (3); A left Kirschner wire (51) and a right Kirschner wire (52) are detachably fixedly connected to the left connecting rod (41) and the right connecting rod (42), respectively; The spinal minimally invasive surgery robot-assisted positioning device is applied to an orthopedic surgery model, comprising the following steps: Step S1: the left Kirschner wire (51) and the right Kirschner wire (52) are punctured through the epidermis of the prosthesis model (100) and inserted into the pedicles on both sides of the spine (200); Step S2: firstly, the navigation tracer (1), the universal joint (2), the three-rod connector (3), the left connecting rod (41), and the right connecting rod (42) are sequentially connected from top to bottom, and then the left connecting rod (41) and the right connecting rod (42) are detachably connected to the left Kirschner wire (51) and the right Kirschner wire (52) respectively to form a whole; Step S3: adjusting the angles of the left connecting rod (41), the right connecting rod (42), the upper rod (21) and the lower rod (22), and locking the universal joint (2) and the three-rod connecting member (3); Step S4: connecting the optical tracking system of the orthopedic surgery robot to the navigation tracer connection ball socket (12); Step S5: Marking the surgical site of the spine (200); Step S6: Conducting surgical simulation training until the surgery is completed; Step S7: dismantle the connection between the left connecting rod (41) and the left Kirschner wire (51) and the connection between the right connecting rod (42) and the right Kirschner wire (52), the tensioning universal joint (2) and the three-rod connecting member (3), and remove each component; Step S8: Pull out the left Kirschner wire (51) and the right Kirschner wire (52) from the spine (200).
2. The robot-assisted positioning device for minimally invasive spine surgery according to claim 1, It is characterized in that The universal joint (2) is a spherical universal joint, and also includes a movable ball, an arc ball sleeve and a plurality of positioning screws (20). The movable ball and the arc ball sleeve are fixedly connected to the upper rod (21) and the lower rod (22) respectively; The arc ball sleeve is a ball sleeve with an arc-shaped cross section, and the arc ball sleeve is arranged on the outside of the movable ball; The arc ball sleeve is provided with a plurality of positioning screw through holes at intervals, the interior of the positioning screw through holes is provided with internal threads, the outer wall of the positioning screw (20) is provided with external threads, and a plurality of the positioning screws (20) are respectively arranged in a plurality of the positioning screw through holes to resist and tighten the movable ball.
3. The robot-assisted positioning device for minimally invasive spine surgery according to claim 2, It is characterized in that The lower rod (22) is a full-thread screw, and the three-rod connector (3) includes a screw head (31) and a first nut (32). The bottom end of the lower rod (22) is fixedly connected to the screw head (31) and is integrally formed. A screw hole is provided at the bottom of the arc ball sleeve, and an internal thread is provided on the inner wall of the screw hole. The top end surfaces of the left connecting rod (41) and the right connecting rod (42) are vertically provided with through holes, the screw head (31) passes through the through hole of the left connecting rod (41), the through hole of the right connecting rod (42) and the first nut (32) in sequence from bottom to top, and the top end of the screw head (31) is fixedly connected to the arc ball sleeve by means of threads; When the first nut (32) is screwed to move downward along the lower rod (22), the left connecting rod (41) and the right connecting rod (42) are locked and fixed.
4. The robot-assisted positioning device for minimally invasive spine surgery according to claim 3, It is characterized in that The integrally formed part of the lower rod (22) and the screw head (31) is an external hexagonal full-thread bolt.
5. The robot-assisted positioning device for minimally invasive spine surgery according to claim 3, It is characterized in that The bottom ends of the left connecting rod (41) and the right connecting rod (42) are respectively provided with a left Kirschner wire hole and a right Kirschner wire hole, and the side walls of the left Kirschner wire hole and the right Kirschner wire hole are respectively provided with a left Kirschner wire positioning screw (501) and a right Kirschner wire positioning screw (502), The top ends of the left Kirschner wire (51) and the right Kirschner wire (52) are inserted into the left Kirschner wire hole and the right Kirschner wire hole, and are fastened by the left Kirschner wire positioning screw (501) and the right Kirschner wire positioning screw (502), respectively.
6. The robot-assisted positioning device for minimally invasive spine surgery according to claim 1, It is characterized in that The left connecting rod (41) and the right connecting rod (42) both comprise a first rod (43) and a second rod (44), and the end of the first rod (43) and the end of the second rod (44) are fixedly connected to form a whole.
7. The robot-assisted positioning device for minimally invasive spine surgery according to claim 1, It is characterized in that The three-bar connecting member (3) comprises a slotted sleeve (30), a bolt and a second nut. The slotted sleeve (30) is fixedly connected to the lower rod (22); The inner wall of the slotted sleeve (30) is provided with an internal thread, and the slotted sleeve (30) is provided with a left connecting rod end groove (301) and a right connecting rod end groove (302) which are communicated with the interior, and the top end surfaces of the left connecting rod (41) and the right connecting rod (42) are vertically provided with through holes (40). The through-hole ends of the left connecting rod (41) and the right connecting rod (42) are respectively arranged in the rod end groove (301) of the left connecting rod and the rod end groove (302) of the right connecting rod, and the bolt passes through the slotted sleeve (30) and the through-holes of the left connecting rod (41) and the right connecting rod (42); The second nut is sleeved on the exposed end of the bolt to lock and fix the left connecting rod (41) and the right connecting rod (42).
8. The robot-assisted positioning device for minimally invasive spine surgery according to claim 1, It is characterized in that The left Kirschner wire (51) and the right Kirschner wire (52) are respectively snap-connected or sleeve-connected to the left connecting rod (41) and the right connecting rod (42).
9. The robot-assisted positioning device for minimally invasive spine surgery according to claim 7, It is characterized in that The bottom ends of the left connecting rod (41) and the right connecting rod (42) are provided with external threads. The top ends of the left Kirschner wire (51) and the right Kirschner wire (52) are provided with external threads. The bottom ends of the left connecting rod (41) and the right connecting rod (42) are respectively connected to the top ends of the left Kirschner wire (51) and the right Kirschner wire (52) via inner thread sleeves (6).
Citation Information
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