A minimally invasive spinal puncture positioning device

Abstract

The present application discloses a spinal minimally invasive puncture positioning device, including a base plate, the base plate is provided with an XZ plane point positioning mechanism, the XZ plane point positioning mechanism includes a first guide rod fixedly arranged on the upper surface of the base plate, the first guide rod is slidably connected to a first lifting seat, the lower side of the first lifting seat is movably connected to a first screw rod, the first screw rod is movably connected to a first screw rod seat; the first lifting seat is fixedly connected to a second screw rod seat, the second screw rod seat is movably connected to a second screw rod, one end of the second screw rod is movably connected to a first transverse seat, the first transverse seat is fixedly connected to a second guide rod; the second guide rod is connected to a connecting block, the connecting block is hinged with a puncture needle propulsion mechanism, and a Kirschner wire is arranged at the end of the puncture needle propulsion mechanism; the base plate is provided with two sets of XZ plane point positioning mechanisms in parallel. The beneficial effects of this scheme can be known from the description of the above scheme, the structure is simple, the design is reasonable, the probability of magnification error can be reduced, and the flexural strength is good.

Description

Technical Field

[0001] The invention relates to the field of spinal surgery, and in particular to a spinal minimally invasive puncture positioning device. Background Art

[0002] The spinal puncture locator is used for puncture positioning of a target point deep in the spine in the body. It can be used for puncture positioning of various parts of the spine such as the intervertebral foramen, intervertebral disc, articular process and pedicle.

[0003] With the development of clinical departments such as minimally invasive spine surgery, endoscopic spine surgery, pain management and neurology, many minimally invasive surgeries require needle guidance to reach the target, surgical lesion or surgical channel, such as perforaminal endoscopic lumbar disc surgery, percutaneous pedicle screw fixation, radiofrequency disc ablation, nerve root block anesthesia, etc.

[0004] However, the target or surgical area deep in the spine is extremely small, surrounded by many important nerves, blood vessels and internal organs, and sometimes it is necessary to avoid the obstruction of hard bone tissue. The surgeon must strictly follow the surgical needle insertion route designed before the operation to reach the target, so as to safely and smoothly reach the ideal surgical area and avoid serious surgical complications or sequelae. But for novices, the surgeon often needs to repeatedly perform fluoroscopic positioning and repeatedly adjust the direction, angle and depth of the puncture needle to obtain a safe needle insertion path and a satisfactory needle tip position. Repeated punctures and multiple fluoroscopy increase the patient's pain and X-ray radiation, prolong the operation time, increase the risk of surgery and the possibility of infection, and even repeated puncture positioning may not necessarily obtain the ideal target position, thereby significantly reducing the efficacy of the operation. Moreover, working in an X-ray environment also has a great impact on the health of the staff.

[0005] At the same time, most existing puncture positioning devices use angle measuring devices to determine the puncture needle angle, but the angle measuring device is a plate-shaped object and cannot be made too large, so the error of angle operation will cause a large distance error near the target point. In addition, some puncture positioning devices need to be used close to the human body, and the human body is not an ideal plane, which is also prone to large errors. Summary of the invention

[0006] The present invention aims at the deficiencies in the prior art and provides a device with a simple structure and reasonable design, which avoids the use of a small-volume angle measuring device for positioning, thereby reducing the probability of lever-type amplification errors; at the same time, four first guide rods, which are distributed in pairs on both sides of the first screw rod, together form a trapezoidal distribution with good flexural strength. When the Kirschner wire is inserted, the deflection angle of the Kirschner wire due to force can be prevented from exceeding the required deviation, thereby enabling the Kirschner wire to accurately reach the set puncture point; and even if the puncture is performed under the guidance of X-rays, there is no need for staff to be on site, so that the staff can be reasonably protected. A minimally invasive spinal puncture positioning device.

[0007] In order to achieve the above-mentioned object, the present invention provides a spinal minimally invasive puncture positioning device, comprising a substrate, the substrate is arranged on the side of the operating table, the upper surface of the substrate is used as the Z-direction reference plane for measurement, that is, the XY plane, the front side of the substrate is provided with a Y-direction reference line, and the left side or right side of the substrate is provided with an X-direction reference line;

[0008] The substrate is provided with an XZ plane point positioning mechanism, the XZ plane point positioning mechanism comprises a first guide rod fixedly arranged on the upper surface of the substrate, the first guide rod is perpendicular to the XY plane, the first guide rod is slidably connected to a first lifting seat, a first screw rod is movably connected to the lower side of the first lifting seat, the first screw rod is movably connected to a first screw rod seat, the first screw rod seat is fixedly arranged on the substrate, and the first screw rod passes through the substrate and is transmission-connected to a first motor;

[0009] The first lifting seat is fixedly connected to a second screw seat, the second screw seat is movably connected to a second screw, the second screw is parallel to the X-axis reference line, one end of the second screw is movably connected to a first transverse seat, the first transverse seat is fixedly connected to a second guide rod, the second guide rod is slidably connected to the first lifting seat, the second guide rod passes through the first lifting seat and is fixedly connected to the second transverse seat, the second transverse seat is fixedly connected to a second motor, and the second motor is transmission-connected to the second screw;

[0010] The second guide rod passes through the first transverse seat and the end portion of the first transverse seat is rotatably connected to a connecting block around its axis, and the connecting block is provided with a connecting ear;

[0011] The base plate is provided with two sets of XZ plane point positioning mechanisms in parallel, wherein the connecting ears of one set are hingedly connected with a puncture needle propulsion mechanism, and the connecting ears of the other set are hingedly connected with a guide cylinder, and the guide cylinder is slidably connected with the puncture needle propulsion mechanism;

[0012] A Kirschner wire is arranged at the end of the puncture needle advancement mechanism, and the axis of the Kirschner wire and the axis of the second screw rod are located in the same plane.

[0013] A third guide rod is fixedly arranged on the lower surface of the substrate, the third guide rod is parallel to the first guide rod, the third guide rod is slidably connected to a second lifting seat, and the second lifting seat is fixedly connected to the first motor.

[0014] At least two third guide rods are arranged on the lower surface of the substrate. The third guide rods are located on the same cylinder with the first screw rod as the axis, and the third guide rods are spaced the same from each other.

[0015] The first lifting seat comprises a first lifting plate, both ends of which are provided with vertical wing plates, and the second guide rod is slidably connected to the wing plates at both ends;

[0016] The second screw rod passes through the wing plate, and specifically, the wing plate is provided with a through hole for the second screw rod to pass through, the through hole is concentric with the second screw rod and the diameter of the through hole is larger than that of the second screw rod;

[0017] The second guide rods are arranged on both sides of the second screw rod;

[0018] The second screw seat is fixedly connected to the first lifting plate.

[0019] The first guide rods are arranged on both sides of the first screw rod, one of the first guide rods passes between the second screw rod and the second guide rod adjacent to its left side, and the other passes between the second screw rod and the second guide rod adjacent to its right side;

[0020] The projections of the four first guide rods on the XY plane of the two sets of XZ plane point positioning mechanisms arranged on the substrate are connected to form a trapezoid, and the bottom and top sides of the trapezoid are parallel to the Y-direction reference line;

[0021] The bottom side of the trapezoid is closer to the puncture needle propulsion mechanism than the top side;

[0022] The upper end of the first guide rod is connected to a top plate;

[0023] The first screw rod and the second screw rod are both provided with brakes.

[0024] One of the second guide rods of each set of the XZ plane point positioning mechanism passes through the first transverse seat, and the end of the second guide rod passing through the first transverse seat is fixedly connected to two conical rotor bearings or angular contact ball bearings, and the force-bearing side surfaces of the large circles of the two bearings are away from the other bearing;

[0025] The connecting block is connected to the outer side of the bearing, and the connecting block includes a cylinder. A first retaining ring is arranged between the cylinder and the bearing to prevent the bearing from moving toward the side surface of the large circle under stress.

[0026] The second guide rod is provided with a second retaining ring for preventing the bearing from moving toward the side surface of the small circle under stress.

[0027] A locking structure is provided between the guide cylinder and the puncture needle advancing mechanism, the locking structure comprising a first ring provided inside the guide cylinder and fixedly connected to the guide cylinder, a locking block is provided on the side of the first ring, and the locking block is provided with a wedge-shaped groove;

[0028] The locking structure further includes a second ring disposed inside the guide cylinder and slidably connected to the guide cylinder, the second ring surrounds the locking block, and a protrusion is disposed inside the second ring to match the wedge-shaped groove;

[0029] A lever is disposed on the outer side of the second ring, and a through hole is disposed on the guide cylinder, and the lever passes through the through hole and rotates in the through hole;

[0030] The locking blocks are distributed around the outside of the puncture needle advancing mechanism.

[0031] The shifting rod is connected with a pneumatic driving device or an electromagnetic driving device.

[0032] The puncture needle propulsion mechanism is fixedly connected with a hinge shaft, and the clearance between the hinge shaft and the through hole of the connecting ear is smaller than a set value;

[0033] The outer end of the hinge shaft is provided with a limit position, and the side clearance between the limit position and the connecting ear is smaller than a set value.

[0034] Preferably, the first motor and the second motor are CNC servos, and the first motor and the second motor signals are connected to CNC equipment.

[0035] Another preferred embodiment is that the first guide rod and the second guide rod are provided with scales;

[0036] The base plate is provided with a camera for observing the scale of the first guide rod, the first lifting seat is provided with a camera for observing the scale of the second guide rod, and the camera signal is connected to a human-machine control device.

[0037] When in use, first use a C-arm X-ray machine to find the location of the lesion, determine the three-dimensional coordinates of the lesion puncture point in the coordinate system of this application, and measure the three-dimensional coordinates of the needle insertion point in the coordinate system of this application.

[0038] Afterwards, the first motor and the second motor are driven so that the intersection points of the two second screw axes of the two XZ plane point positioning mechanisms of the present application and the axis of the Kirschner wire are both located on the line connecting the needle insertion point and the puncture point, that is, the axis of the Kirschner wire coincides with the line.

[0039] The locking structure locks the guide tube and the puncture needle propulsion mechanism, and the puncture needle propulsion mechanism is activated to allow the Kirschner wire to enter the human body, and the depth data is also calculated using three-dimensional coordinates. As for the telescopic operation control of the puncture needle propulsion mechanism, either the electric push rod principle or other principles are used, and there are existing technologies.

[0040] The beneficial effects of this solution can be known from the description of the above solution. It has a simple structure and reasonable design. It avoids the use of a small-volume angle measuring device for positioning, thereby reducing the probability of lever-type amplification errors. At the same time, the four first guide rods, which are distributed in pairs on both sides of the first screw rod, together form a trapezoidal distribution, with good flexural strength. When the needle is inserted, it can prevent the Kirschner wire from deflecting beyond the required deviation due to force, so that the Kirschner wire can accurately reach the set puncture point. Moreover, even if the puncture is performed under the guidance of X-rays, there is no need for staff to be on site, so that the staff can be reasonably protected. The main motivation for the invention of this solution is how to ensure the accuracy of the direction of puncture and needle insertion. Therefore, more consideration is given to the flexural design, and the influence of the gap at the connection of each component on the error should also be considered. The main thing is that there should be no obvious shaking at the hinge of the connecting ear and the puncture needle propulsion mechanism, and the angle deflection at the connection between the connecting block and the second guide rod should not be greater than the requirement. The matching method of the bearing is to avoid deflection greater than the requirement. The guide cylinder is provided with a locking structure, which is also for flexural design. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0042] Figure 2 for Figure 1 A-A section view;

[0043] Figure 3 for Figure 2 A magnified view of position I;

[0044] Figure 4 for Figure 1 B-B section of

[0045] Figure 5 for Figure 1 C-C section diagram of

[0046] In the figure, 1, base plate; 2, limit; 3, first guide rod; 4, first lifting seat; 5, first screw rod; 6, first screw rod seat; 7, first motor; 8, second screw rod seat; 9, second screw rod; 10, first transverse seat; 11, second guide rod; 12, second transverse seat; 13, second motor; 14, connecting block; 15, connecting ear; 16, puncture needle propulsion mechanism; 17, Kirschner wire; 18, third guide rod; 19, second lifting seat; 20, first lifting plate; 21, wing plate; 22, top plate; 23, bearing; 24, first retaining ring; 25, second retaining ring; 26, hinge shaft; 27, guide cylinder; 28, first ring; 29, locking block; 30, second ring; 31, protrusion; 32, lever; 33, through hole. DETAILED DESCRIPTION

[0047] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0048] Embodiment 1: Figure 1-5 As shown, this embodiment is a spinal minimally invasive puncture positioning device, including a substrate 1, the substrate 1 is arranged on the side of the operating table, the upper surface of the substrate 1 is used as the Z-direction reference plane for measurement, that is, the XY plane, the front side of the substrate 1 is provided with a Y-direction reference line, and the left side or right side of the substrate 1 is provided with an X-direction reference line;

[0049] The substrate 1 is provided with an XZ plane point positioning mechanism, which includes a first guide rod 3 fixedly arranged on the upper surface of the substrate 1, the first guide rod 3 is perpendicular to the XY plane, the first guide rod 3 is slidably connected to a first lifting seat 4, a first screw rod 5 is movably connected to the lower side of the first lifting seat 4, the first screw rod 5 is movably connected to a first screw rod seat 6, the first screw rod seat 6 is fixedly arranged on the substrate 1, and the first screw rod 5 passes through the substrate 1 and is transmission-connected to a first motor 7;

[0050] The first lifting seat 4 is fixedly connected to the second screw seat 8, the second screw seat 8 is movably connected to the second screw 9, the second screw 9 is parallel to the X-direction reference line, one end of the second screw 9 is movably connected to the first transverse seat 10, the first transverse seat 10 is fixedly connected to the second guide rod 11, the second guide rod 11 is slidably connected to the first lifting seat 4, the second guide rod 11 passes through the first lifting seat 4 and is fixedly connected to the second transverse seat 12, the second transverse seat 12 is fixedly connected to the second motor 13, and the second motor 13 is transmission-connected to the second screw 9;

[0051] The second guide rod 11 passes through the first transverse seat 10 and the end portion of the first transverse seat 10 is rotatably connected to a connecting block 14 around its axis, and the connecting block 14 is provided with a connecting ear 15;

[0052] The base plate 1 is provided with two sets of XZ plane point positioning mechanisms in parallel, wherein the connecting ear 15 of one set is hingedly connected to the puncture needle propulsion mechanism 16, and the connecting ear 15 of the other set is hingedly connected to the guide cylinder 27, and the guide cylinder 27 is slidably connected to the puncture needle propulsion mechanism 16;

[0053] A Kirschner wire 17 is provided at the end of the puncture needle advancing mechanism 16 , and the axis of the Kirschner wire 17 and the axis of the second screw rod 9 are located in the same plane.

[0054] A third guide rod 18 is fixedly disposed on the lower surface of the base plate 1 . The third guide rod 18 is parallel to the first guide rod 3 . The third guide rod 18 is slidably connected to a second lifting seat 19 . The second lifting seat 19 is fixedly connected to the first motor 7 .

[0055] At least two third guide rods 18 are disposed on the lower surface of the base plate 1 . The third guide rods 18 are located on the same cylinder with the first screw rod 5 as the axis, and the third guide rods 18 are spaced the same from each other.

[0056] The first lifting seat 4 includes a first lifting plate 20, and vertical wing plates 21 are provided at both ends of the first lifting plate 20, and the second guide rod 11 is slidably connected to the wing plates 21 at both ends;

[0057] The second screw rod 9 passes through the wing plate 21. Specifically, the wing plate 21 is provided with a through hole for the second screw rod 9 to pass through. The through hole is concentric with the second screw rod 9 and has a diameter greater than the second screw rod 9.

[0058] Second guide rods 11 are provided on both sides of the second screw rod 9;

[0059] The second screw seat 8 is fixedly connected to the first lifting plate 20 .

[0060] First guide rods 3 are provided on both sides of the first screw rod 5, one of the first guide rods 3 passes between the second screw rod 9 and the second guide rod 11 adjacent to its left side, and the other passes between the second screw rod 9 and the second guide rod 11 adjacent to its right side;

[0061] Two sets of XZ plane point positioning mechanisms are arranged on the substrate 1. The projections of the four first guide rods 3 on the XY plane form a trapezoid, and the bottom and top sides of the trapezoid are parallel to the Y-direction reference line.

[0062] The bottom side of the trapezoid is closer to the puncture needle advancing mechanism 16 relative to the top side;

[0063] The upper end of the first guide rod 3 is connected to a top plate 22;

[0064] The first screw rod 5 and the second screw rod 9 are both provided with brakes.

[0065] One of the second guide rods 11 of each set of XZ plane point positioning mechanism passes through the first transverse seat 10, and the end of the second guide rod 11 passing through the first transverse seat 10 is fixedly connected to two bearings 23, the bearings 23 are conical rotor bearings or angular contact ball bearings, and the force-bearing side surfaces of the large circles of the two bearings 23 are away from the other bearing;

[0066] The outer side of the bearing 23 is connected to a connecting block 14, which includes a cylinder. A first retaining ring 24 is arranged between the cylinder and the bearing 23 to prevent the bearing 23 from moving toward the side of the large circle under stress.

[0067] The second guide rod 11 is provided with a second retaining ring 25 for preventing the bearing 23 from moving toward the side surface of the small circle under force.

[0068] A locking structure is provided between the guide cylinder 27 and the puncture needle advancing mechanism 16, and the locking structure includes a first ring 28 provided inside the guide cylinder 27 and fixedly connected to the guide cylinder 27, and a locking block 29 is provided on the side of the first ring 28, and the locking block 29 is provided with a wedge-shaped groove;

[0069] The locking structure further includes a second ring 30 disposed inside the guide cylinder 27 and slidably connected to the guide cylinder 27. The second ring 30 surrounds the locking block 29, and a protrusion 31 is disposed inside the second ring 30 to match the wedge-shaped groove.

[0070] A lever 32 is disposed outside the second ring 30, and a through hole 33 is disposed on the guide cylinder 27. The lever 32 passes through the through hole 33 and rotates in the through hole 33.

[0071] The locking block 29 is distributed around the outside of the puncture needle advancing mechanism 16 .

[0072] The puncture needle propulsion mechanism 16 is fixedly connected with a hinge shaft 26, and the clearance between the hinge shaft 26 and the through hole of the connecting ear 15 is smaller than a set value;

[0073] A limit stop 27 is disposed at the outer end of the hinge shaft 26, and a side clearance between the limit stop 27 and the connecting ear 15 is smaller than a set value.

[0074] The first motor 7 and the second motor 13 are numerical control servos, and the first motor 7 and the second motor 13 are signal-connected to numerical control equipment.

[0075] When in use, first use a C-arm X-ray machine to find the location of the lesion, determine the three-dimensional coordinates of the lesion puncture point in the coordinate system of this application, and measure the three-dimensional coordinates of the needle insertion point in the coordinate system of this application.

[0076] Afterwards, the first motor 7 and the second motor 13 are driven so that the intersection points of the axes of the two second screw rods 9 of the two XZ plane point positioning mechanisms of the present application and the axes of the Kirschner wire 17 are both located on the line connecting the needle insertion point and the puncture point, that is, the axis of the Kirschner wire 17 is made to coincide with the line. The puncture needle advancing mechanism 16 is started to allow the Kirschner wire 17 to enter the human body, and the depth data is also calculated in three-dimensional coordinates. As for the telescopic operation control of the puncture needle advancing mechanism 16, either the electric push rod principle or other principles are used, and there are existing technologies.

[0077] Embodiment 2 is different from Embodiment 1 in that the first guide rod 3 and the second guide rod 11 are provided with scales;

[0078] The base plate 1 is provided with a camera for observing the scale of the first guide rod 3, and the first lifting seat 4 is provided with a camera for observing the scale of the second guide rod 11, and the camera signal is connected to the human-machine control device.

[0079] Technical features not described in the present invention can be achieved through or by adopting existing technologies and will not be described in detail herein. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. A minimally invasive spinal puncture positioning device, characterized in that: It includes a substrate, which is arranged on the side of the operating table, the upper surface of the substrate is used as the Z-direction reference plane for measurement, that is, the XY plane, the front side of the substrate is provided with a Y-direction reference line, and the left side or right side of the substrate is provided with an X-direction reference line; The substrate is provided with an XZ plane point positioning mechanism, the XZ plane point positioning mechanism comprises a first guide rod fixedly arranged on the upper surface of the substrate, the first guide rod is perpendicular to the XY plane, the first guide rod is slidably connected to a first lifting seat, a first screw rod is movably connected to the lower side of the first lifting seat, the first screw rod is movably connected to a first screw rod seat, the first screw rod seat is fixedly arranged on the substrate, and the first screw rod passes through the substrate and is transmission-connected to a first motor; The first lifting seat is fixedly connected to a second screw seat, the second screw seat is movably connected to a second screw, the second screw is parallel to the X-axis reference line, one end of the second screw is movably connected to a first transverse seat, the first transverse seat is fixedly connected to a second guide rod, the second guide rod is slidably connected to the first lifting seat, the second guide rod passes through the first lifting seat and is fixedly connected to the second transverse seat, the second transverse seat is fixedly connected to a second motor, and the second motor is transmission-connected to the second screw; The second guide rod passes through the first transverse seat and the end portion of the first transverse seat is rotatably connected to a connecting block around its axis, and the connecting block is provided with a connecting ear; The base plate is provided with two sets of XZ plane point positioning mechanisms in parallel, wherein the connecting ears of one set are hingedly connected with a puncture needle propulsion mechanism, and the connecting ears of the other set are hingedly connected with a guide cylinder, and the guide cylinder is slidably connected with the puncture needle propulsion mechanism; A Kirschner wire is provided at the end of the puncture needle advancement mechanism, and the axis of the Kirschner wire and the axis of the second screw rod are located in the same plane; A third guide rod is fixedly arranged on the lower surface of the substrate, the third guide rod is parallel to the first guide rod, the third guide rod is slidably connected to a second lifting seat, and the second lifting seat is fixedly connected to the first motor; The first lifting seat comprises a first lifting plate, both ends of which are provided with vertical wing plates, and the second guide rod is slidably connected to the wing plates at both ends; The second screw rod passes through the wing plate, and specifically, the wing plate is provided with a through hole for the second screw rod to pass through, the through hole is concentric with the second screw rod and the diameter of the through hole is larger than that of the second screw rod; The second guide rods are arranged on both sides of the second screw rod; The second screw seat is fixedly connected to the first lifting plate; The first guide rods are arranged on both sides of the first screw rod, one of the first guide rods passes between the second screw rod and the second guide rod adjacent to its left side, and the other passes between the second screw rod and the second guide rod adjacent to its right side; The projections of the four first guide rods on the XY plane of the two sets of XZ plane point positioning mechanisms arranged on the substrate are connected to form a trapezoid, and the bottom and top sides of the trapezoid are parallel to the Y-direction reference line; The bottom side of the trapezoid is closer to the puncture needle propulsion mechanism than the top side; The upper end of the first guide rod is connected to a top plate; The first screw rod and the second screw rod are both provided with brakes; One of the second guide rods of each set of the XZ plane point positioning mechanism passes through the first transverse seat, and the end of the second guide rod passing through the first transverse seat is fixedly connected to two conical rotor bearings or angular contact ball bearings, and the force-bearing side surfaces of the large circles of the two bearings are both away from the other bearing; The connecting block is connected to the outer side of the bearing, and the connecting block includes a cylinder. A first retaining ring is arranged between the cylinder and the bearing to prevent the bearing from moving toward the side surface of the large circle under stress. The second guide rod is provided with a second retaining ring for preventing the bearing from moving toward the side surface of the small circle under stress.

2. A minimally invasive spinal puncture positioning device according to claim 1, characterized in that: At least two third guide rods are arranged on the lower surface of the substrate. The third guide rods are located on the same cylinder with the first screw rod as the axis, and the third guide rods are spaced the same from each other.

3. The minimally invasive spinal puncture positioning device according to claim 1, characterized in that: A locking structure is provided between the guide cylinder and the puncture needle advancing mechanism, the locking structure comprising a first ring provided inside the guide cylinder and fixedly connected to the guide cylinder, a locking block is provided on the side of the first ring, and the locking block is provided with a wedge-shaped groove; The locking structure further includes a second ring disposed inside the guide cylinder and slidably connected to the guide cylinder, the second ring surrounds the locking block, and a protrusion is disposed inside the second ring to match the wedge-shaped groove; A lever is disposed on the outer side of the second ring, and a through hole is disposed on the guide cylinder, and the lever passes through the through hole and rotates in the through hole; The locking blocks are distributed around the outside of the puncture needle advancing mechanism.

4. The minimally invasive spinal puncture positioning device according to claim 1, characterized in that: The puncture needle propulsion mechanism is fixedly connected with a hinge shaft, and the clearance between the hinge shaft and the through hole of the connecting ear is smaller than a set value; The outer end of the hinge shaft is provided with a limit position, and the side clearance between the limit position and the connecting ear is smaller than a set value.

5. The minimally invasive spinal puncture positioning device according to claim 1, characterized in that: The first motor and the second motor are numerically controlled servos, and the first motor and the second motor signals are connected to numerically controlled equipment.

6. The minimally invasive spinal puncture positioning device according to claim 1, characterized in that: The first guide rod and the second guide rod are provided with scales; The base plate is provided with a camera for observing the scale of the first guide rod, the first lifting seat is provided with a camera for observing the scale of the second guide rod, and the camera signal is connected to a human-machine control device.

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