Spine robot assisted spine minimally invasive surgery positioning system

Abstract

The invention relates to the technical field of medical instruments, in particular to a spine robot assisted spine minimally invasive surgery positioning system which comprises a fixing frame, a positioning device slidably arranged at the top of the fixing frame and a fixing part fixedly arranged at the bottom of the fixing frame. The positioning device comprises a screw adjusting mechanism arranged on the top of the fixing frame in a sliding mode, an adjusting piece arranged on the screw adjusting mechanism in a sliding mode, and an adjusting mechanism arranged at the bottom of the adjusting piece in a rotating mode. The adjusting mechanism comprises an arc-shaped sliding rail, a first adjusting fastener arranged on an arc-shaped sliding block in a sliding mode, and a second adjusting fastener arranged on the arc-shaped sliding block in a sliding mode. According to the spine minimally invasive surgery positioning system, the accuracy and safety of surgery operation are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a spinal robot-assisted minimally invasive spinal surgery positioning system. Background Art

[0002] In minimally invasive spinal surgery, positioning accuracy directly affects the surgical effect and patient prognosis. Traditional surgery relies on preoperative imaging and intraoperative manual operation, which requires high technical skills of doctors. In addition, due to the complex structure of the spine, a slight deviation may lead to serious complications such as nerve damage and bleeding. Therefore, improving surgical positioning accuracy and reducing risks are key challenges in spinal surgery.

[0003] With the development of computer, medical imaging and robotics technology, robot-assisted spinal surgery has become an important means of minimally invasive surgery. Spinal robots can improve positioning accuracy and surgical safety through preoperative planning and intraoperative guidance. However, existing technologies are still affected by individual differences in patients, bone density and subtle movements during surgery, resulting in limited positioning accuracy. In addition, robotic equipment is expensive and complex to operate, and requires high technical skills from doctors, which limits its popularization and application.

[0004] Therefore, it is urgent to develop a spinal robot-assisted minimally invasive spinal surgery positioning system that can achieve high-precision surgery through precise planning of surgical paths and real-time calibration. This system can improve surgical accuracy, reduce trauma and complications, and is expected to become an important auxiliary tool for minimally invasive spinal surgery in the future. Summary of the invention

[0005] The purpose of the present invention is to provide a spinal robot-assisted minimally invasive spinal surgery positioning system in view of the deficiencies in the prior art;

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] The present invention provides a spinal robot-assisted minimally invasive spinal surgery positioning system, comprising: a fixing frame, a positioning device slidably arranged on the top of the fixing frame, and a fixing piece fixedly arranged on the bottom of the fixing frame;

[0008] The positioning device includes: a screw adjustment mechanism slidably disposed on the top of the fixing frame, an adjustment member slidably disposed on the screw adjustment mechanism, and an adjustment mechanism rotatably disposed on the bottom of the adjustment member;

[0009] The adjusting mechanism comprises: an arc-shaped slide rail, a first adjusting fastener slidably disposed on the arc-shaped slide block, and a second adjusting fastener slidably disposed on the arc-shaped slide block;

[0010] A sliding tooth groove is provided on the side surface of the arc-shaped slider, one end of the first adjusting fastener is rotatably connected to the bottom of the adjusting member, the other end of the first adjusting fastener passes through the sliding tooth groove, and a first gear tooth is provided on the surface of the portion of the first adjusting fastener located in the sliding tooth groove, and the first gear tooth is meshed with the sliding tooth groove;

[0011] The other end of the first adjusting fastener passes through the sliding tooth groove and is threadedly connected with a tightening member, and the first adjusting fastener is locked on the sliding tooth groove through the tightening member.

[0012] Further, the second adjustment fastener comprises: a fastening mechanism, a first adjustment mechanism, a second adjustment mechanism, and a positioning mechanism;

[0013] Wherein, one end of the first adjustment mechanism is sleeved outside the arc-shaped slider, and the other end of the first adjustment mechanism is rotatably connected to one end of the second adjustment mechanism;

[0014] Among them, the fastening mechanism runs through the first adjustment mechanism and the sliding tooth groove, and a second gear tooth is provided on the surface of at least a part of the fastening mechanism located in the sliding tooth groove, and the second gear tooth is meshed with the sliding tooth groove. A spring is fixedly arranged between the fastening mechanism and the sliding tooth groove, and the spring allows the second gear tooth to disengage from the sliding tooth groove, or the second gear tooth is meshed with the sliding tooth groove.

[0015] Furthermore, a first slide groove is provided at the other end of the second adjustment mechanism, a second lifting rod is slidably provided on the first slide groove, and a bottom of the second lifting rod is fixedly connected to the top of the positioning mechanism;

[0016] The positioning mechanism includes: a positioning ring fixedly arranged at the bottom of the second lifting rod, and a laser pen detachably arranged at the bottom of the positioning ring.

[0017] Furthermore, a first lifting adjustment mechanism is fixedly arranged inside the second lifting rod, and a limiting groove matching the lifting adjustment mechanism is formed on the wall surface of the first sliding groove.

[0018] Further, the adjusting member includes: a forward and reverse reciprocating motor fixedly arranged at the end of the first output shaft, and a limiting member fixedly arranged at one side of the forward and reverse reciprocating motor;

[0019] Among them, a first lifting adjustment rod is slidably arranged in the limiting member, a plurality of second sliding grooves are opened on the side surface of the limiting member, a plurality of sliding members are fixedly arranged on the side surface of the first lifting adjustment rod, and the sliding members are slidably arranged in the second sliding grooves.

[0020] Furthermore, the second output shaft of the forward and reverse reciprocating motor is fixedly provided with an end gear, and a second tooth groove is opened on the side of the first lifting adjustment rod close to the forward and reverse reciprocating motor; the end gear is meshed and connected with the second tooth groove, and the bottom of the first lifting adjustment rod is rotatably connected to the adjustment mechanism.

[0021] Further, an operation panel is fixedly provided on one side of the fixing frame;

[0022] Among them, the screw adjustment mechanism is electrically connected to the operation panel, and the forward and reverse reciprocating motor is electrically connected to the operation panel.

[0023] Furthermore, the fixing piece is provided with a groove, a second through hole is provided at the bottom of the groove, and the second through hole is threadedly connected to the bolt.

[0024] Furthermore, a first scale is fixedly provided on one side of the arc-shaped sliding block.

[0025] Furthermore, a second scale is fixedly provided on one side of the first lifting adjustment rod, and a third scale is fixedly provided on one side of the second lifting rod.

[0026] The present invention adopts the above technical solution, and has the following technical effects compared with the prior art:

[0027] The present invention can adjust the instrument in three dimensions through the cooperation of the fixing frame and the positioning device, so that the doctor can accurately position the surgical tool to the target area. Such high-precision positioning capability is crucial to reducing surgical risks and improving treatment effects. The system includes a detachable laser pen, which is used to indicate the exact location of the upcoming operation, improving the accuracy of determining the anatomical landmarks or lesion locations during surgery and helping to reduce the possibility of human error. The positioning device is equipped with a complex multi-layer adjustment mechanism, such as a screw adjustment mechanism, a first adjustment fastener, and a second adjustment fastener. With the joint action of these components, medical staff can adjust the position and angle of the instrument with extremely high precision. In addition, a tooth-slot engagement structure is used to ensure that once the position is set, it will not move easily, thereby ensuring stability during operation. An operation panel is provided on one side of the fixed frame, through which key components such as the screw adjustment mechanism and the forward and reverse reciprocating motor can be directly controlled. This design simplifies the operation process, and even professionals who are not familiar with new technologies can quickly master the use method. In order to further improve the convenience of use, multiple scales including the first, second and third scales are set at different locations, so that medical staff can directly view and record the current setting value during the adjustment process, which is conducive to the realization of repeatability and traceability;

[0028] In summary, the spinal robot-assisted minimally invasive spinal surgery positioning system provided by the present invention effectively improves the accuracy and safety of surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the shaft side structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the shaft side structure of the positioning device in the present invention;

[0031] Figure 3 is a schematic cross-sectional structural diagram of the first adjusting mechanism in the present invention;

[0032] Figure 4 is a schematic cross-sectional structural diagram of the second lifting rod in the present invention;

[0033] The accompanying drawings of the present invention are as follows:

[0034] Fixed frame, 1; positioning device, 2; fixing part, 3; screw adjustment mechanism, 21; adjustment part, 22; adjustment mechanism, 23; arc slide rail, 26; first adjustment fastener, 27; second adjustment fastener, 28; sliding tooth groove, 261; tightening part, 262; fastening mechanism, 29; first adjustment mechanism, 30; spring, 31; second adjustment mechanism, 32; positioning mechanism, 33; second lifting rod, 34; positioning ring, 35; laser pen, 36; limiting groove, 341; forward and reverse reciprocating motor, 24; limiting part, 37; first lifting adjustment rod, 25; second tooth groove, 251. DETAILED DESCRIPTION

[0035] The specific embodiments of the present invention will be described in detail below.

[0036] Unless otherwise defined, technical or scientific terms used in the claims and the specification shall have the common meanings understood by persons having ordinary skills in the technical field to which the present invention belongs.

[0037] The words "include" or similar words used in the patent application specification and claims of the present invention mean that the items appearing before "include" include the items listed after "include" or their equivalents, and do not exclude other items.

[0038] The numerical values ​​mentioned in the present invention include all numerical values ​​that increase from low to high by one unit, assuming that there are at least two units between any lower value and the higher value. For example, if a component or a physical quantity is said to be from 1 to 100, 10 to 90 is more preferred, and 20 to 80 is the most preferred, it is intended to express that values ​​such as 5 to 95, 14 to 76, 23 to 67, 32 to 58, 41 to 49 are clearly listed in this specification; for values ​​less than 1, 0.0001, 0.001, 0.01 or 0.1 are considered to be more suitable as a unit. The above examples are for illustrative purposes only. In fact, all numerical combinations between the lowest value and the highest value listed are deemed to be clearly listed in this specification in a similar manner.

[0039] Example

[0040] This embodiment provides a spinal robot-assisted minimally invasive spinal surgery positioning system, comprising: a fixing frame 1, a positioning device 2 slidably disposed on the top of the fixing frame 1, and a fixing member 3 fixedly disposed on the bottom of the fixing frame 1;

[0041] The positioning device 2 includes: a screw adjustment mechanism 21 slidably disposed on the top of the fixing frame 1, an adjustment member 22 slidably disposed on the screw adjustment mechanism 21, and an adjustment mechanism 23 rotatably disposed on the bottom of the adjustment member 22;

[0042] The adjustment mechanism 23 includes: an arc-shaped slide rail 26, a first adjustment fastener 27 slidably disposed on the arc-shaped slide rail 26, and a second adjustment fastener 28 slidably disposed on the arc-shaped slide rail 26;

[0043] The side surface of the arc-shaped slider 26 is provided with a sliding tooth groove 261, one end of the first adjusting fastener 27 is rotatably connected to the bottom of the adjusting member 22, and the other end of the first adjusting fastener 27 is arranged through the sliding tooth groove 261, and the surface of the portion of the first adjusting fastener 27 located in the sliding tooth groove 261 is provided with a first gear tooth, and the first gear tooth is meshed with the sliding tooth groove 261;

[0044] The other end of the first adjusting fastener 27 passes through the sliding tooth groove 261 and is threadedly connected to a tightening member 262 . The first adjusting fastener 27 is locked on the sliding tooth groove 261 by the tightening member 262 .

[0045] The second adjusting fastener 28 includes: a fastening mechanism 29, a first adjusting mechanism 30, a second adjusting mechanism 32, and a positioning mechanism 33;

[0046] One end of the first adjustment mechanism 30 is sleeved outside the arc-shaped slider 26, and the other end of the first adjustment mechanism 30 is rotatably connected to one end of the second adjustment mechanism 32;

[0047] The fastening mechanism 29 is arranged to pass through the first adjusting mechanism 30 and the sliding tooth groove 261, and a second gear tooth is arranged on at least a part of the surface of the fastening mechanism 29 located in the sliding tooth groove 261, and the second gear tooth is meshed with the sliding tooth groove 261. A spring 31 is fixedly arranged between the fastening mechanism 29 and the first adjusting mechanism 30, and the spring 31 allows the second gear tooth to be disengaged from the sliding tooth groove 261, or the second gear tooth is meshed with the sliding tooth groove 261.

[0048] The other end of the second adjustment mechanism 32 is provided with a first slide groove, a second lifting rod 34 is slidably provided on the first slide groove, and the bottom of the second lifting rod 34 is fixedly connected to the top of the positioning mechanism 33;

[0049] The positioning mechanism 33 includes: a positioning ring 35 fixedly disposed at the bottom of the second lifting rod 34 , and a laser pen 36 detachably disposed at the bottom of the positioning ring 35 .

[0050] A first lifting and lowering adjustment mechanism is fixedly disposed inside the second lifting rod 34 , and a limiting groove 341 matching the lifting and lowering adjustment mechanism is formed on the wall surface of the first sliding groove.

[0051] The adjusting member 22 includes: a forward and reverse reciprocating motor 24 fixedly arranged at the end of the first output shaft, and a limiting member 37 fixedly arranged at one side of the forward and reverse reciprocating motor 24;

[0052] Among them, the first lifting adjustment rod 25 is slidably arranged in the limiting member 37, and a plurality of second sliding grooves are opened on the side surface of the limiting member 37. A plurality of sliding members are fixedly arranged on the side surface of the first lifting adjustment rod 25, and the sliding members are slidably arranged in the second sliding grooves. Among them, the plurality of second sliding grooves opened on the side surface of the limiting member 37 and the plurality of sliding members fixedly arranged on the side surface of the first lifting adjustment rod 25 are used to prevent the first lifting adjustment rod 25 from falling when sliding in the height direction.

[0053] Among them, the second output shaft of the forward and reverse reciprocating motor 24 is fixedly provided with an end face gear, and the first lifting and adjusting rod 25 is provided with a second tooth groove 251 on the side close to the forward and reverse reciprocating motor 24; the end face gear is meshed and connected with the second tooth groove, and the bottom of the first lifting and adjusting rod 25 is rotatably connected to the adjusting mechanism 23.

[0054] Wherein, an operation panel is fixedly provided on one side of the fixing frame 1;

[0055] The screw adjustment mechanism 21 is electrically connected to the operation panel, the forward and reverse reciprocating motor 24 is electrically connected to the operation panel, and the operation panel operates the screw adjustment mechanism 21 and the forward and reverse reciprocating motor 24 through a PLC programmable system.

[0056] The fixing member 3 is provided with a groove, a second through hole is provided at the bottom of the groove, and the second through hole is threadedly connected to the bolt.

[0057] A first scale is fixedly provided on one side of the arc-shaped slider 26 ; a second scale is fixedly provided on one side of the first lifting adjustment rod 25 ; and a third scale is fixedly provided on one side of the second lifting rod 34 .

[0058] As a preferred embodiment, the second lifting rod 34 has an adjustment device inside, wherein the adjustment device adopts the application number 201810883836.9, and the patent name is an adjustment mechanism of a bicycle seat adjustment mechanism. The present invention adopts this technical solution without the need for creative labor by technical personnel in this field.

[0059] As a preferred embodiment, the operation panel adopts the SIMATIC HMI panel - Siemens touch screen produced by SIEMENS. The present invention adopts this technical solution without the need for creative work by those skilled in the art.

[0060] When in use, the fixing frame 1 is placed at a suitable position next to the patient and is securely mounted to the operating table through the grooves and bolts on the fixing member 3. The system is started through the operation panel, and the position of the positioning device 2 is adjusted using the screw adjustment mechanism 21 to suit the needs of the operation. The screw adjustment mechanism 21 is controlled by the operation panel to adjust the horizontal position, the forward and reverse reciprocating motor 24 and the first lifting adjustment rod 25 in the adjustment member 22 are adjusted in height, the end face gear fixedly arranged on the second output shaft is engaged with the second tooth groove to position the adjustment mechanism 23, and the adjusted height value is recorded using the second scale; the first adjustment fastener 27 arranged on the arc-shaped slide rail 26 is used to adjust along the circumferential direction of the arc-shaped slide rail 26, and the first adjustment fastener 27 is locked on the sliding tooth groove 261 by rotating the tightening member 262 to prevent accidental movement, and the first adjustment mechanism 30 is used to perform relative rotation along the circumferential direction of the arc-shaped slide 26 to further refine the positioning, and the spring 31 is used to allow the second gear to disengage or engage with the sliding tooth groove 261 for fast adjustment and locking, and the second lifting rod 34 is used to adjust the height of the laser pen 36 so that the positioning ring 35 is aligned with the target anatomical structure, and the third scale can help record this height, and the laser pen 36 is turned on so that its beam indicates the accurate surgical area. Make sure that the light beam is clearly visible and adjusted to the correct angle, and confirm that the target point pointed by the laser pen 36 is consistent with the predetermined position in the preoperative imaging data.

[0061] In summary, the present invention can adjust the instrument in three dimensions through the cooperation of the fixing frame and the positioning device, which allows the doctor to accurately position the surgical tool to the target area. Such high-precision positioning capability is crucial to reducing surgical risks and improving treatment effects. The system includes a detachable laser pen, which is used to indicate the exact location of the upcoming operation, thereby improving the accuracy of determining the anatomical landmarks or lesion locations during surgery and helping to reduce the possibility of human error. The positioning device is equipped with a complex multi-layer adjustment mechanism, such as a screw adjustment mechanism, a first adjustment fastener and a second adjustment fastener. With the joint action of these components, medical staff are allowed to adjust the position and angle of the instrument with extremely high precision. In addition, a tooth-slot engagement structure is used to ensure that it will not move easily once the position is set, thereby ensuring stability during operation. An operation panel is provided on one side of the fixed frame, through which key components such as the screw adjustment mechanism and the forward and reverse reciprocating motor can be directly controlled. This design simplifies the operation process, and even medical staff who are not familiar with the present invention can quickly master the use method. In order to further improve the convenience of use, multiple scales including the first, second and third scales are set at different positions, so that medical staff can directly view and record the current set value during the adjustment process, which is conducive to the realization of repeatability and traceability; the spinal robot-assisted spinal minimally invasive surgery positioning system provided by the present invention effectively improves the accuracy and safety of surgical operations.

[0062] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A spinal robot-assisted minimally invasive spinal surgery positioning system, characterized in that: include: A fixing frame (1), a positioning device (2) slidably arranged on the top of the fixing frame (1), and a fixing member (3) fixedly arranged on the bottom of the fixing frame (1); The positioning device (2) comprises: a screw adjustment mechanism (21) slidably arranged on the top of the fixing frame (1), an adjustment member (22) slidably arranged on the screw adjustment mechanism (21), and an adjustment mechanism (23) rotatably arranged on the bottom of the adjustment member (22); The adjustment mechanism (23) comprises: an arc-shaped slide rail (26), a first adjustment fastener (27) slidably disposed on the arc-shaped slide block (26), and a second adjustment fastener (28) slidably disposed on the arc-shaped slide block (26); The side surface of the arc-shaped slider (26) is provided with a sliding tooth groove (261), one end of the first adjusting fastener (27) is rotatably connected to the bottom of the adjusting member (22), the other end of the first adjusting fastener (27) is arranged to penetrate the sliding tooth groove (261), and the surface of the portion of the first adjusting fastener (27) located in the sliding tooth groove (261) is provided with a first gear tooth, and the first gear tooth is meshed with the sliding tooth groove (261); The other end of the first adjusting fastener (27) passes through the sliding tooth groove (261) and is threadedly connected to a tightening member (262), and the first adjusting fastener (27) is locked on the sliding tooth groove (261) by the tightening member (262).

2. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 1, characterized in that: The second adjustment fastener (28) comprises: a fastening mechanism (29), a first adjustment mechanism (30), a second adjustment mechanism (32), and a positioning mechanism (33); One end of the first adjusting mechanism (30) is sleeved outside the arc-shaped sliding block (26), and the other end of the first adjusting mechanism (30) is rotatably connected to one end of the second adjusting mechanism (32); The fastening mechanism (29) is arranged to pass through the first adjusting mechanism (30) and the sliding tooth groove (261); at least a part of the surface of the fastening mechanism (29) located in the sliding tooth groove (261) is provided with a second gear tooth, and the second gear tooth meshes with the sliding tooth groove (261); a spring (31) is fixedly arranged between the fastening mechanism (29) and the first adjusting mechanism (30), and the spring (31) allows the second gear tooth to disengage from the sliding tooth groove (261), or the second gear tooth to mesh with the sliding tooth groove (261).

3. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 2, characterized in that: The other end of the second adjustment mechanism (32) is provided with a first sliding groove, a second lifting rod (34) is slidably arranged on the first sliding groove, and the bottom of the second lifting rod (34) is fixedly connected to the top of the positioning mechanism (33); The positioning mechanism (33) comprises: a positioning ring (35) fixedly arranged at the bottom of the second lifting rod (34), and a laser pen (36) detachably arranged at the bottom of the positioning ring (35).

4. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 3, characterized in that: A lifting and lowering adjustment mechanism is fixedly arranged inside the second lifting rod (34), and a limiting groove (341) matching the lifting and lowering adjustment mechanism is formed on the wall surface of the first sliding groove.

5. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 3, characterized in that: The adjusting member (22) comprises: a forward and reverse reciprocating motor (24) fixedly arranged at the end of the first output shaft, and a limiting member (37) fixedly arranged on one side of the forward and reverse reciprocating motor (24); A first lifting adjustment rod (25) is slidably arranged in the limiting member (37), a plurality of second sliding grooves are opened on the side surface of the limiting member (37), a plurality of sliding members are fixedly arranged on the side surface of the first lifting adjustment rod (25), and the sliding members are slidably arranged in the second sliding grooves.

6. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 5, characterized in that: The second output shaft of the forward and reverse reciprocating motor (24) is fixedly provided with an end face gear, and the first lifting and lowering adjustment rod (25) is provided with a second tooth groove (251) on a side close to the forward and reverse reciprocating motor (24); the end face gear is meshingly connected with the second tooth groove, and the bottom of the first lifting and lowering adjustment rod (25) is rotatably connected to the adjustment mechanism (23).

7. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 6, characterized in that: An operation panel is fixedly arranged on one side of the fixing frame (1); Wherein, the screw adjustment mechanism (21) is electrically connected to the operation panel, and the forward and reverse reciprocating motor (24) is electrically connected to the operation panel.

8. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 1, characterized in that: The fixing member (3) is provided with a groove, the bottom of the groove is provided with a second through hole, and the second through hole is threadedly connected to the bolt.

9. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 1, characterized in that: A first scale is fixedly arranged on one side of the arc-shaped sliding block (26).

10. The spinal robot-assisted minimally invasive spinal surgery positioning system according to claim 5, characterized in that: A second scale is fixedly provided on one side of the first lifting adjustment rod (25), and a third scale is fixedly provided on one side of the second lifting rod (34).

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