A spinal robot assisted minimally invasive surgery positioning system

Abstract

This invention relates to the field of medical device technology, and more particularly to a spinal robot-assisted minimally invasive spinal surgery positioning system, comprising: a fixation frame, a positioning device slidably disposed on the top of the fixation frame, and a fixing member fixedly disposed on the bottom of the fixation frame; wherein, the positioning device comprises: a screw adjustment mechanism slidably disposed on the top of the fixation frame, an adjustment member slidably disposed on the screw adjustment mechanism, and an adjustment mechanism rotatably disposed on the bottom of the adjustment member; wherein, the adjustment mechanism comprises: an arc-shaped slide rail, a first adjustment fastener slidably disposed on the arc-shaped slider, and a second adjustment fastener slidably disposed on the arc-shaped slider; the spinal minimally invasive surgery positioning system provided by this invention effectively improves the accuracy and safety of surgical operations.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a spinal robot-assisted positioning system for minimally invasive spinal surgery. Background Technology

[0002] In minimally invasive spinal surgery, the accuracy of surgical positioning directly affects the surgical outcome and patient prognosis. Traditional surgery relies on preoperative imaging and intraoperative manual manipulation, which demands a high level of skill from the surgeon. Furthermore, due to the complex structure of the spine, even slight deviations can 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 technologies, robot-assisted spinal surgery has become an important tool in minimally invasive surgery. Spinal robots can improve positioning accuracy and surgical safety through preoperative planning and intraoperative guidance. However, current technologies are still affected by individual patient differences, bone density, and subtle intraoperative movements, resulting in limitations in positioning accuracy. Furthermore, robotic equipment is expensive and complex to operate, requiring high levels of surgical skill, which restricts its widespread application.

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

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a positioning system for spinal robot-assisted minimally invasive spinal surgery.

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

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

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

[0009] The adjustment mechanism includes: an arc-shaped slider, a first adjustment fastener slidably disposed on the arc-shaped slider, and a second adjustment fastener slidably disposed on the arc-shaped slider;

[0010] Among them, the side surface of the arc-shaped slider is provided with a sliding tooth groove, 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 the surface of the part of the first adjusting fastener located in the sliding tooth groove is provided with a first wheel tooth, which meshes with the sliding tooth groove.

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

[0012] Furthermore, the second adjusting fastener includes: a fastening mechanism, a first adjusting mechanism, a second adjusting mechanism, and a positioning mechanism;

[0013] In this configuration, one end of the first adjustment mechanism is sleeved on 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] The fastening mechanism passes through the first adjusting mechanism and the sliding tooth groove. At least a portion of the surface of the fastening mechanism located in the sliding tooth groove is provided with a second tooth. The second tooth meshes with the sliding tooth groove. A spring is fixedly provided between the fastening mechanism and the sliding tooth groove. The spring allows the second tooth to disengage from the sliding tooth groove or to mesh with the sliding tooth groove.

[0015] Furthermore, a first slide groove is provided at the other end of the second adjustment mechanism, and a second lifting rod is slidably arranged on the first slide groove. The 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 disposed at the bottom of the second lifting rod, and a laser pointer detachably disposed at the bottom of the positioning ring.

[0017] Furthermore, a first lifting adjustment mechanism is fixedly installed inside the second lifting rod, and a limiting groove matching the lifting adjustment mechanism is opened on the wall of the first slide groove.

[0018] Furthermore, the adjusting component includes: a reciprocating motor fixedly disposed at the end of the first output shaft of the screw adjusting mechanism, and a limiting component fixedly disposed on one side of the reciprocating motor;

[0019] The limiting member has a first lifting adjustment rod slidably disposed therein, and a number of second sliding grooves are opened on the side surface of the limiting member. A number of sliding members are fixedly disposed on the side surface of the first lifting adjustment rod, and the sliding members are slidably disposed in the second sliding grooves.

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

[0021] Furthermore, an operation panel is fixedly installed on one side of the mounting bracket;

[0022] The screw adjustment mechanism is electrically connected to the control panel, and the reciprocating motor is also electrically connected to the control panel.

[0023] Furthermore, the fastener has a groove, and a second through hole is formed at the bottom of the groove, which is threadedly connected to the bolt.

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

[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] This invention, through the cooperation of a fixation frame and a positioning device, enables the adjustment of instruments in three dimensions. This allows doctors to precisely position surgical instruments to the target area. Such high-precision positioning capability is crucial for reducing surgical risks and improving treatment outcomes. The system includes a detachable laser pointer, which is used to indicate the exact location of the operation, improving the accuracy of determining anatomical landmarks or lesion locations during surgery and helping to reduce the possibility of human error. This 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. These components work together to allow medical personnel to adjust the instrument's position and angle with extremely high precision. Furthermore, a toothed meshing structure ensures that the device will not easily move once the position is set, thus guaranteeing stability during operation. An operation panel is located on one side of the mounting frame, through which key components such as the screw adjustment mechanism and the reciprocating motor can be directly controlled. This design simplifies the operation process, allowing even professionals unfamiliar with new technologies to quickly master its use. To further enhance ease of use, multiple scales, including a first, second, and third scale, are installed in different locations. This allows medical personnel to directly view and record the current settings during adjustment, facilitating repeatability and traceability.

[0028] In summary, the spinal robot-assisted minimally invasive spinal surgery positioning system provided by this invention effectively improves the accuracy and safety of surgical procedures. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the axial structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the axial structure of the positioning device in this invention;

[0031] Figure 3 This is a cross-sectional view of the first adjustment mechanism in this invention;

[0032] Figure 4 This is a cross-sectional view of the second lifting rod in this invention;

[0033] The reference numerals in the drawings of this invention are:

[0034] 1. Fixed frame; 2. Positioning device; 3. Fixing component; 21. Screw adjustment mechanism; 22. Adjusting component; 23. Adjusting mechanism; 26. Arc-shaped slider; 27. First adjusting fastener; 28. Second adjusting fastener; 261. Sliding tooth groove; 262. Tightening component; 29. ​​Fastening mechanism; 30. First adjustment mechanism; 31. Spring; 32. Second adjustment mechanism; 33. Positioning mechanism; 34. Second lifting rod; 35. Positioning ring; 36. Laser pointer; 341. Limiting groove; 24. Reciprocating motor; 37. Limiting component; 25. First lifting adjustment rod; 25. Second tooth groove; 251. Detailed Implementation

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

[0036] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0037] The word "comprising" or similar terms used in the specification and claims of this patent application mean that the objects preceding "comprising" include the objects listed after "comprising" or their equivalents, and do not exclude other objects.

[0038] The numerical values ​​mentioned in this invention include all values ​​increasing one unit at a time from low to high, assuming that there is at least a two-unit interval between any lower and higher value. For example, if it is said that a component quantity or a physical quantity is better from 1 to 100, 10 to 90, and 20 to 80, it means that values ​​such as 5 to 95, 14 to 76, 23 to 67, 32 to 58, and 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 a suitable unit. The foregoing examples are for illustrative purposes only; in practice, all combinations of values ​​between the lowest and highest listed values ​​are considered to be clearly listed in this specification in a similar manner.

[0039] Example

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

[0041] The positioning device 2 includes: a screw adjustment mechanism 21 slidably disposed on the top of the fixed 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 slider 26, a first adjustment fastener 27 slidably disposed on the arc-shaped slider 26, and a second adjustment fastener 28 slidably disposed on the arc-shaped slider 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. The other end of the first adjusting fastener 27 passes through the sliding tooth groove 261. The surface of the part of the first adjusting fastener 27 located in the sliding tooth groove 261 is provided with a first wheel tooth, which meshes 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 onto 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] Wherein, one end of the first adjustment mechanism 30 is sleeved on 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 disposed through the first adjusting mechanism 30 and the sliding tooth groove 261. At least a portion of the surface of the fastening mechanism 29 located in the sliding tooth groove 261 is provided with a second tooth, which meshes with the sliding tooth groove 261. A spring 31 is fixedly disposed between the fastening mechanism 29 and the first adjusting mechanism 30. The spring 31 allows the second tooth to disengage from the sliding tooth groove 261 or to mesh with the sliding tooth groove 261.

[0048] The second adjustment mechanism 32 has a first sliding groove at the other end, and a second lifting rod 34 is slidably disposed on the first sliding groove. 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 pointer 36 detachably disposed at the bottom of the positioning ring 35.

[0050] The second lifting rod 34 is fixedly provided with a first lifting adjustment mechanism inside, and the wall of the first slide groove is provided with a limiting groove 341 that matches the lifting adjustment mechanism.

[0051] The adjusting component 22 includes: a reciprocating motor 24 fixedly disposed at the end of the first output shaft of the screw adjusting mechanism 21, and a limiting component 37 fixedly disposed on one side of the reciprocating motor 24;

[0052] The limiting member 37 is slidably provided with a first lifting adjustment rod 25. The side surface of the limiting member 37 is provided with a plurality of second sliding grooves. The side surface of the first lifting adjustment rod 25 is fixedly provided with a plurality of sliding members. The sliding members are slidably disposed in the second sliding grooves. The plurality of second sliding grooves on the side surface of the limiting member 37 and the plurality of sliding members fixedly disposed 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] The second output shaft of the reciprocating motor 24 is fixedly provided with an end face gear, and the first lifting adjustment rod 25 is provided with a second tooth groove 251 on the side near the reciprocating motor 24; the end face gear is meshed with the second tooth groove, and the bottom of the first lifting adjustment rod 25 is rotatably connected to the adjustment mechanism 23.

[0054] 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, and the reciprocating motor 24 is also electrically connected to the operation panel. The operation panel operates the screw adjustment mechanism 21 and the reciprocating motor 24 through a PLC programmable system.

[0056] The fastener 3 has a groove, and a second through hole is formed at the bottom of the groove. The second through hole is threadedly connected to a bolt.

[0057] The first scale is fixedly provided on one side of the arc-shaped slider 26; the second scale is fixedly provided on one side of the first lifting adjustment rod 25; and the 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. The adjustment device adopts the adjustment mechanism of the bicycle seat adjustment mechanism with application number 201810883836.9 and patent name. The present invention adopts this technical solution without requiring creative labor from those skilled in the art.

[0059] As a preferred embodiment, the operation panel adopts the SIMATIC HMI panel - Siemens touch screen manufactured by SIEMENS. This invention adopts this technical solution without requiring creative effort from those skilled in the art.

[0060] In use, place the fixation frame 1 in a suitable position next to the patient and securely install it onto the operating table using the grooves and bolts on the fixation piece 3. Start the system via the control panel and use the screw adjustment mechanism 21 to adjust the position of the positioning device 2 to suit the surgical needs. The horizontal position is adjusted by controlling the screw adjustment mechanism 21 through the operation panel. The height is adjusted by adjusting the reciprocating motor 24 in the adjustment component 22 and the first lifting adjustment rod 25. The height of the adjustment mechanism 23 is positioned by the end face gear fixedly set on the second output shaft meshing with the second tooth groove. The adjusted height value is recorded using the second scale. The first adjusting fastener 27 set on the arc-shaped slider 26 is adjusted along the circumference of the arc-shaped slider 26. The first adjusting fastener 27 is locked onto the sliding tooth groove 261 by rotating the tightening component 262 to prevent accidental movement. The first adjustment mechanism 30 is rotated relative to the arc-shaped slider 26 along the circumference to further refine the positioning. The spring 31 allows the second gear to disengage from or engage with the sliding tooth groove 261 for quick adjustment and locking. The height of the laser pointer 36 is adjusted using the second lifting rod 34 so that the positioning ring 35 is aligned with the target anatomical structure. The third scale helps to record this height. The laser pointer 36 is turned on so that its beam indicates the accurate surgical area. Ensure the beam is clearly visible and adjust it to the correct angle, confirming that the target point pointed to by laser pointer 36 matches the predetermined position in the preoperative imaging data.

[0061] In summary, this invention, through the cooperation of the fixation frame and the positioning device, enables the adjustment of instruments in three dimensions. This allows doctors to precisely position surgical instruments to the target area. Such high-precision positioning capability is crucial for reducing surgical risks and improving treatment outcomes. The system includes a detachable laser pointer, which is used to indicate the exact location of the operation, improving the accuracy of determining anatomical landmarks or lesion locations during surgery and helping to reduce the possibility of human error. This 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. These components work together to allow medical personnel to adjust the position and angle of the instrument with extremely high precision. Furthermore, a toothed meshing structure ensures that the device will not easily move once the position is set, thus guaranteeing stability during operation. An operation panel is located on one side of the mounting bracket, 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, allowing even medical personnel unfamiliar with the invention to quickly master its use. To further enhance ease of use, multiple scales, including a first, second, and third scale, are provided in different locations. This allows medical personnel to directly view and record the current settings during adjustment, facilitating repeatability and traceability. The spinal robot-assisted minimally invasive spinal surgery positioning system provided by this invention effectively improves the accuracy and safety of surgical procedures.

[0062] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A spinal robot assisted minimally invasive surgery positioning system, comprising: The utility model relates to a positioning device for fixing frame, which comprises a fixing frame (1), a positioning device (2) slidingly arranged on the top of the fixing frame (1), and a fixing part (3) fixedly arranged on the bottom of the fixing frame (1). The positioning device (2) comprises a screw adjusting mechanism (21) slidingly arranged on the top of the fixing frame (1), an adjusting part (22) slidingly arranged on the screw adjusting mechanism (21), and an adjusting mechanism (23) rotatably arranged on the bottom of the adjusting part (22). The adjusting mechanism (23) comprises an arc-shaped sliding block (26), a first adjusting fastener (27) slidingly arranged on the arc-shaped sliding block (26), and a second adjusting fastener (28) slidingly arranged on the arc-shaped sliding block (26). The side surface of the arc-shaped sliding block (26) is provided with a sliding tooth groove (261), one end of the first adjusting fastener (27) is rotatably connected with the bottom of the adjusting part (22), the other end of the first adjusting fastener (27) penetrates through the sliding tooth groove (261), and the surface of the part of the first adjusting fastener (27) located in the sliding tooth groove (261) is provided with first gear teeth which are engaged with the sliding tooth groove (261). The other end of the first adjusting fastener (27) is threadedly connected with a screwing part (262) after penetrating through the sliding tooth groove (261), and the first adjusting fastener (27) is locked on the sliding tooth groove (261) through the screwing part (262). The adjusting part (22) comprises a forward and reverse reciprocating motor (24) fixedly arranged on the end of the first output shaft of the screw adjusting mechanism (21), and a limiting part (37) fixedly arranged on one side of the forward and reverse reciprocating motor (24). The limiting part (37) is slidingly provided with a first lifting adjusting rod (25), and the side surface of the limiting part (37) is provided with a plurality of second sliding grooves, and the side surface of the first lifting adjusting rod (25) is fixedly provided with a plurality of sliding parts which are slidingly arranged in the second sliding grooves. The second output shaft of the forward and reverse reciprocating motor (24) is fixedly provided with an end face gear, the side of the first lifting adjusting rod (25) close to the forward and reverse reciprocating motor (24) is provided with a second tooth groove (251), the end face gear is engagedly connected with the second tooth groove, and the bottom of the first lifting adjusting rod (25) is rotatably connected with the adjusting mechanism (23). The second adjusting fastener (28) comprises a fastening mechanism (29), a first adjusting mechanism (30), a second adjusting 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 with one end of the second adjusting mechanism (32). ​ The fastening mechanism (29) is arranged through the first adjusting mechanism (30) and the sliding tooth groove (261), the surface of at least a part of the fastening mechanism (29) in the sliding tooth groove (261) is provided with second gear teeth, the second gear teeth are engaged with the sliding tooth groove (261), the spring (31) is fixedly arranged between the fastening mechanism (29) and the first adjusting mechanism (30), and the spring (31) allows the second gear teeth to be disengaged from the sliding tooth groove (261) or the second gear teeth to be engaged with the sliding tooth groove (261); The other end of the second adjusting mechanism (32) is provided with a first sliding groove, the 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).

2. The robotic assisted minimally invasive spinal procedure positioning system of claim 1, wherein, The inside of the second lifting rod (34) is fixedly provided with a lifting adjusting mechanism, and the wall surface of the first sliding groove is provided with a limiting groove (341) matched with the lifting adjusting mechanism.

3. The robotic assisted minimally invasive spinal procedure positioning system of claim 1, wherein, One side of the fixed frame (1) is fixedly provided with an operation panel. The screw adjusting mechanism (21) and the operation panel are electrically connected, and the forward and reverse reciprocating motor (24) and the operation panel are electrically connected.

4. The robotic assisted minimally invasive spinal procedure positioning system of claim 1, wherein, The fixed part (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 with a bolt.

5. The robotic assisted minimally invasive spinal procedure positioning system of claim 1, wherein, One side of the arc-shaped sliding block (26) is fixedly provided with a first scale.

6. The robotic assisted minimally invasive spinal procedure positioning system of claim 1, wherein, One side of the first lifting adjusting rod (25) is fixedly provided with a second scale, and one side of the second lifting rod (34) is fixedly provided with a third scale.

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