Spine endoscope puncture positioning and navigation device

Abstract

The invention belongs to the technical field of medical auxiliary equipment, and discloses a spine endoscope puncture positioning and navigation device which comprises a positioning and navigation assembly and a limiting assembly, the positioning and navigation assembly comprises a trolley, the trolley is connected with a platen through a lifting assembly, and the platen is connected with a mechanical arm set through a control center; the output end of the mechanical arm set is connected with a puncture needle puncture base body. The limiting assembly comprises a spline shaft and a uniformity control assembly, the spline shaft is connected with a conical barrel and a rotary knob, the uniformity control assembly comprises a linkage disc, a fixed ratchet wheel, a tension spring and a pawl, and an adjusting part is arranged between the puncture needle puncture base body and the conical barrel. The positioning navigation assembly is used for controlling the position and the angle of the puncture needle puncturing the base body, and the puncture position and the puncture angle of the puncture needle are controlled, so that precise puncture is achieved; the uniformity of the puncture needle in the puncture process is controlled through the limiting assembly, and after puncture is completed, an operator is helped to capture the falling feeling, so that excessive puncture is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary devices, and particularly to a spinal endoscope puncture positioning and navigation device. Background Art

[0002] With the continuous progress of modern medical technology, minimally invasive spinal surgery technology has become the main treatment method for spinal degenerative diseases such as lumbar disc herniation and lumbar spinal stenosis. By using a small incision or puncture channel, special instruments and devices, under the supervision of imaging instruments or the guidance of navigation technology, it reaches the lesion from the normal anatomical structure, with a smaller incision, less tissue trauma, less bleeding, higher operation accuracy, better effect and faster postoperative functional recovery than traditional or standard spinal surgery.

[0003] During the spinal endoscope puncture process, accurate target puncture is the key to ensuring the success of the operation. However, the existing positioning and navigation devices have the following defects:

[0004] 1) The puncture speed is uneven. During the insertion of the puncture needle, due to the slight shaking of the operator's hand or the inconsistency of the operating force, the puncture speed is sometimes fast and sometimes slow, which not only causes unnecessary pain to the patient, but also may affect the accuracy of the puncture.

[0005] 2) It is difficult to accurately judge whether the puncture is completed. When the puncture needle reaches the designated position, the operator usually feels an obvious sense of falling, which is an important sign to judge whether the puncture is successful. However, it is difficult to accurately control this sense of falling only by the operator's operation feeling. On the one hand, the operation experience and hand feeling of different operators are different, and the judgment criteria for the sense of falling are not the same; on the other hand, even for the same operator, during a long operation or in a fatigued state, the accuracy of judging the sense of falling will also be affected. Therefore, in actual operation, it is easy to have the situation of over-puncturing or under-puncturing, bringing the risk of secondary medical accidents to the patient. Summary of the Invention

[0006] The present invention aims to provide a spinal endoscope puncture positioning and navigation device, which uses a positioning and navigation component to control the position and angle of the puncture needle piercing the substrate, controls the puncture position and puncture angle of the puncture needle to achieve accurate puncture; uses a limiting component to control the uniformity during the puncture process of the puncture needle, and after the puncture is completed, due to the lack of resistance from bone and muscle tissue, the puncture needle will definitely have an accelerated movement, that is, the sense of falling felt by the operator, and the limiting component can prevent the puncture needle from accelerating, which can effectively help the operator capture this sense of falling to avoid over-puncturing. The problems in the background art are solved.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A spinal endoscope puncture positioning and navigation device, comprising a positioning and navigation component and a limiting component. The positioning and navigation component is used for controlling the puncture position and puncture angle. The positioning and navigation component includes a trolley, the trolley is connected with a table board through a lifting component, the table board is connected with a robotic arm group through a control center, and the output end of the robotic arm group is connected with a puncture needle puncture base; the limiting component is used for controlling the uniformity of the puncture speed. The limiting component includes a spline shaft and a uniform control component. The spline shaft is rotatably connected to the inner side of the puncture needle puncture base. The spline shaft is connected with a conical cylinder through a spline. The outer side wall of the conical cylinder is in rolling contact with the outer wall of the puncture needle; the uniform control component includes a linkage disk, a fixed ratchet, a tension spring and a pawl. The linkage disk is fixedly connected with the spline shaft. The fixed ratchet is fixedly connected to the inner side of the puncture needle puncture base. The middle of the pawl is rotatably and eccentrically connected with the linkage disk. The two ends of the tension spring are respectively connected with the linkage disk and one end of the pawl. The other end of the pawl is arranged in cooperation with the ratchet teeth of the fixed ratchet.

[0009] Further, there are two limiting components, and the conical inclined surfaces of the conical cylinders of the two limiting components are arranged oppositely; an adjusting member is arranged between the puncture needle puncture base and the conical cylinder. The adjusting member is used for adjusting the relative position of the conical cylinder on the spline shaft.

[0010] Further, the adjusting member is a spring. The spring is sleeved on the outer side of the spline shaft, and the two ends of the spring are respectively connected with the inner side wall of the puncture needle puncture base and the side wall of the conical cylinder.

[0011] Further, the adjusting member is a telescopic rod. The two ends of the telescopic rod are respectively connected with the inner side wall of the puncture needle puncture base and the side wall of the conical cylinder.

[0012] Further, a sliding ball is connected to the telescopic end of the telescopic rod. An arc-shaped chute is formed in the side wall of the conical cylinder, and the sliding ball is slidably arranged inside the chute.

[0013] Further, a knob is fixedly connected to the spline shaft and arranged outside the puncture needle puncture base. The two knobs are respectively arranged on the opposite sides of the puncture needle puncture base.

[0014] Further, the robotic arm group includes at least three motion joints. The control center realizes the movement of the puncture needle puncture base in three directions of the X-axis, Y-axis and Z-axis by controlling the operation of the robotic arm group.

[0015] Further, a puncture direction mark is arranged on the side wall of the puncture needle puncture base.

[0016] Further, a guiding cylinder is connected to the outside of the puncture needle puncture base. The guiding cylinder is in a conical shape with a large upper part and a small lower part.

[0017] Further, the lifting assembly is a push-type adjusting cylinder.

[0018] The principle and beneficial effects of the technical solution are as follows:

[0019] 1. A spinal endoscope puncture positioning and navigation device provided by the present invention is provided with a positioning and navigation assembly and a limiting assembly. The positioning and navigation assembly includes a trolley, which transports the entire device to a designated position. The trolley is connected to a platen through a lifting assembly, and the lifting assembly adjusts the height of the platen. The platen is connected to a robotic arm through a control center, and the output end of the robotic arm is connected to a puncture needle to puncture a substrate. The control center controls the operation of the robotic arm to control the position and angle of the puncture needle to puncture the substrate. The puncture needle passes through the puncture needle to puncture the spine. Therefore, by controlling the trolley, the lifting assembly and the robotic arm, the adjustment of the puncture position and puncture angle of the puncture needle can be completed, so as to achieve precise puncture. The limiting assembly includes a spline shaft and a uniform control assembly. The uniform control assembly includes a linkage disk, a fixed ratchet wheel, a tension spring and a pawl. The spline shaft is in rolling contact with a conical cylinder connected to the puncture needle through spline transmission, so that during the puncture process of the puncture needle, the conical cylinder will be driven to roll. The spline shaft is fixedly connected to the linkage disk of the uniform control assembly. The pawl is eccentrically rotatably connected to the linkage disk, and both ends of the tension spring are respectively connected to the linkage disk and one end of the pawl. The other end of the pawl is arranged in cooperation with the ratchet teeth of the fixed ratchet wheel. When the puncture process of the puncture needle is uniform, the puncture needle drives the conical cylinder to rotate evenly, and the spline shaft and the linkage disk rotate evenly and smoothly accordingly. The pawl and the tension spring rotate with the rotation of the linkage disk. When the puncture process of the puncture needle is uneven (suddenly accelerating or suddenly decelerating), the puncture needle drives the conical cylinder to rotate unevenly (accelerating or decelerating), and the spline shaft and the linkage disk also rotate unevenly. At this time, the pawl is stretched by overcoming the elastic force of the tension spring under the action of centrifugal force, so that the pawl meshes with the ratchet teeth of the fixed ratchet wheel, restricting the rotation of the pawl, thereby restricting the rotation of the conical cylinder, and further restricting the continuous puncture of the puncture needle. Based on this, in order to complete the puncture smoothly, the puncture process must be kept uniform and stable. After the puncture is completed, due to the lack of resistance from bone and muscle tissue, under the same puncture force, the puncture needle will definitely accelerate, that is, the sense of falling that the operator feels. The limiting assembly can prevent the puncture needle from accelerating, and can effectively help the operator capture this sense of falling to avoid secondary medical harm to the patient caused by over-puncturing.

[0020] 2. A spinal endoscope puncture positioning and navigation device provided by the present invention is provided with two limiting components, and the conical inclined surfaces of the conical cylinders of the two limiting components are arranged opposite to each other, which can multiply the interaction effect between the puncture needle and the conical cylinder, enhance the feedback force, and thus ensure the uniformity of the puncture process; an adjusting member for adjusting the position of the conical cylinder is connected between the puncture base of the puncture needle and the conical cylinder. By adjusting the position of the conical cylinder, the effective space between the two conical cylinders is changed, so as to adapt to puncture needles of different models (diameter, shape), and ensure that puncture needles of different models (diameter, shape) can form an effective interaction relationship with the conical cylinder, thereby ensuring its functionality. Among them, the adjusting member is a spring. When the spring is subjected to an external force, it will undergo an adaptive change (compression and shortening or stretching and lengthening), and different types of puncture needles can be clamped between the two conical cylinders. Inserting or pulling out the puncture needle can complete self-adjustment. The operation process is simple and convenient, and it also has an adaptive adjustment function during the puncture process, which can adapt to different clinical needs; the adjusting member is a telescopic rod, and the position of the conical cylinder is controlled by controlling the telescopic length of the telescopic rod. The clamping effect on the puncture needle is good, and the functionality of the device can be effectively guaranteed.

[0021] 3. A spinal endoscope puncture positioning and navigation device provided by the present invention, a sliding ball is connected to the telescopic end of the telescopic rod, and a spherical arc-shaped chute is opened on the side wall of the conical cylinder to cooperate with the sliding ball. When the conical cylinder rotates, the sliding ball slides in the chute, and the chute plays a role of guiding and limiting the movement of the sliding ball, ensuring the uniformity and stability of the relative movement between the two; a spline shaft is fixedly connected to a knob arranged outside the puncture base of the puncture needle. By rotating the knob, the spline shaft and the conical cylinder can be driven to rotate, so as to realize the deep puncture and / or extraction of the puncture needle. That is, when there is effective contact between the puncture needle and the conical cylinder, rotating the knob can also control the movement of the puncture needle, which can effectively improve the uniformity and operability of the puncture process.

[0022] 4. A spinal endoscope puncture positioning and navigation device provided by the present invention, the robotic arm group selects at least three motion joints, which can improve the accuracy of the position and angle of the puncture base of the puncture needle, so as to ensure the accuracy of the puncture position and puncture angle; a puncture direction mark is opened on the side wall of the puncture base of the puncture needle, and the operator can intuitively know the puncture direction, and confirm and adjust the puncture direction in time to avoid misoperation; a conical guiding cylinder with a large upper part and a small lower part is connected to the outside of the puncture base of the puncture needle to guide the insertion of the puncture needle, improve the convenience of operation, and facilitate the operator to judge the upper and lower end faces of the puncture base of the puncture needle; the lifting component selects a push-button adjusting cylinder, which has reliable functions and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of a spinal endoscope puncture positioning and navigation device of the present invention;

[0024] Figure 2 It is the front view of a spinal endoscope puncture positioning and navigation device in Embodiment 1;

[0025] Figure 3 It is Figure 2 the sectional view taken along A-A in;

[0026] Figure 4 It is Figure 2 the sectional view taken along B-B in;

[0027] Figure 5 It is Figure 2 the sectional view taken along C-C in;

[0028] Figure 6 It is the sectional view of a limiting component of a spinal endoscope puncture positioning and navigation device in Embodiment 2;

[0029] Figure 7 It is Figure 6 the sectional view taken along D-D in.

[0030] The names of the corresponding marks in the drawings are:

[0031] Trolley 1, lifting component 2, table board 3, control center 4, robotic arm group 5, puncture needle puncture base 6, guiding cylinder 7, spline shaft 8, conical cylinder 9, uniform control component 10, knob 11, linkage disc 12, fixed ratchet 13, tension spring 14, pawl 15, spring 16, telescopic rod 17, sliding groove 18. Detailed implementation manners

[0032] The present invention will be further described in detail below in conjunction with the drawings and embodiments:

[0033] Embodiment 1

[0034] As Figures 1 to 5 shown, a spinal endoscope puncture positioning and navigation device includes a positioning and navigation component and a limiting component. The positioning and navigation component is used for controlling the puncture position and puncture angle. The positioning and navigation component includes a trolley 1, and the trolley 1 is connected with a table board 3 through a lifting component 2. Among them, the lifting component 2 is a push-type adjusting air cylinder; the table board 3 is connected with a robotic arm group 5 through a control center 4, and the output end of the robotic arm group 5 is connected with a puncture needle puncture base 6. Among them, the robotic arm group 5 includes three sets of motion joints, and the control center 4 realizes the movement of the puncture needle puncture base 6 in three directions of the X-axis, Y-axis, and Z-axis by controlling the operation of the robotic arm group 5. The side wall of the puncture needle puncture base 6 is provided with puncture direction marks, and the upper surface of the puncture needle puncture base 6 is connected with a guiding cylinder 7, and the guiding cylinder 7 is in a conical shape with a large upper part and a small lower part;

[0035] The limiting component is used for controlling the uniformity of the puncture speed. The limiting component includes a spline shaft 8 and a uniformity control component 10. The spline shaft 8 is rotatably connected to the inner side of the puncture needle puncture base 6. The spline shaft 8 is connected with a conical cylinder 9 through splines. The outer side wall of the conical cylinder 9 is in rolling abutment with the outer wall of the puncture needle. The uniformity control component 10 includes a linkage disk 12, a fixed ratchet 13, a tension spring 14 and a pawl 15. The linkage disk 12 is fixedly connected to the spline shaft 8. The fixed ratchet 13 is fixedly connected to the inner side of the puncture needle puncture base 6. The middle of the pawl 15 is rotatably and eccentrically connected to the linkage disk 12. The two ends of the tension spring 14 are respectively connected to the linkage disk 12 and one end of the pawl 15. The other end of the pawl 15 is arranged in cooperation with the ratchet teeth of the fixed ratchet 13. Among them, there are two limiting components, and the conical inclined surfaces of the conical cylinders 9 of the two limiting components are arranged oppositely. The spline shaft 8 is fixedly connected with a knob 11 arranged outside the puncture needle puncture base 6. The two knobs 11 are respectively arranged on the opposite sides of the puncture needle puncture base 6. An adjusting member is arranged between the puncture needle puncture base 6 and the conical cylinder 9. In this embodiment, the adjusting member is a spring 16. The spring 16 is sleeved on the outside of the spline shaft 8, and the two ends of the spring 16 are respectively connected to the inner side wall of the puncture needle puncture base 6 and the side wall of the conical cylinder 9.

[0036] The specific implementation process is as follows:

[0037] When using this device, first use the trolley 1 to transport the whole device to the designated position, then adjust the height of the lifting component 2, control the operation of the robotic arm by using the control center 4, adjust the position of the puncture needle puncture base 6, and determine the puncture angle of the puncture needle with the help of the puncture direction mark on the puncture needle puncture base 6. During puncture, insert the puncture needle into the puncture needle puncture base 6 from the large end of the guiding cylinder 7, and then complete the whole puncture stably and uniformly. Optionally, during the puncture process, by rotating the knob 11, the puncture depth or extraction of the puncture needle can be controlled.

[0038] Among them, by controlling the trolley 1, the lifting component 2 and the robotic arm, the adjustment of the puncture position and puncture angle of the puncture needle can be completed, so as to achieve accurate puncture. When the puncture process of the puncture needle is uniform, the puncture needle can proceed smoothly. When the puncture process of the puncture needle is non-uniform (suddenly accelerating puncture or suddenly decelerating puncture), the pawl 15 is stretched by overcoming the elastic force of the tension spring 14 under the action of centrifugal force, so that the pawl 15 meshes with the ratchet teeth of the fixed ratchet 13, restricting the rotation of the pawl 15, thereby restricting the rotation of the conical cylinder 9, and further restricting the continuous puncture of the puncture needle. Based on this, in order to complete the puncture smoothly, the puncture process must be kept uniform and stable. After the puncture is completed, due to the lack of resistance from bone and muscle tissue, under the same puncture force, the puncture needle will definitely accelerate, that is, the sense of falling that the operator feels. The limiting component can prevent the puncture needle from accelerating, and can effectively help the operator capture this sense of falling to avoid secondary medical harm to the patient caused by over-puncture.

[0039] Two limiting components are provided, which can multiply the interaction effect between the puncture needle and the conical cylinder 9, enhance the feedback force, and thus ensure the uniformity of the puncture process; by adjusting the position of the conical cylinder 9, the effective space between the two conical cylinders 9 is changed, so as to adapt to puncture needles of different models (diameter, shape), and ensure that puncture needles of different models (diameter, shape) can form an effective interaction relationship with the conical cylinder 9, thus ensuring its functionality. The adjusting part is a spring 16. When the spring 16 is subjected to an external force, it will undergo an adaptive change (compression to become shorter or stretching to become longer). Different models of puncture needles can be clamped between the two conical cylinders 9. Inserting or pulling out the puncture needle can complete the self-adjustment. The operation process is simple and convenient, and it also has an adaptive adjustment function during the puncture process, and can adapt to different clinical needs.

[0040] By rotating the knob 11, the spline shaft 8 and the conical cylinder 9 can be driven to rotate, so as to realize the deep puncture and / or extraction of the puncture needle. That is, when there is effective abutment between the puncture needle and the conical cylinder 9, rotating the knob 11 can also control the movement of the puncture needle, which can effectively improve the uniformity and operability of the puncture process.

[0041] The robotic arm group 5 selects at least three sets of motion joints, which can improve the accuracy of the position and angle of the puncture needle piercing the substrate 6, so as to ensure the accuracy of the puncture position and the puncture angle; a puncture direction mark is provided on the side wall of the substrate of the puncture needle, and the operator can intuitively know the puncture direction and confirm and adjust the puncture direction in time to avoid misoperation; a conical guide cylinder 7 with a large upper part and a small lower part is connected to the outside of the substrate 6 of the puncture needle of the puncture needle to guide the insertion of the puncture needle, improve the convenience of the operation, and facilitate the operator to judge the upper and lower end faces of the substrate 6 of the puncture needle; the lifting component 2 selects a push-type adjusting air cylinder, which has reliable functions and is convenient to operate.

[0042] Embodiment 2

[0043] As Figure 6 and Figure 7 shown, the difference in structure between this embodiment and Embodiment 1 is that the adjusting part is a telescopic rod 17. The two ends of the telescopic rod 17 are respectively connected to the inner side wall of the substrate 6 of the puncture needle and the side wall of the conical cylinder 9, and a sliding ball is connected to the telescopic end of the telescopic rod 17. An arc-shaped chute 18 is provided on the side wall of the conical cylinder 9, and the sliding ball is slidably arranged inside the chute 18. The rest of the structure is the same as that of Embodiment 1, and this embodiment will not be described in detail.

[0044] In specific use, first use the trolley 1 to transfer the entire device to the designated position, then adjust the height of the lifting assembly 2, control the operation of the robotic arm by using the control center 4, adjust the position of the puncture needle piercing the substrate 6, and determine the piercing angle of the puncture needle with the aid of the piercing direction mark on the puncture needle piercing the substrate 6; before inserting the puncture needle, first control the telescopic rod 17 to extend, so that the effective space between the two conical cylinders 9 becomes larger, so as to facilitate inserting the puncture needle between the two conical cylinders 9, and then control the telescopic rod 17 to shorten to firmly and effectively clamp the puncture needle, and finally complete the entire puncture stably and evenly; optionally, during the puncture process, by rotating the knob 11, the piercing depth or extraction of the puncture needle can be controlled. Wherein, a sliding ball is connected to the telescopic end of the telescopic rod 17, and an arc-shaped chute 18 for cooperating with the sliding ball is provided on the side wall of the conical cylinder 9, so that during the rotation of the conical cylinder 9, the sliding ball slides in the chute 18, and the chute 18 plays a role in guiding and limiting the movement of the sliding ball, ensuring the uniformity and stability of the relative movement between the two.

[0045] The above are only embodiments of the present invention, and common general technical solutions or characteristics in the solutions are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application should be subject to the content of its claims, and the specific implementation manners in the specification and the like can be used to interpret the content of the claims.

Claims

1. A spinal endoscopic puncture positioning navigation device, characterized in that: The invention comprises a positioning navigation component and a limiting component, wherein the positioning navigation component is used for controlling the puncture position and the puncture angle, the positioning navigation component comprises a trolley, the trolley is connected with a table plate through a lifting component, the table plate is connected with a mechanical arm group through a control center, and the output end of the mechanical arm group is connected with a puncture needle puncture base; the limiting component is used for controlling the uniformity of the puncture speed, the limiting component comprises a spline shaft and a uniform control component, the spline shaft is rotatably connected to the inner side of the puncture needle puncture base, the spline shaft is splined with a conical cylinder, and the outer side wall of the conical cylinder rolls against the outer side wall of the puncture needle; the uniform control component comprises a linkage disk, a fixed ratchet, a tension spring and a pawl, the linkage disk is fixedly connected with the spline shaft, the fixed ratchet is fixedly connected with the inner side of the puncture needle puncture base, the middle part of the pawl is eccentrically connected with the linkage disk, the two ends of the tension spring are respectively connected with the linkage disk and one end of the pawl, and the other end of the pawl is matched with the ratchet of the fixed ratchet.

2. A spinal endoscopic puncture positioning navigation device according to claim 1, characterized in that: The limiting assembly has two pieces, and the conical inclined surfaces of the conical cylinders of the two limiting assemblies are arranged opposite to each other; an adjusting piece is arranged between the puncture needle puncture base and the conical cylinder, and the adjusting piece is used to adjust the relative position of the conical cylinder on the spline shaft.

3. A spinal endoscopic puncture positioning navigation device according to claim 2, characterized in that: The regulating member is a spring, which is sleeved on the outside of the spline shaft, and the two ends of the spring are respectively connected to the inner side wall of the puncture needle puncture base and the side wall of the conical tube.

4. A spinal endoscopic puncture positioning navigation device according to claim 2, characterized in that: The adjusting member is a telescopic rod, and two ends of the telescopic rod are respectively connected to the inner side wall of the puncture needle puncture base and the side wall of the conical tube.

5. A spinal endoscopic puncture positioning navigation device according to claim 4, characterized in that: The telescopic end of the telescopic rod is connected with a sliding ball, the side wall of the conical cylinder is provided with a sliding groove in the shape of a spherical arc, and the sliding ball is slidably arranged on the inner side of the sliding groove.

6. A spinal endoscopic puncture positioning navigation device according to claim 2, characterized in that: The spline shaft is fixedly connected with a knob arranged on the outside of the puncture needle puncture base, and the two knobs are respectively arranged on opposite sides of the puncture needle puncture base.

7. The spinal endoscopic puncture positioning navigation device according to claim 1, characterized in that: The mechanical arm group includes at least three groups of motion joints, and the control center realizes the movement of the puncture needle puncturing the substrate in three directions of X-axis, Y-axis and Z-axis by controlling the operation of the mechanical arm group.

8. The spinal endoscopic puncture positioning navigation device according to claim 7, characterized in that: The side wall of the puncture needle puncture base is provided with a puncture direction mark.

9. The spinal endoscopic puncture positioning navigation device according to claim 1, characterized in that: The outer side of the puncture needle puncture base is connected to a guide cylinder, and the guide cylinder is in a cone shape with a larger upper part and a smaller lower part.

10. The spinal endoscopic puncture positioning navigation device according to claim 1, characterized in that: The lifting component is a push-type regulating cylinder.

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