A spinal endoscopic puncture positioning navigation device

Abstract

The present invention belongs to the technical field of medical auxiliary equipment and discloses a spinal endoscope puncture positioning navigation device, including a positioning navigation component and a limiting component. The positioning navigation component includes a trolley, which is connected to a table via a lifting component, and the table is connected to a mechanical arm group via a control center, and the output end of the mechanical arm group is connected to a puncture needle puncture base; the limiting component includes a spline shaft and a uniform control component, the spline shaft is connected to a tapered tube and a knob, the uniform control component includes a linkage disk, a fixed ratchet, a tension spring and a pawl, and an adjustment member is provided between the puncture needle puncture base and the tapered tube. The present invention uses the positioning navigation component to control the position and angle of the puncture needle puncture base, and controls the puncture position and puncture angle of the puncture needle to achieve precise puncture; the limiting component is used to control the uniformity of the puncture needle during the puncture process, and after the puncture is completed, helps the operator to capture the feeling of missing to avoid excessive puncture.

Description

Technical Field

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

[0002] With the continuous advancement of modern medical technology, minimally invasive spinal surgery has become the main treatment for spinal degenerative diseases such as lumbar disc herniation and lumbar spinal stenosis. It uses tiny incisions or puncture channels, special instruments and devices, and is monitored by imaging instruments or guided by navigation technology to reach the lesion from the normal anatomical structure. Compared with traditional or standard spinal surgery, the incision is smaller, the tissue trauma is less, the bleeding is less, the operation precision is higher, the effect is better, and the postoperative functional recovery is faster.

[0003] During spinal endoscopic puncture, accurate target puncture is the key to ensuring the success of the operation. However, the existing positioning and navigation equipment has the following defects:

[0004] 1) The puncture speed is uneven. During the insertion of the puncture needle, the operator's slight hand shaking or inconsistent operating force may cause the puncture speed to be fast or 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 complete. When the puncture needle reaches the designated position, the operator usually feels a distinct sense of failure, which is an important indicator of whether the puncture is successful. However, this sense of failure is difficult to accurately control based solely on the operator's operating feel. On the one hand, different operators have different operating experience and hand feel, and their judgment criteria for the sense of failure are not the same. On the other hand, even for the same operator, the accuracy of their judgment of the sense of failure will be affected during long operations or when they are fatigued. Therefore, in actual operations, it is easy to puncture too deep or too shallow, which brings the risk of secondary medical accidents to patients. Summary of the Invention

[0006] The present invention is intended to provide a spinal endoscopy puncture positioning and navigation device, which uses a positioning and navigation component to control the position and angle of the puncture needle's puncture base, thereby controlling the puncture position and puncture angle of the puncture needle to achieve precise puncture; a limiting component is used to control the uniformity of the puncture needle during the puncture process, and after the puncture is completed, the puncture needle will inevitably accelerate due to the lack of resistance from bone and flesh tissue, that is, the operator feels a sense of failure. The limiting component can prevent the puncture needle from accelerating, effectively helping the operator to capture this sense of failure and avoid excessive puncture. The problem in the background technology is solved.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A spinal endoscope puncture positioning and navigation device includes a positioning and navigation component and a limiting component, wherein the positioning and navigation component is used to control the puncture position and puncture angle, the positioning and navigation component includes a trolley, the trolley is connected to a table via a lifting component, the table is connected to a mechanical arm group via a control center, and the output end of the mechanical arm group is connected to a puncture needle puncture base; the limiting component is used to control the uniformity of the puncture speed, the limiting component includes a spline shaft and a uniformity control component, the spline shaft is rotatably connected to the inner side of the puncture needle puncture base, the spline shaft is splined to a tapered cylinder, and the outer side wall of the tapered cylinder rolls against the outer wall of the puncture needle; the uniformity control component includes a linkage disk, a fixed ratchet, a tension spring and a pawl, the linkage disk is fixedly connected to the spline shaft, the fixed ratchet is fixedly connected to the inner side of the puncture needle puncture base, the middle part of the pawl is eccentrically connected to the linkage disk, the two ends of the tension spring are respectively connected to the linkage disk and one end of the pawl, and the other end of the pawl is matched with the ratchet teeth of the fixed ratchet.

[0009] Furthermore, 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 provided 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.

[0010] Furthermore, 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 tapered cylinder.

[0011] Furthermore, the adjusting member is a telescopic rod, and both 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 tapered cylinder.

[0012] Furthermore, the telescopic end of the telescopic rod is connected to a sliding ball, the side wall of the conical cylinder is provided with a spherical arc-shaped sliding groove, and the sliding ball is slidably arranged on the inner side of the sliding groove.

[0013] Furthermore, the spline shaft is fixedly connected to 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.

[0014] Furthermore, the robotic 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 robotic arm group.

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

[0016] Furthermore, a guide cylinder is connected to the outer side of the puncture base of the puncture needle, and the guide cylinder is in a tapered shape with a larger upper portion and a smaller lower portion.

[0017] Furthermore, the lifting component is a press-type regulating cylinder.

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

[0019] 1. The present invention provides a spinal endoscope puncture positioning navigation device, which is provided with a positioning navigation component and a limiting component. The positioning navigation component includes a trolley, which transports the entire device to a designated position. The trolley is connected to a table through a lifting component. The lifting component adjusts the height of the table. The table is connected to a mechanical arm through a control center. The output end of the mechanical arm is connected to a puncture needle puncture matrix. The control center controls the operation of the mechanical arm to control the position and angle of the puncture needle puncture matrix. The puncture needle passes through the puncture needle puncture matrix to puncture the spine. Therefore, by adjusting the trolley, By controlling the lifting assembly and the robotic arm, the puncture position and puncture angle of the puncture needle can be adjusted to achieve precise puncture; the limiting assembly includes a spline shaft and a uniform control assembly, and the uniform control assembly includes a linkage disk, a fixed ratchet, a tension spring and a pawl. The spline shaft is connected to the conical cylinder that rolls against the puncture needle through a spline transmission, so that the puncture needle will drive the conical cylinder to roll during the puncture process, and the spline shaft is fixedly connected to the linkage disk of the uniform control assembly, the pawl is eccentrically connected to the linkage disk, and the two ends of the tension spring are respectively connected to one end of the linkage disk and the pawl. The puncture needle is connected to the end, and the other end of the pawl is matched with the ratchet tooth of the fixed ratchet. When the puncture needle punctures evenly, the puncture needle drives the conical cylinder to rotate evenly, and the spline shaft and the linkage disk rotate evenly and smoothly. The pawl and the tension spring rotate with the rotation of the linkage disk. When the puncture needle punctures unevenly (sudden acceleration or sudden deceleration), the puncture needle drives the conical cylinder to rotate unevenly (acceleration or deceleration), and the spline shaft and the linkage disk also rotate unevenly. At this time, the pawl is subjected to the action of centrifugal force to overcome the elastic force of the tension spring and stretch it, so that the pawl and the fixed The ratchet teeth of the fixed ratchet wheel engage to limit the rotation of the pawl, thereby limiting the rotation of the conical tube and further limiting the continued puncture of the puncture needle. Based on this, in order to successfully complete the puncture, the puncture process must be kept uniform and stable; and after the puncture is completed, due to the lack of resistance from bone and flesh tissue, under the same puncture force, the puncture needle will definitely accelerate, that is, the feeling of missing felt by the operator, and the limiting component can prevent the puncture needle from accelerating and can effectively help the operator capture the feeling of missing, so as to avoid excessive puncture and cause secondary medical injuries to the patient.

[0020] 2. The present invention provides a spinal endoscopic puncture positioning and navigation device, which is equipped with two limiting components, and the conical inclined surfaces of the conical tubes of the two limiting components are arranged relative to each other, which can multiply the interaction effect between the puncture needle and the conical tube, enhance the feedback force, and thus ensure the uniformity of the puncture process; an adjusting member for adjusting the position of the conical tube is connected between the puncture needle puncture base and the conical tube, and by adjusting the position of the conical tube, the effective space between the two conical tubes is changed, thereby adapting to puncture needles of different models (diameters, shapes), ensuring that puncture needles of different models (diameters, shapes) can form an effective interaction relationship with the conical tube, thereby ensuring its functionality. Among them, the adjusting part is a spring, which will undergo adaptive changes (compression shortening or stretching side length) when subjected to external force. Different types of puncture needles can be clamped between the two conical cylinders. The self-adjustment can be completed by inserting or removing the puncture needle. 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 part is a telescopic rod, which controls the position of the conical cylinder by controlling the telescopic length of the telescopic rod, which has a good clamping effect on the puncture needle and can effectively ensure the functionality of the device.

[0021] 3. The present invention provides a spinal endoscopic puncture positioning and navigation device, in which a sliding ball is connected to the telescopic end of the telescopic rod, and a ball-arc sliding groove cooperating with the sliding ball is provided on the side wall of the conical tube, so that when the conical tube rotates, the sliding ball slides in the sliding groove, and the sliding groove guides and limits the movement of the sliding ball, thereby ensuring the uniformity and stability of the relative movement of the two; the spline shaft is fixedly connected to the knob arranged on the outside of the puncture base of the puncture needle, and by turning the knob, the spline shaft and the conical tube can be driven to rotate, thereby realizing deep puncture and / or removal of the puncture needle, that is, when the puncture needle and the conical tube are effectively abutted, turning 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. The present invention provides a spinal endoscopic puncture positioning and navigation device, in which the robotic arm group selects at least three groups of motion joints, which can improve the accuracy of the position and angle of the puncture needle puncturing the base, thereby ensuring the accuracy of the puncture position and puncture angle; a puncture direction mark is opened on the side wall of the puncture needle base, so that the operator can intuitively know the direction of the puncture, and promptly confirm and adjust the puncture direction to avoid misoperation; the outer side of the puncture needle base is connected to a tapered guide cylinder with a larger upper part and a smaller lower part to guide the insertion of the puncture needle, thereby improving the convenience of operation and facilitating the operator to judge the upper and lower end surfaces of the puncture needle base; the lifting component uses a press-type adjustment cylinder, which is reliable in function and easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of a spinal endoscopic puncture positioning and navigation device according to the present invention;

[0024] Figure 2 This is a front view of a spinal endoscopic puncture positioning and navigation device in Example 1;

[0025] Figure 3 for Figure 2 Cross-sectional view of AA;

[0026] Figure 4 for Figure 2 Cross-sectional view of the middle BB;

[0027] Figure 5 for Figure 2 Cross-sectional view of CC;

[0028] Figure 6 This is a cross-sectional view of a limiting component of a spinal endoscopic puncture positioning navigation device in Example 2;

[0029] Figure 7 for Figure 6 Cross-sectional view of DD.

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

[0031] Trolley 1, lifting assembly 2, table 3, control center 4, robotic arm group 5, puncture needle puncture base 6, guide cylinder 7, spline shaft 8, tapered cylinder 9, uniform control assembly 10, knob 11, linkage disk 12, fixed ratchet 13, tension spring 14, pawl 15, spring 16, telescopic rod 17, and slide 18. DETAILED DESCRIPTION

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

[0033] Example 1

[0034] like Figures 1 to 5 As shown, a spinal endoscope puncture positioning and navigation device includes a positioning and navigation component and a restriction component. The positioning and navigation component is used to control the puncture position and puncture angle. The positioning and navigation component includes a trolley 1, and the trolley 1 is connected to a table 3 through a lifting component 2, wherein the lifting component 2 is a press-type regulating cylinder; the table 3 is connected to a mechanical arm group 5 through a control center 4, and the output end of the mechanical arm group 5 is connected to a puncture needle puncture base 6, wherein the mechanical arm group 5 includes three groups of motion joints, and the control center 4 realizes the movement of the puncture needle puncture base 6 in three directions of X axis, Y axis and Z axis by controlling the operation of the mechanical arm group 5. The side wall of the puncture needle puncture base 6 is provided with a puncture direction mark, and the upper surface of the puncture needle puncture base 6 is connected to a guide cylinder 7, and the guide cylinder 7 is conical in shape with a larger upper part and a smaller lower part;

[0035] The limiting component is used to control the uniformity of the puncture speed. The limiting component includes a spline shaft 8 and a uniform 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 to a tapered cylinder 9 through a spline. The outer wall of the tapered cylinder 9 rolls against the outer wall of the puncture needle; the uniform 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 part of the pawl 15 is eccentrically connected to the linkage disk 12, and the two ends of the tension spring 14 are respectively connected to the linkage disk 12 and One end of the pawl 15 is connected, and the other end of the pawl 15 is matched with the ratchet of the fixed ratchet 13; wherein, the limiting assembly has two pieces, and the conical inclined surfaces of the conical cylinders 9 of the two limiting assemblies are arranged opposite to each other, and the spline shaft 8 is fixedly connected to a knob 11 provided on the outside of the puncture needle puncture base 6, and the two knobs 11 are respectively provided on opposite sides of the puncture needle puncture base 6; an adjusting member is provided between the puncture needle puncture base 6 and the conical cylinder 9. In this embodiment, the adjusting member is a spring 16, which 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 entire device to the designated position, then adjust the height of the lifting component 2, use the control center 4 to control the operation of the robotic arm, adjust the position of the puncture needle puncture base 6, and use the puncture direction mark on the puncture needle puncture base 6 to determine the puncture angle of the puncture needle; during puncture, the puncture needle is inserted into the puncture needle puncture base 6 from the large end of the guide cylinder 7, and then the entire puncture is completed stably and evenly; optionally, during the puncture process, the puncture needle can be controlled to penetrate deeper or be removed by turning the knob 11.

[0038] Among them, by controlling the trolley 1, the lifting component 2 and the robotic arm, the puncture position and puncture angle of the puncture needle can be adjusted to achieve precise puncture; when the puncture needle puncture process is uniform, the puncture needle can proceed smoothly, and when the puncture needle puncture process is uneven (sudden acceleration puncture or sudden deceleration puncture), the pawl 15 is subjected to the action of centrifugal force to overcome the elastic force of the tension spring 14 to stretch it, so that the pawl 15 engages with the ratchet teeth of the fixed ratchet 13, limiting the rotation of the pawl 15, thereby limiting the rotation of the conical cylinder 9, and then limiting the continued puncture of the puncture needle. Based on this, in order to successfully complete the puncture, the puncture process must be kept uniform and stable; after the puncture is completed, due to the lack of resistance from bone and flesh tissue, under the same puncture force, the puncture needle will definitely accelerate, that is, the operator feels a sense of emptiness, and the limiting component can prevent the puncture needle from accelerating, which can effectively help the operator capture the sense of emptiness, so as to avoid excessive puncture causing secondary medical injuries to the patient.

[0039] The two limiting components can multiply the interaction effect between the puncture needle and the tapered barrel 9, enhance the feedback force, and thus ensure the uniformity of the puncture process; by adjusting the position of the tapered barrel 9, the effective space between the two tapered barrels 9 is changed, thereby adapting to puncture needles of different models (diameters, shapes), ensuring that puncture needles of different models (diameters, shapes) can form an effective interaction relationship with the tapered barrel 9, thereby ensuring its functionality. The adjusting member is a spring 16, which will undergo adaptive changes (compression shortening or stretching the side length) when subjected to external force. It can clamp different types of puncture needles between the two tapered barrels 9, and self-adjustment can be completed by inserting or removing the puncture needle. 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.

[0040] By turning the knob 11, the spline shaft 8 and the tapered tube 9 can be driven to rotate, thereby achieving deep puncture and / or withdrawal of the puncture needle. That is, when the puncture needle and the tapered tube 9 are effectively abutted, turning 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 groups of motion joints, which can improve the accuracy of the position and angle of the puncture needle puncturing the base 6, thereby ensuring the accuracy of the puncture position and puncture angle; the side wall of the puncture needle base is provided with a puncture direction mark, so that the operator can intuitively know the direction of the puncture, and promptly confirm and adjust the puncture direction to avoid misoperation; the outer side of the puncture needle base 6 is connected to a tapered guide cylinder 7 with a larger upper part and a smaller lower part to guide the insertion of the puncture needle, improve the convenience of operation, and facilitate the operator to judge the upper and lower end surfaces of the puncture needle base 6; the lifting component 2 uses a press-type adjustment cylinder, which is reliable in function and easy to operate.

[0042] Example 2

[0043] like Figure 6 and Figure 7 As shown, the structural difference between this embodiment and Example 1 is that the adjusting member is a telescopic rod 17, the two ends of which are respectively connected to the inner side wall of the puncture needle base 6 and the side wall of the tapered tube 9. The telescopic end of the telescopic rod 17 is connected to a sliding ball. The side wall of the tapered tube 9 is provided with a spherical arc-shaped sliding groove 18, and the sliding ball is slidably arranged inside the sliding groove 18. The remaining structure is the same as that of Example 1 and will not be repeated in this embodiment.

[0044] During specific use, the entire device is first transported to the designated position using the trolley 1, and then the height of the lifting assembly 2 is adjusted, the operation of the robotic arm is controlled by the control center 4, the position of the puncture needle puncture base 6 is adjusted, and the puncture angle of the puncture needle is determined with the help of the puncture direction mark on the puncture needle puncture base 6; before inserting the puncture needle, the telescopic rod 17 is first controlled to extend so that the effective space between the two conical cylinders 9 becomes larger, so that the puncture needle can be inserted between the two conical cylinders 9, and then the telescopic rod 17 is controlled to shorten to firmly and effectively clamp the puncture needle, and finally the entire puncture is completed stably and evenly; optionally, during the puncture process, the puncture needle can be controlled to penetrate deeper or be removed by turning the knob 11. Among them, a sliding ball is connected to the telescopic end of the telescopic rod 17, and a ball arc-shaped sliding groove 18 is provided on the side wall of the conical cylinder 9 to cooperate with the sliding ball, so that when the conical cylinder 9 rotates, the sliding ball slides in the sliding groove 18. The sliding groove 18 guides and limits the movement of the sliding ball, ensuring the uniformity and stability of the relative movement between the two.

[0045] The above is only an embodiment of the present invention, and common knowledge such as the specific technical solutions or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. A spinal endoscopic puncture positioning navigation device, characterized in that: The invention relates to a device for controlling the puncture position and the puncture angle of the puncture needle, wherein the puncture needle is inserted into the puncture base body and the puncture base body is fixedly connected to the puncture base body by the puncture rod. The puncture needle is inserted into the puncture base body by the puncture rod .... The puncture needle is inserted into the puncture base body by the puncture rod and the puncture base body. The puncture needle is inserted into the puncture base body by the puncture rod and the puncture base body. The puncture needle is inserted into the puncture base body by the puncture rod and the puncture base body. The puncture needle is inserted into the puncture base body by the puncture rod and the puncture base body. The puncture needle is inserted into the puncture base body by the puncture rod and the puncture base body. The puncture needle is inserted 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 provided 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 tapered cylinder.

4. The spinal endoscopic puncture positioning navigation device according to claim 2, characterized in that: The adjusting member is a telescopic rod, and both 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 tapered cylinder.

5. The spinal endoscopic puncture positioning and 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. The spinal endoscopic puncture positioning navigation device according to claim 2, characterized in that: The spline shaft is fixedly connected to 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 and navigation device according to claim 1, characterized in that: The robotic 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 robotic arm group.

8. The spinal endoscopic puncture positioning and 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 tapered shape with a larger upper portion and a smaller lower portion.

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

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