Clamping type real-time positioning manipulator suitable for spinal surgery

Abstract

The utility model relates to a clamp type real-time positioning manipulator suitable for spinal surgery, which comprises a quick-change connecting rod, a support component arranged on the quick-change connecting rod, a bone center line pointer connected to the support component, and a thorn-shaped clamping piece component connected to the support component and comprising an outer thorn-shaped clamping piece and an inner thorn-shaped clamping piece, a positioning adjusting device is arranged on the portion, located on the outer side of the thorn-shaped clamping piece assembly, of the supporting assembly, the supporting assembly is composed of supporting rods distributed in pairs, open grooves are formed in the inner sides of the upper ends of the supporting rods, bone center line pointers are arranged in the open grooves, transverse extending rods are distributed on the supporting rods outwards, and the transverse extending rods penetrate through the thorn-shaped clamping piece assembly and then are connected with the positioning adjusting device. Thus, it is possible to stably bind to the bone, and to maintain a suitable binding force, without unwanted displacement during use. The bone center line pointer can be matched with a clamping type positioning manipulator to indicate the position of a virtual center line of the bone in real time, so that the positioning precision is improved.

Description

Technical Field

[0001] The utility model relates to a positioning manipulator, in particular to a clamping type real-time positioning manipulator suitable for spinal surgery. Background Art

[0002] In recent years, spinal surgery has made great progress, and various technologies have been widely used in the clinical treatment of spinal degenerative diseases, such as cervical disc herniation, lumbar disc herniation, etc., including various methods of disc removal, such as total laminectomy, hemilaminectomy, endoscopic minimally invasive discectomy, pedicle screw implantation and internal fixation, discectomy and fusion, and the method of retaining the protruding cervical and lumbar discs and allowing them to retract naturally, namely the "disc preservation and restoration" technology, which has emerged in recent years. However, no matter which method is used, spinal decompression must be performed.

[0003] In order to facilitate spinal decompression operations, corresponding spinal surgical robots have begun to be used, and the corresponding operations are performed through the manipulators configured by them. However, the current surgical robots are large in size and the manipulators configured are complex in structure. In terms of the need for positioning and implementation requirements, the existing surgical robot manipulators are no longer competent. Because it cannot fit the shape of the bone to achieve real-time positioning, it requires image registration, manual assistance, etc. for calibration, and auxiliary operations such as intraoperative navigation are required to achieve real-time positioning.

[0004] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create a clamp-type real-time positioning manipulator suitable for spinal surgery, making it more valuable for industrial use. Utility Model Content

[0005] In order to solve the above technical problems, the purpose of the utility model is to provide a clamp-type real-time positioning manipulator suitable for spinal surgery.

[0006] The utility model discloses a clamp-type real-time positioning manipulator suitable for spinal surgery, comprising a quick-change connecting rod, wherein: a support assembly is arranged on the quick-change connecting rod, a bone centerline pointer is connected to the support assembly, a thorn-shaped clip assembly is also connected to the support assembly, comprising an outer thorn-shaped clip and an inner thorn-shaped clip, a positioning adjustment device is arranged on the outer side of the thorn-shaped clip assembly, the support assembly is a pair of support rods, a groove is arranged on the inner side of the upper end of the support rod, a bone centerline pointer is arranged in the groove, a lateral extension rod is arranged outwardly on the support rod, and the lateral extension rod is connected to the positioning adjustment device after passing through the thorn-shaped clip assembly.

[0007] Furthermore, in the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, the inner thorn-shaped clamp and the corresponding outer thorn-shaped clamp are stacked and distributed.

[0008] Furthermore, in the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, the outer thorn-shaped clamp and the inner thorn-shaped clamp both include a clamp body, the clamp body is provided with a yielding arc, and the lower end of the clamp body is provided with an inwardly distributed spike mechanism, the spike mechanism located on the inner thorn-shaped clamp is an inner spike, and the spike mechanism located on the outer thorn-shaped clamp is an outer spike, and the position of the inner spike is higher than the outer spike.

[0009] Furthermore, the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, wherein the positioning and adjustment device includes a lower shell, an upper shell is passed through the lower shell, an outer spring is arranged in the lower shell, an inner spring is arranged in the upper shell, the outer spring and the inner spring are respectively passed through the transverse extension rod, an adjustment component is arranged outside the upper shell, and the adjustment component is movably connected to the transverse extension rod.

[0010] Furthermore, in the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, the exterior of the lateral extension rod is distributed with adjustment threads, the adjustment component is an adjustment nut, and the adjustment nut is threadedly connected to the lateral extension rod.

[0011] Furthermore, in the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, an inclination sensor is provided on the quick-change connecting rod.

[0012] Furthermore, in the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, a clamping groove is provided on the quick-change connecting rod, the supporting assembly passes through the clamping groove, and a locking nut is provided at one end of the clamping groove.

[0013] Furthermore, in the above-mentioned clamp-type real-time positioning manipulator suitable for spinal surgery, an outer supporting arc is provided at the upper end of the support rod, and grooves are distributed on the inner side of the outer supporting arc.

[0014] By means of the above scheme, the utility model has at least the following advantages:

[0015] 1. It can be stably combined with the bone (spinous process) and maintain appropriate combination force, and no unnecessary displacement will occur during use.

[0016] 2. Through the existence of the bone centerline pointer, it can cooperate with the clamp-type positioning manipulator to indicate the position of the virtual centerline of the bone (spinous process) in real time, improve the positioning accuracy, and guide subsequent surgical operations.

[0017] 3. A total of four pieces of outer thorn-shaped clips and inner thorn-shaped clips are distributed in a mirror-image manner, which can fit the anatomical curve of the bone (spinous process) and realize real-time positioning of the clip.

[0018] 4. An optional inclination sensor can be installed to increase the position sensing angle and improve the operating upper limit of the robot.

[0019] 5. The overall structure is simple, easy to manufacture and use, and can be adapted to a variety of current surgical robots.

[0020] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the utility model in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of a clamp-type real-time positioning manipulator suitable for spinal surgery.

[0022] Figure 2 It is a schematic diagram of the position structure of the bone centerline pointer after installation.

[0023] The meanings of the reference numerals in the drawings are as follows.

[0024] 1 Quick-change connecting rod 2 Bone centerline pointer

[0025] 3 outer thorn-shaped clip 4 inner thorn-shaped clip

[0026] 5 Support rod 6 Horizontal extension rod

[0027] 7 Inner spikes 8 Outer spikes

[0028] 9 Lower shell 10 Upper shell

[0029] 11 Outer spring 12 Inner spring

[0030] 13 Adjustment assembly 14 Tilt sensor

[0031] 15 locking nut 16 bone (spinous process)

[0032] 17 Virtual Center Line DETAILED DESCRIPTION

[0033] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0034] like Figures 1 to 2The clamp-type real-time positioning manipulator suitable for spinal surgery includes a quick-change connecting rod 1, which is different from the others in that a support assembly is provided on the quick-change connecting rod 1, and a bone centerline pointer 2 is connected to the support assembly. In this way, while satisfying the support and installation of subsequent components, the virtual centerline positioning of the bone (spinous process) 16 can be achieved. Specifically, in order to effectively clamp the bone during surgery to achieve real-time positioning, a thorn-shaped clip assembly is also connected to the support assembly, including an outer thorn-shaped clip 3 and an inner thorn-shaped clip 4, so as to facilitate all-round contact clamping according to the shape of the bone (spinous process) 16. At the same time, a positioning and adjustment device is provided on the outside of the thorn-shaped clip assembly of the support assembly, which can ensure that the outer thorn-shaped clip 3 and the inner thorn-shaped clip 4 can be clamped with force smoothly. In addition, in order to improve the accuracy of positioning, the support assembly is a pair of support rods 5, and a slot is provided on the inner side of the upper end of the support rod 5, and a bone centerline pointer 2 is provided in the slot. Furthermore, in order to achieve stable clamping and adjustment limit, adaptive limit clamping can be performed according to the current shape of the bone (spinous process) 16. The support rod 5 is distributed with a lateral extension rod 6 outward, and the lateral extension rod 6 passes through the thorn-shaped clip assembly and is connected to the positioning adjustment device.

[0035] In combination with a preferred embodiment of the utility model, the inner thorn-shaped clip 4 and the corresponding outer thorn-shaped clip 3 are stacked and distributed. In this way, the space occupied can be reduced. Of course, for some special applications, a clearance groove can also be provided on the outer thorn-shaped clip 3, so that the inner thorn-shaped clip 4 can be embedded in the clearance groove. The inner thorn-shaped clip 4 and the corresponding outer thorn-shaped clip 3 are provided with a connecting hole, and the transverse extension rod 6 passes through the connecting hole.

[0036] Further, the outer thorn-shaped clip 3 and the inner thorn-shaped clip 4 both include a clip body, and the clip body is provided with a yielding arc. In this way, appropriate yielding can be performed according to the shape of the bone (spinous process) 16, so as to facilitate better clamping. At the same time, in order to achieve effective clamping contact and avoid unnecessary displacement and loosening, the lower end of the clip body is provided with an inwardly distributed spike mechanism. Specifically, the spike mechanism located in the inner thorn-shaped clip 4 is the inner spike 7, and the spike mechanism located in the outer thorn-shaped clip 3 is the outer spike 8. In addition, the position of the inner spike 7 is higher than the outer spike 8, so that effective dislocation clamping can be achieved, and the inner spike 7 and the outer spike 8 can be better clamped and fitted to the bone surface in accordance with the shape of the bone (spinous process) 16.

[0037] In view of the actual implementation, in order to achieve effective storage, the positioning and adjustment device used includes a lower shell 9, and an upper shell 10 is inserted on the lower shell 9. At the same time, in order to effectively apply inward force to the outer thorn-shaped clip 3 and the inner thorn-shaped clip 4 and maintain the stress, an outer spring 11 is provided in the lower shell 9, an inner spring 12 is provided in the upper shell 10, and the outer spring 11 and the inner spring 12 are respectively inserted on the transverse extension rod 6, and an adjustment component 13 is provided outside the upper shell 10. Considering the convenience of subsequent adjustment, the adjustment component 13 is movably connected to the transverse extension rod 6. Considering the convenient adjustment and positioning of the adjustment component 13, the appearance of the transverse extension rod 6 is distributed with adjustment threads, and the adjustment component 13 is an adjustment nut, which is threadedly connected to the transverse extension rod 6. In this way, the elastic stress of the outer spring 11 and the inner spring 12 can be controlled by rotating the adjustment nut.

[0038] In order to know the current horizontality of the manipulator in real time after the subsequent combination with the corresponding manipulator, the quick-change connecting rod 1 is provided with an inclination sensor 14. In this way, the measurement accuracy can be better guaranteed. At the same time, considering the stable installation of the support assembly, a clamping groove is provided on the quick-change connecting rod 1, and the support assembly passes through the clamping groove, and a locking nut 15 is provided at one end of the clamping groove. In this way, a suitable support assembly can be selected according to actual needs, and after installation, it can be locked by the locking nut 15.

[0039] Furthermore, considering the stable positioning of the bone centerline pointer 2, the upper end of the support rod 5 is provided with an outer support arc, and the inner side of the outer support arc is provided with slots. In this way, the bone centerline pointer 2 can be positioned by the slots through interference fit.

[0040] The working principle of the utility model is as follows:

[0041] During use, by adjusting the control of the nut, the outer spring 11 allows the outer spike 8 of the outer spike-shaped clip 3 to clamp the bone (spinous process) 16. At the same time, the inner spring 12 can also allow the inner spike 7 on the inner spike-shaped clip 4 to clamp the bone. In addition, the line connecting the midpoints of the contact points of the outer spike 8, the inner spike 7 and the bone (spinous process) 16 can form a virtual center line. With the cooperation of the clamp-type positioning manipulator, the position of the virtual center line 17 of the bone (spinous process) 16 can be indicated in real time to improve the positioning accuracy.

[0042] It can be seen from the above text description and the accompanying drawings that the following advantages are achieved after adopting the utility model:

[0043] 1. It can be stably combined with the bone (spinous process) and maintain appropriate combination force, and no unnecessary displacement will occur during use.

[0044] 2. Through the existence of the bone centerline pointer, it can cooperate with the clamp-type positioning manipulator to indicate the position of the virtual centerline of the bone (spinous process) in real time, improve the positioning accuracy, and guide subsequent surgical operations.

[0045] 3. The outer thorn-shaped clip and the inner thorn-shaped clip are distributed in a mirror image, which can fit the anatomical curve of the bone (spinous process) and realize real-time positioning of the clip. 4. An optional inclination sensor can be installed to increase the position sensing angle and improve the upper limit of the robot's operation.

[0046] 5. The overall structure is simple, easy to manufacture and use, and can be adapted to a variety of current surgical robots.

[0047] In addition, the indicated orientations or positional relationships described in the present invention are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or structure referred to must have a specific orientation or be operated with a specific orientation structure. Therefore, they cannot be understood as a limitation on the present invention.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A clamp-type real-time positioning manipulator suitable for spinal surgery, including a quick-change connecting rod, characterized in that: The quick-change connecting rod is provided with a support assembly, a bone centerline pointer is connected to the support assembly, a thorn-shaped clip assembly is also connected to the support assembly, including an outer thorn-shaped clip and an inner thorn-shaped clip, a positioning adjustment device is provided on the outer side of the thorn-shaped clip assembly, the support assembly is a pair of support rods, the inner side of the upper end of the support rod is provided with a groove, a bone centerline pointer is provided in the groove, and a transverse extension rod is distributed outwardly of the support rod, and the transverse extension rod is connected to the positioning adjustment device after passing through the thorn-shaped clip assembly.

2. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 1, characterized in that: The inner thorn-shaped clips are stacked and distributed with the corresponding outer thorn-shaped clips.

3. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 1, characterized in that: The outer thorn-shaped clip and the inner thorn-shaped clip both include a clip body, the clip body is provided with a yielding arc, the lower end of the clip body is provided with an inwardly distributed spike mechanism, the spike mechanism located on the inner thorn-shaped clip is an inner spike, and the spike mechanism located on the outer thorn-shaped clip is an outer spike, and the position of the inner spike is higher than the outer spike.

4. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 1, characterized in that: The positioning and adjustment device includes a lower shell, an upper shell is inserted into the lower shell, an outer spring is arranged in the lower shell, an inner spring is arranged in the upper shell, the outer spring and the inner spring are respectively inserted into the transverse extension rod, an adjustment component is arranged outside the upper shell, and the adjustment component is movably connected to the transverse extension rod.

5. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 4, characterized in that: The appearance of the transverse extension rod is distributed with adjustment threads, and the adjustment component is an adjustment nut, and the adjustment nut is threadedly connected to the transverse extension rod.

6. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 1, characterized in that: The quick-change connecting rod is provided with an inclination sensor.

7. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 1, characterized in that: The quick-change connecting rod is provided with a clamping groove, the supporting assembly passes through the clamping groove, and a locking nut is provided at one end of the clamping groove.

8. The clamp-type real-time positioning manipulator suitable for spinal surgery according to claim 1, characterized in that: An outer supporting arc is arranged at the upper end of the supporting rod, and slots are distributed inside the outer supporting arc.

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