Sleeve assembly special for robot-assisted foramen intervertebrale forming
By designing a special sleeve assembly for robot-assisted foramen molding, the problem of high difficulty in puncture positioning in foramen endoscopic surgery is solved, and the stable positioning of the upper joint process is achieved, which shortens the surgical time and improves the surgical efficiency.
Patent Information
- Application Number
- CN202421836452.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-07-31
AI Technical Summary
In foramen endoscopic surgery, puncture positioning is difficult and prone to deviation and displacement, resulting in prolonged surgical time.
A special sleeve assembly for robot-assisted intervertebral foramen molding is designed, including an outer limiting sleeve, a working sleeve and a positioning sleeve. The outer limiting sleeve is installed on the surgical robot arm of the surgical robot. The working sleeve and a positioning sleeve are nested with each other. There is a receiving groove and a give way through hole at the lower end of the positioning sleeve to accommodate and position the upper joint protrusion and increase stability.
By improving the matching and stability of the positioning sleeve and the upper joint process, the positioning time is shortened and the surgical efficiency is improved.
Smart Images
Figure CN223054521U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of medical devices, and particularly relates to a special sleeve assembly for robot-assisted foraminal fenestration. Background Art
[0002] In current clinical surgeries, the transforaminal endoscopic approach under spinal endoscopy is used to treat lumbar diseases such as lumbar disc herniation and lumbar spinal stenosis. The foraminal endoscopic surgery is operated by a surgical robot. Through the physiological structure of the intervertebral foramen, it punctures percutaneously to the superior articular process of the lumbar vertebra. The puncture needle closely adheres to the wall of the superior articular process, and a positioning guide wire is inserted. After the superior articular process is abraded and shaped, a surgical operation channel into the lumbar spinal canal is established. The working sleeve is placed into the spinal canal, and the endoscope and surgical instruments directly enter the spinal canal through the working sleeve to treat the diseased tissue. Compared with the traditional open surgery (posterior lumbar surgery), the foraminal endoscopic surgery is performed through the lateral posterior and posterior puncture approaches of the lumbar vertebra under local anesthesia, without affecting the lumbar posterior muscles and without damaging important bone and joint ligament structures. It can directly remove the prolapsed or free disc tissue, without the need to pull the nerve root and dural sac, with very little interference to the intraspinal environment and weak impact on lumbar stability, small surgical trauma, and fast patient recovery. However, during the puncture and positioning process of the foraminal endoscopic surgery, the presence of the superior articular process will increase the puncture difficulty, and the puncture positioning is prone to deviation, and the operation process is prone to displacement, resulting in a large amount of surgical time consumption. Summary of the Utility Model
[0003] The purpose of the utility model is to provide a special sleeve assembly for robot-assisted foraminal fenestration, aiming to solve the problem of high puncture and positioning difficulty during the foraminal endoscopic surgery process.
[0004] To achieve the above purpose, the technical solution adopted by the utility model is: to provide a special sleeve assembly for robot-assisted foraminal fenestration, including an outer limit sleeve, a working sleeve, and a positioning sleeve. The outer limit sleeve is arranged on the surgical robotic arm of the surgical robot. The working sleeve is sleeved inside the limit sleeve, and the positioning sleeve is sleeved inside the working sleeve. The lower end of the positioning sleeve is provided with a receiving groove suitable for receiving the superior articular process, and a relief through hole suitable for the positioning guide wire to penetrate is arranged at the axis of the positioning sleeve.
[0005] In a possible implementation manner, the receiving groove communicates with the relief through hole.
[0006] In a possible implementation manner, the lower end of the positioning sleeve is provided with a first guiding inclined surface, and the first guiding inclined surface inclines towards the axis of the positioning sleeve.
[0007] In a possible implementation manner, the first guiding inclined surface and the receiving groove are located on the same side of the positioning sleeve.
[0008] In a possible implementation, the width of the first guiding inclined surface gradually decreases as the height decreases.
[0009] In a possible implementation, the upper end surface of the receiving groove abuts against the upper end of the superior articular process, the side wall of the receiving groove abuts against the outer side wall of the superior articular process, and the groove wall at the lower end of the receiving groove gradually moves away from the pipe wall on the other side of the positioning sleeve as the height decreases.
[0010] In a possible implementation, a baffle is provided on one side of the lower end opening of the working sleeve.
[0011] In a possible implementation, the upper end surface of the receiving groove is flush with the lower opening of the working sleeve or is located below the lower opening of the working sleeve.
[0012] In a possible implementation, a first limiting block is provided at the upper end of the outer limiting sleeve, a second limiting block is provided at the upper end of the working sleeve, and a third limiting block is provided at the upper end of the positioning sleeve.
[0013] In a possible implementation, a positioning post is provided at the upper end of the positioning sleeve.
[0014] The beneficial effects of a special sleeve assembly for robot-assisted intervertebral foramen formation provided by the present utility model are as follows:
[0015] Compared with the prior art, an outer limiting sleeve, a working sleeve, and a positioning sleeve are provided. The outer limiting sleeve is installed on the surgical robotic arm of the surgical robot, facilitating subsequent operations. The working sleeve is inserted into the outer limiting sleeve, and the positioning sleeve is inserted into the working sleeve. The outer limiting sleeve limits the position and depth of the working sleeve and the positioning sleeve, increasing the stability of the use of the working sleeve and the positioning sleeve. A receiving groove is provided at the lower end of the positioning sleeve, which matches the superior articular process and covers the upper end and the outer side wall of the superior articular process. The end of the positioning sleeve abuts against the lower part of the superior articular process, facilitating the positioning of the superior articular process, increasing the stability of the positioning, shortening the positioning time, and improving the surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0017] Figure 1 It is a front view structural schematic diagram of a special sleeve assembly for robot-assisted intervertebral foramen formation provided by an embodiment of the present utility model;
[0018] Figure 2 This is a front view structural diagram of the outer limiting sleeve used in the embodiment of the utility model;
[0019] Figure 3 This is a front view structural diagram of a working sleeve used in an embodiment of the utility model;
[0020] Figure 4 It is a right side structural schematic diagram of the working sleeve used in the embodiment of the utility model;
[0021] Figure 5 This is a front view structural diagram of a positioning sleeve used in an embodiment of the utility model;
[0022] Figure 6 It is a right side structural schematic diagram of the positioning sleeve adopted in the embodiment of the utility model.
[0023] In the figure: 1. outer limit sleeve; 2. first limit block; 3. first positioning surface; 4. working sleeve; 5. second limit block; 6. second positioning surface; 7. baffle; 8. positioning sleeve; 9. positioning column; 10. third limit block; 11. third positioning surface; 12. accommodating groove; 13. clearance hole; 14. first guide inclined surface; 15. second guide inclined surface. DETAILED DESCRIPTION
[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
[0025] Please refer to Figures 1 to 6 Now, a specific embodiment of a special sleeve assembly for robot-assisted foramina shaping provided by the utility model is described, including an outer limiting sleeve 1, a working sleeve 4 and a positioning sleeve 8. The outer limiting sleeve 1 is arranged on the surgical robot arm of the surgical robot, the working sleeve 4 is inserted into the limiting sleeve, the positioning sleeve 8 is inserted into the working sleeve 4, and the lower end of the positioning sleeve 8 is provided with a receiving groove 12 suitable for accommodating the superior articular process, and the axis of the positioning sleeve 8 is provided with a makeshift through hole 13 suitable for the insertion of a positioning guide wire.
[0026] The utility model provides a special sleeve assembly for robot-assisted foramina forming. Compared with the prior art, the utility model is provided with an outer limiting sleeve 1, a working sleeve 4 and a positioning sleeve 8. The outer limiting sleeve 1 is installed on the surgical machine arm of the surgical robot to facilitate subsequent operations. The working sleeve 4 is inserted into the outer limiting sleeve 1, and the positioning sleeve 8 is inserted into the working sleeve 4. The outer limiting sleeve 1 limits the position and depth of the working sleeve 4 and the positioning sleeve 8, thereby increasing the stability of the use of the working sleeve 4 and the positioning sleeve 8. A receiving groove 12 is provided at the lower end of the positioning sleeve 8, and the receiving groove 12 matches the upper articular process. The cover is provided at the upper end and the outer side wall of the upper articular process. The end of the positioning sleeve 8 is against the bottom of the upper articular process, thereby facilitating the positioning of the upper articular process, increasing the stability of positioning, shortening the positioning time, and improving the surgical efficiency.
[0027] For details, please refer to Figures 1 to 6 , including an outer limiting sleeve 1, a working sleeve 4 and a positioning sleeve 8. The outer limiting sleeve 1 is installed on the surgical robot arm of the surgical robot. The length of the outer limiting sleeve 1 is less than the length of the working sleeve 4 and the positioning sleeve 8. The working sleeve 4 penetrates into the outer limiting sleeve 1, and the positioning sleeve 8 penetrates into the working sleeve 4. The receiving groove 12 of the positioning sleeve 8 is arranged on the side wall of the lower end of the positioning sleeve 8. The receiving groove 12 is covered on the upper end and the outer side wall of the upper articular process. The lower end of the positioning sleeve 8 is located at the upper articular process. At the bottom, it rests on the bone surface below the superior articular process, and with the help of the accommodating groove 12, it is convenient to position the superior articular process, thereby increasing the stability of positioning, shortening the positioning time, and improving the efficiency of the operation. After the superior articular process is positioned, the positioning guide wire passes through the upper end of the positioning sleeve 8 into the yielding hole 13, penetrates into the superior articular process, and performs positioning guidance. The positioning sleeve 8 is removed, and the bone drill is inserted into the working sleeve 4. The bone drill is sleeved on the outside of the positioning guide wire, and the positioning guide wire positions and guides the bone drill for subsequent operations.
[0028] As a specific implementation of the robot-assisted foraminal foramina shaping sleeve assembly provided by the utility model, please refer to Figure 1 , Figure 5 as well as Figure 6 The accommodating groove 12 is connected to the giving way through hole 13.
[0029] For details, please refer to Figure 1 , Figure 5 as well as Figure 6 In the diameter direction of the positioning sleeve 8, the depth of the accommodating groove 12 is greater than the radius of the positioning sleeve 8, that is, the accommodating groove 12 is connected to the giving way through hole 13, thereby increasing the coverage area of the accommodating groove 12 on the outer surface of the superior articular process, increasing the stability of the use of the positioning sleeve 8, and increasing the stability of the positioning guide wire fixation.
[0030] As a specific implementation of the robot-assisted foraminal foramina shaping sleeve assembly provided by the utility model, please refer toFigure 1 , Figure 5 and Figure 6 , a first guiding inclined surface 14 is arranged at the lower end of the positioning sleeve 8, and the first guiding inclined surface 14 inclines towards the axis of the positioning sleeve 8.
[0031] Specifically, please refer to Figure 1 , Figure 5 and Figure 6 , the first guiding inclined surface 14 is arranged at the lower end of the positioning sleeve 8 and is located below the receiving groove 12. As it gradually goes downwards, the first guiding inclined surface 14 gradually inclines towards the axis of the positioning sleeve 8, that is, the first guiding inclined surface 14 gradually approaches the tube wall on the other side of the positioning sleeve 8. When the positioning sleeve 8 performs superior articular process positioning, the first guiding inclined surface 14 helps the end of the positioning sleeve 8 to bypass the superior articular process and abut against the bone surface below the superior articular process.
[0032] Furthermore, please refer to Figure 1 , Figure 5 and Figure 6 , a second guiding inclined surface 15 is arranged at the lower end of the positioning sleeve 8, and the second guiding inclined surface 15 inclines towards the axis of the positioning sleeve 8. The second guiding inclined surface 15 is arranged opposite to the first guiding inclined surface 14, that is, as it gradually goes downwards, the distance between the first guiding inclined surface 14 and the second guiding inclined surface 15 gradually decreases, which is beneficial for the end of the positioning sleeve 8 to bypass the superior articular process and abut against the bone surface below the superior articular process, reducing the possibility of slipping during the use of the positioning sleeve 8.
[0033] As a specific embodiment of a special sleeve assembly for robot-assisted intervertebral foramen forming provided by the present utility model, please refer to Figure 1 , Figure 5 and Figure 6 , the first guiding inclined surface 14 and the receiving groove 12 are located on the same side of the positioning sleeve 8.
[0034] Specifically, please refer to Figure 1 , Figure 5 and Figure 6 , the first guiding inclined surface 14 is arranged below the receiving groove 12, and both are arranged on the tube wall on the same side of the positioning sleeve 8, which is beneficial for the positioning sleeve 8 to position the superior articular process and reduces the possibility of slipping during the use of the positioning sleeve 8.
[0035] As a specific embodiment of a special sleeve assembly for robot-assisted intervertebral foramen forming provided by the present utility model, please refer to Figure 1 , Figure 5 and Figure 6 , the width of the first guiding inclined surface 14 gradually decreases as the height decreases.
[0036] Specifically, please refer to Figure 1 ,Figure 5 and Figure 6 , as it gradually goes downward, the width of the first guiding inclined surface 14 gradually decreases, increasing the positioning stability of the end of the positioning sleeve 8 and reducing the possibility of slipping during the use of the positioning sleeve 8.
[0037] As a specific embodiment of a special sleeve assembly for robot-assisted intervertebral foramen formation provided by the present utility model, please refer to Figure 1 、 Figure 5 and Figure 6 , the upper end surface of the receiving groove 12 abuts against the upper end of the superior articular process, the side wall of the receiving groove 12 abuts against the outer side wall of the superior articular process, and the groove wall at the lower end of the receiving groove 12 gradually moves away from the pipe wall on the other side of the positioning sleeve 8 as the height decreases.
[0038] Specifically, please refer to Figure 1 、 Figure 5 and Figure 6 , the upper end surface of the receiving groove 12 covers the upper end of the superior articular process, the side wall of the receiving groove 12 covers the outer side wall of the superior articular process, and from top to bottom, the groove depth of the receiving groove 12 in the diameter direction of the positioning sleeve 8 gradually decreases. The shape of the receiving groove 12 matches the outer side wall of the superior articular process, increasing the positioning stability of the positioning sleeve 8.
[0039] As a specific embodiment of a special sleeve assembly for robot-assisted intervertebral foramen formation provided by the present utility model, please refer to Figures 1 to 6 , a baffle 7 is provided on one side of the lower opening of the working sleeve 4.
[0040] Specifically, please refer to Figures 1 to 6 , the baffle 7 is provided on one side of the lower opening of the working sleeve 4 and is obtained by the downward extension of a part of the side wall of the working sleeve 4. The baffle 7 is arc-shaped and has an arc transition with the working sleeve 4. When the positioning sleeve 8 is inserted into the working sleeve 4, the baffle 7 is located outside the pipe wall on the opposite side of the receiving groove 12 of the positioning sleeve 8. The setting of the baffle 7 increases the stability of the device.
[0041] As a specific embodiment of a special sleeve assembly for robot-assisted intervertebral foramen formation provided by the present utility model, please refer to Figures 1 to 6 , the upper end surface of the receiving groove 12 is flush with or below the lower opening of the working sleeve 4.
[0042] Specifically, please refer to Figures 1 to 6 , after the positioning sleeve 8 is inserted into the working sleeve 4, the receiving groove 12 is exposed outside the working sleeve 4, facilitating the positioning of the superior articular process.
[0043] As a specific embodiment of a special sleeve assembly for robot-assisted intervertebral foramen formation provided by the present utility model, please refer to Figures 1 to 6A first limiting block 2 is arranged at the upper end of the outer limiting sleeve 1, a second limiting block 5 is arranged at the upper end of the working sleeve 4, and a third limiting block 10 is arranged at the upper end of the positioning sleeve 8.
[0044] For details, please refer to Figures 1 to 6 A first limit block 2 is provided at the upper end of the outer limit sleeve 1, and first positioning surfaces 3 are provided on both sides of the first limit block 2. A second limit block 5 is provided at the upper end of the working sleeve 4, and second positioning surfaces 6 are provided on both sides of the second limit block 5, one group of second positioning surfaces 6 and the baffle 7 are arranged on the same side, and a third limit block 10 is provided at the upper end of the positioning sleeve 8, and third positioning surfaces 11 are provided on both sides of the third limit block 10, one group of third positioning surfaces 11 and the accommodating groove 12 are arranged on the same side, which is convenient for inserting the working sleeve 4 and the positioning sleeve 8 and determining the orientation of the accommodating groove 12.
[0045] As a specific implementation of the robot-assisted foraminal foramina shaping sleeve assembly provided by the utility model, please refer to Figure 1 , Figure 5 as well as Figure 6 A positioning column 9 is provided at the upper end of the positioning sleeve 8.
[0046] For details, please refer to Figure 1 , Figure 5 as well as Figure 6 A positioning column 9 is provided at the upper end of the third limit block 10, and a clearance hole suitable for the positioning guide wire to pass through is provided at the axis of the positioning column 9, and the axis of the clearance hole coincides with the axis of the clearance through hole 13. The upper end of the positioning column 9 is connected to the reference frame of the surgical robot, which is convenient for real-time detection of the positioning sleeve 8, forming a virtual image, and improving the accuracy of the surgical operation.
[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A special sleeve assembly for robot-assisted foraminalplasty, characterized in that, It includes an outer limit sleeve, a working sleeve and a positioning sleeve. The outer limit sleeve is arranged on the surgical robotic arm of the surgical robot. The working sleeve is inserted into the limit sleeve, and the positioning sleeve is inserted into the working sleeve. A receiving groove adapted to receive the superior articular process is provided at the lower end of the positioning sleeve, and a relief through hole adapted for a positioning guide wire to penetrate is provided at the axis of the positioning sleeve.
2. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 1, wherein The receiving groove communicates with the relief through hole.
3. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 1, characterized in that, A first guiding inclined surface is provided at the lower end of the positioning sleeve, and the first guiding inclined surface inclines towards the axis of the positioning sleeve.
4. The special sleeve assembly for robot-assisted foraminalplasty according to claim 3, wherein, The first guiding inclined surface and the receiving groove are on the same side of the positioning sleeve.
5. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 3, characterized in that, The width of the first guiding inclined surface gradually decreases as the height decreases.
6. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 1, characterized in that, The upper end surface of the receiving groove abuts against the upper end of the superior articular process, the side wall of the receiving groove abuts against the outer side wall of the superior articular process, and the groove wall at the lower end of the receiving groove gradually moves away from the tube wall on the other side of the positioning sleeve as the height decreases.
7. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 1, characterized in that A baffle is provided on one side of the lower end opening of the working sleeve.
8. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 1, characterized in that, The upper end surface of the receiving groove is flush with or below the lower opening of the working sleeve.
9. The special sleeve assembly for robot-assisted intervertebral foramen forming according to claim 1, wherein, A first limit block is provided at the upper end of the outer limit sleeve, a second limit block is provided at the upper end of the working sleeve, and a third limit block is provided at the upper end of the positioning sleeve.
10. A special sleeve assembly for robot-assisted intervertebral foramen forming as described in claim 1, characterized in that, A positioning post is provided at the upper end of the positioning sleeve.