CN107088087B - Intraoperative spinal traction orthosis - Google Patents
Intraoperative spinal traction orthosis Download PDFInfo
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- 230000001144 postural effect Effects 0.000 claims 2
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- 238000001356 surgical procedure Methods 0.000 abstract description 3
- 230000000399 orthopedic effect Effects 0.000 abstract description 2
- 238000004659 sterilization and disinfection Methods 0.000 abstract description 2
- 230000001954 sterilising effect Effects 0.000 abstract 1
- 206010058907 Spinal deformity Diseases 0.000 description 6
- 201000010099 disease Diseases 0.000 description 3
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00535—Surgical instruments, devices or methods pneumatically or hydraulically operated
- A61B2017/00544—Surgical instruments, devices or methods pneumatically or hydraulically operated pneumatically
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
Description
技术领域technical field
本发明涉及医疗设备领域,特别是一种术中脊柱牵引矫正器。The invention relates to the field of medical equipment, in particular to an intraoperative spinal traction corrector.
背景技术Background technique
脊柱畸形是由于先天或后天因素导致的脊柱骨骼间正常解剖位置的相对丢失,其发生和发展会导致患者外形异常,严重的将会影响神经、运动、呼吸、循环、消化等多个系统的功能,甚至威胁患者生命。这类疾病包括各种脊柱先天发育性畸形、脊柱外伤性骨折、各种原因导致的脊柱侧弯、退变性或外伤性脊柱椎体滑脱、脊柱结核或肿瘤导致的病理性骨折等,几乎涵盖了脊柱外科所有常见疾病,而这些疾病的外科处理中都涉及到脊柱畸形的复位问题。Spinal deformity is the relative loss of the normal anatomical position between the bones of the spine due to congenital or acquired factors. Its occurrence and development will lead to abnormal appearance of the patient, and seriously affect the functions of multiple systems such as nerves, movement, breathing, circulation, and digestion. , and even threaten the life of the patient. Such diseases include various congenital developmental deformities of the spine, traumatic fractures of the spine, scoliosis caused by various reasons, degenerative or traumatic spondylolisthesis, pathological fractures caused by spinal tuberculosis or tumors, etc. All common diseases in spinal surgery, and the surgical treatment of these diseases involves the reduction of spinal deformity.
传统的脊柱畸形复位是通过固定牵引或术中通过手动撬拨椎弓根螺钉撑开、压缩等动作使畸形的脊柱排列复位,这种方法对轻微的脊柱畸形具有较好的治疗效果。但对于严重脊柱畸形脱位则难以复位,而且对力量、方向的可控性和精准性要求很高,如果出错容易造成二次伤害,甚至瘫痪。The traditional reduction of spinal deformity is to reset the deformed spinal alignment through fixed traction or manual prying of pedicle screws during operation to expand and compress the deformed spine. This method has a good therapeutic effect on mild spinal deformity. However, for severe spinal deformity and dislocation, it is difficult to reset, and the controllability and precision of strength and direction are very high. If mistakes are made, it is easy to cause secondary injury or even paralysis.
发明内容Contents of the invention
为了解决上述技术问题而提供一种能够多方位、多工位推压、保证力度和方向的精准度,而且便于消毒和使用的术中脊柱牵引矫正器。In order to solve the above-mentioned technical problems, an intraoperative spinal traction corrector that can push in multiple directions and positions, ensure the accuracy of strength and direction, and is convenient for disinfection and use is provided.
一种术中脊柱牵引矫正器,包括体位架、头部固定装置、胯部固定装置和多个机械手,所述头部固定装置可拆卸的设置于所述体位架长度方向的前段,所述胯部固定装置设置于所述体位架长度方向的后部,且所述头部固定装置和所述胯部固定装置之间具有间距,所有所述机械手的一端可拆卸的设置于所述体位架的侧沿上,另一端朝向所述体位架上方弯折,且能够在所述体位架上方全自由度的自由移动。An intraoperative spinal traction corrector, comprising a posture frame, a head immobilization device, a crotch immobilization device and a plurality of manipulators, the head immobilization device is detachably arranged The head fixing device is arranged at the rear part of the body position frame in the length direction, and there is a distance between the head fixing device and the crotch fixing device, and one end of all the manipulators is detachably arranged on the body position frame On the side edge, the other end is bent toward the upper side of the body position frame, and can move freely on the body position frame with full degrees of freedom.
所述体位架为板状结构,且所述体位架长度方向的前部和后部均设置有第一滑轨,所述第一滑轨与所述体位架长度方向相平行,所述头部固定装置和所述胯部固定装置分别设置在对应的所述第一滑轨内,且能够在所述第一滑轨内自由移动。The body position frame is a plate-shaped structure, and the front and rear parts of the body position frame in the length direction are provided with first slide rails, the first slide rails are parallel to the length direction of the body position frame, and the head The fixing device and the crotch fixing device are respectively arranged in the corresponding first slide rails, and can move freely in the first slide rails.
所述头部固定装置的下侧和所述胯部固定装置的下侧均设置有第二滑轨,所述头部固定装置和所述胯部固定装置均能够在对应的所述第二滑轨上沿所述体位架的宽度方向自由移动,所述第二滑轨下表面上设置有与所述第一滑轨相配合的第一滑块。Both the lower side of the head restraint and the lower side of the crotch restraint are provided with second slide rails, and both the head restraint and the crotch restraint can be mounted on the corresponding second slide rails. The rail is free to move along the width direction of the posture frame, and the lower surface of the second slide rail is provided with a first slide block matched with the first slide rail.
所述体位架为板状结构,且所述体位架的长度方向的侧沿上设置有滑槽,每一所述机械手的下端均设置有与所述滑槽相配合的滑卡,且所有所述机械手均能够在所述滑槽内自由移动。The body position frame is a plate-shaped structure, and the side edge of the body position frame in the length direction is provided with a chute, and the lower end of each of the manipulators is provided with a slide card that matches the chute, and all The manipulators can move freely in the chute.
所述滑槽的横截面为凸字形结构,所述滑卡的横截面为凸字形结构,且所述滑卡的上端突出所述滑槽,且所述滑卡上表面上开设有沿竖直方向贯穿所述滑卡的螺纹孔,所述螺纹孔内设置有固定杆,所述固定杆的下端能够与所述滑槽内侧下表面接触形成固定连接,上端突出所述滑卡且设置有用于旋转所述固定杆的旋转把手。The cross section of the chute is a convex structure, the cross section of the sliding card is a convex structure, and the upper end of the sliding card protrudes from the chute, and the upper surface of the sliding card is provided with a vertical direction through the threaded hole of the sliding card, the threaded hole is provided with a fixing rod, the lower end of the fixing rod can be in contact with the inner lower surface of the chute to form a fixed connection, the upper end protrudes from the sliding card and is provided with a Rotate the rotary handle of the fixed pole.
所述机械手包括第一支撑臂、第二支撑臂和推压装置,所述第一支撑臂以能够沿其中心线自由转动的方式竖直设置于所述滑卡上,所述第一支撑臂的上端与所述第二支撑臂的一端可转动连接,所述第二支撑臂的另一端与所述推压装置可转动连接。The manipulator includes a first support arm, a second support arm and a pushing device, the first support arm is vertically arranged on the slide card in a manner capable of freely rotating along its center line, and the first support arm The upper end of the second support arm is rotatably connected to one end of the second support arm, and the other end of the second support arm is rotatably connected to the pushing device.
所述第二支撑臂通过第一旋转轴可转动的设置于所述第一支撑臂上,所述推压装置通过第二旋转轴可转动的设置于所述第二支撑臂上,且所述第一旋转轴和所述第二旋转轴上均设置有螺纹和用于锁紧的锁紧螺栓,所述第一支撑臂与所述第二支撑臂、所述第二支撑臂与所述推压装置均通过所述锁紧螺栓进行锁定。The second support arm is rotatably arranged on the first support arm through the first rotating shaft, the pushing device is rotatably arranged on the second supporting arm through the second rotating shaft, and the Both the first rotation shaft and the second rotation shaft are provided with threads and locking bolts for locking, the first support arm and the second support arm, the second support arm and the push All pressing devices are locked by the locking bolts.
所述推压装置包括底座、旋转轴、液压缸和挤压头,所述底座的一端通过所述第二弯曲轴与所述第二支撑臂可转动连接,所述旋转轴通过承重轴承设置于所述底座内部,且一端伸出所述底座的端面,所述液压缸的固定部设置于所述旋转轴伸入所述底座的端面上,且能够随所述旋转轴进行转动,所述挤压头可拆卸的设置于所述液压缸的输出头上,且能够随所述液压缸的动作远离和靠近所述底座。The pushing device includes a base, a rotating shaft, a hydraulic cylinder and an extrusion head, one end of the base is rotatably connected to the second support arm through the second bending shaft, and the rotating shaft is arranged on the The inside of the base, and one end protrudes from the end surface of the base, the fixed part of the hydraulic cylinder is set on the end surface where the rotating shaft extends into the base, and can rotate with the rotating shaft. The pressure head is detachably arranged on the output head of the hydraulic cylinder, and can move away from and close to the base as the hydraulic cylinder moves.
所述挤压头远离所述底座的一端的形状为开口朝向远离所述底座方向的U型结构;所述挤压头远离所述底座的一端的形状为空心圆柱状结构;所述挤压头远离所述底座的一端的形状为两个并列设置的且开口朝向远离所述底座方向的U型结构;所述挤压头为球形机械手,所述球形机械手包括气缸、导气管、球状挤压头和设置于所述球状挤压头内的颗粒,所述气缸固定设置于所述液压缸的输出部上,所述球状挤压头设置于所述液压缸的远离所述底座的端部,且通过所述导气管与所述气缸连通,所述颗粒设置于所述球状挤压头内,且能够在所述气缸的抽取下进入所述导气管内。The shape of the end of the extrusion head away from the base is a U-shaped structure with the opening facing away from the base; the shape of the end of the extrusion head away from the base is a hollow cylindrical structure; the extrusion head The shape of the end away from the base is two U-shaped structures arranged side by side with the opening facing away from the base; and the particles arranged in the spherical extrusion head, the air cylinder is fixedly arranged on the output part of the hydraulic cylinder, the spherical extrusion head is arranged at the end of the hydraulic cylinder away from the base, and The air guide tube communicates with the air cylinder, and the particles are arranged in the spherical extrusion head and can enter the air guide tube under the suction of the air cylinder.
所述第一支撑臂与所述第二支撑臂的铰接端上设置有指针,所述第二支撑臂上设置有与所述指针相配合的圆形刻度,所述圆形刻度的圆心处于所述第一旋转轴的轴线上,且当所述第一支撑臂与所述第二支撑臂处于同一直线时所述指针指向所述圆形刻度的零点;所述第二支撑臂与所述推压装置的铰接端上设置有指针,所述推压装置上设置有与所述指针相配合的圆形刻度,所述圆形刻度的圆心处于所述第二旋转轴的轴线上,且当所述第二支撑臂与所述推压装置处于同一直线时所述指针指向所述圆形刻度的零点。A pointer is provided on the hinged end of the first support arm and the second support arm, and a circular scale matching with the pointer is provided on the second support arm, and the center of the circular scale is at the on the axis of the first rotating shaft, and when the first support arm and the second support arm are in the same line, the pointer points to the zero point of the circular scale; the second support arm and the push A pointer is provided on the hinged end of the pressing device, and a circular scale matching the pointer is provided on the pushing device, and the center of the circular scale is on the axis of the second rotating shaft, and when the The pointer points to the zero point of the circular scale when the second support arm is on the same line as the pushing device.
本发明提供的术中脊柱牵引矫正器,通过设置头部固定装置和胯部固定装置能够对患者进行轴向牵引,水平位左右挤压和从上往下的挤压,通过设置第二滑轨能够使头部固定装置和胯部固定装置在一定位置上进行偏离,适应更多的患者,通过在体位架的侧沿设置滑槽,使得所有机械手均能够在滑槽内部进行滑动,也能够在需要进行消毒的时候从体位架上取下,所述机械手通过设置第一支撑臂和第二支撑臂保证推压装置能够进行全自由度移动,通过设置旋转轴,能够保证挤压头进行转动并达到最佳的挤压位置和挤压角度,通过设置液压缸带动挤压头进行伸缩达到挤压的效果,根据脊柱位置的不同,选择不同的挤压头进行挤压,术中通过牵引挤压,矫正脊柱畸形,使手术更方便、简化手术步骤,矫形效果更好。The intraoperative spinal traction orthosis provided by the present invention can perform axial traction on the patient by setting the head fixation device and the crotch fixation device, squeeze left and right in the horizontal position and squeeze from top to bottom, and can be squeezed by setting the second slide rail The head immobilization device and the crotch immobilization device can be deviated at a certain position to accommodate more patients. By setting the chute on the side edge of the body position frame, all manipulators can slide inside the chute, and can also When it needs to be disinfected, it is removed from the position frame. The manipulator ensures that the pushing device can move with full freedom by setting the first support arm and the second support arm. To achieve the best extrusion position and extrusion angle, the extrusion effect is achieved by setting the hydraulic cylinder to drive the extrusion head to expand and contract. According to the different positions of the spine, different extrusion heads are selected for extrusion, and traction and extrusion are used during the operation. , to correct spinal deformity, make the operation more convenient, simplify the operation steps, and the orthopedic effect is better.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1是本发明提供的术中脊柱牵引矫正器的俯视图;Fig. 1 is the top view of intraoperative spinal traction corrector provided by the present invention;
图2是本发明提供的术中脊柱牵引矫正器的立体示意图;Fig. 2 is a three-dimensional schematic view of the intraoperative spinal traction corrector provided by the present invention;
图3是本发明提供的术中脊柱牵引矫正器的机械手的结构示意图;Fig. 3 is a structural schematic diagram of the manipulator of the intraoperative spinal traction corrector provided by the present invention;
图4是本发明提供的术中脊柱牵引矫正器的挤压头的另一种结构示意图;Fig. 4 is another schematic structural view of the extrusion head of the intraoperative spinal traction corrector provided by the present invention;
图5是本发明提供的术中脊柱牵引矫正器的挤压头的另一种结构示意图;Fig. 5 is another schematic structural view of the extrusion head of the intraoperative spinal traction corrector provided by the present invention;
图6是本发明提供的术中脊柱牵引矫正器的A的局部示意图;Fig. 6 is a partial schematic view of A of the intraoperative spinal traction corrector provided by the present invention;
图中:In the picture:
1、体位架;2、头部固定装置;3、胯部固定装置;4、机械手;11、滑槽;41、滑卡;42、固定杆;43、旋转把手;44、第一支撑臂;45、第二支撑臂;46、推压装置;47、第一旋转轴;48、第二旋转轴;49、锁紧螺栓;461、底座;462、旋转轴;463、液压缸;464、挤压头。1. Posture frame; 2. Head fixing device; 3. Crotch fixing device; 4. Manipulator; 11. Chute; 41. Sliding card; 42. Fixed rod; 43. Rotating handle; 44. First support arm; 45, the second support arm; 46, the pushing device; 47, the first rotating shaft; 48, the second rotating shaft; 49, the locking bolt; 461, the base; 462, the rotating shaft; 463, the hydraulic cylinder; 464, squeeze pressure head.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚,下面将对本发明的技术方案进行详细的描述。显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其它实施方式,都属于本发明所保护的范围。In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
如图1至图6所示的术中脊柱牵引矫正器,包括体位架1、头部固定装置2、胯部固定装置3和多个机械手4,所述头部固定装置2可拆卸的设置于所述体位架1长度方向的前段,所述胯部固定装置3设置于所述体位架1长度方向的后部,且所述头部固定装置2和所述胯部固定装置3之间具有间距,所有所述机械手4的一端可拆卸的设置于所述体位架1的侧沿上,另一端朝向所述体位架1上方弯折,且能够在所述体位架1上方全自由度的自由移动。The intraoperative spinal traction corrector as shown in Figures 1 to 6 includes a posture frame 1, a head immobilizer 2, a crotch immobilizer 3 and a plurality of manipulators 4, and the head immobilizer 2 is detachably arranged on The front section of the body position frame 1 in the length direction, the crotch fixing device 3 is arranged at the rear part of the body position frame 1 in the length direction, and there is a distance between the head fixing device 2 and the crotch fixing device 3 One end of all the manipulators 4 is detachably arranged on the side edge of the body position frame 1, and the other end is bent toward the top of the body position frame 1, and can move freely with full degrees of freedom above the body position frame 1 .
患者俯卧在所述体位架1上,且其的头部固定在所述头部固定装置2内,胯部及下侧身体固定设置在所述胯部固定装置3内,根据患者的病状需求,选择适量的机械手4对患者的脊柱进行挤压操作。The patient lies prone on the posture frame 1, and its head is fixed in the head fixing device 2, and the crotch and the lower body are fixed in the crotch fixing device 3. According to the patient's condition requirements, Select an appropriate amount of manipulator 4 to squeeze the patient's spine.
所述头部固定装置2和所述胯部固定装置3之间的间距与患者的身高相匹配。The distance between the head restraint 2 and the crotch restraint 3 is adapted to the patient's height.
所述体位架1为板状结构,且所述体位架1长度方向的前部和后部均设置有第一滑轨,所述第一滑轨与所述体位架1长度方向相平行,所述头部固定装置2和所述胯部固定装置3分别设置在对应的所述第一滑轨内,且能够在所述第一滑轨内自由移动。The body position frame 1 is a plate structure, and the front and rear parts of the body position frame 1 in the longitudinal direction are provided with first slide rails, and the first slide rails are parallel to the body position frame 1 in the longitudinal direction, so The head restraint device 2 and the crotch restraint device 3 are respectively arranged in the corresponding first slide rails, and can move freely in the first slide rails.
优选的,所述体位架1中部开设有用于容纳患者胸部和腹部的容置孔,所述容置孔可以分别在患者的胸部和腹部开设。Preferably, accommodating holes for accommodating the patient's chest and abdomen are opened in the middle of the posture frame 1 , and the accommodating holes can be opened in the patient's chest and abdomen respectively.
所述头部固定装置2的下侧和所述胯部固定装置3的下侧均设置有第二滑轨,所述头部固定装置2和所述胯部固定装置3均能够在对应的所述第二滑轨上沿所述体位架1的宽度方向自由移动,所述第二滑轨下表面上设置有与所述第一滑轨相配合的第一滑块。The lower side of the head restraint 2 and the lower side of the crotch restraint 3 are all provided with second slide rails, and the head restraint 2 and the crotch restraint 3 can be positioned at the corresponding The second slide rail is free to move along the width direction of the body position frame 1, and the lower surface of the second slide rail is provided with a first slide block matched with the first slide rail.
所述头部固定装置2的结构如下(图中未示出):The structure of the head restraint 2 is as follows (not shown in the figure):
所述头部固定装置2为头部固定带,在患者俯卧在所述体位架1上后,将头部固定带从患者的下巴处勾住患者的头部进行固定。The head fixing device 2 is a head fixing belt, and after the patient lies prone on the body position frame 1, the head fixing belt is hooked to the patient's head from the patient's chin to fix it.
所述头部固定装置2为半球形状的金属板,且金属板上设置有用于旋入患者颅骨的固定钉,使用时在患者的颅骨上进行打孔,并将对应的固定钉旋入孔内进行固定。The head immobilization device 2 is a hemispherical metal plate, and the metal plate is provided with fixing nails for screwing into the patient's skull. When in use, holes are punched in the patient's skull, and the corresponding fixing nails are screwed into the holes. to fix.
所述胯部固定装置3的结构如下(图中未示出):The structure of described crotch fixing device 3 is as follows (not shown in the figure):
所述胯部固定装置3为胯部固定带(如腰带的结构),使用时缠绕于患者的胯部并锁紧。The crotch fixing device 3 is a crotch fixing belt (structure such as a waist belt), which is wound around the patient's crotch and locked during use.
所述胯部固定装置3为具有一定宽度的U型结构,所述U型结构的开口朝向所述头部固定装置2,且所述U型结构的端部设置有朝向所述U型结构内部的固定钉,使用时,在患者的胯骨上打孔,并将对应的固定钉旋入孔内进行固定。The crotch fixing device 3 is a U-shaped structure with a certain width, the opening of the U-shaped structure faces the head fixing device 2, and the end of the U-shaped structure is provided with a hole facing the inside of the U-shaped structure. When in use, a hole is punched on the patient's hip bone, and the corresponding fixing nail is screwed into the hole for fixing.
所述体位架1为板状结构,且所述体位架1的长度方向的侧沿上设置有滑槽11,每一所述机械手4的下端均设置有与所述滑槽11相配合的滑卡41,且所有所述机械手4均能够在所述滑槽11内自由移动。The body position frame 1 is a plate structure, and the side edge of the length direction of the body position frame 1 is provided with a chute 11, and the lower end of each of the manipulators 4 is provided with a chute that matches the chute 11. card 41, and all the manipulators 4 can move freely in the chute 11.
所述滑槽11的横截面为凸字形结构,所述滑卡41的横截面为凸字形结构,且所述滑卡41的上端突出所述滑槽11,且所述滑卡41上表面上开设有沿竖直方向贯穿所述滑卡41的螺纹孔,所述螺纹孔内设置有固定杆42,所述固定杆42的下端能够与所述滑槽11内侧下表面接触形成固定连接,上端突出所述滑卡41且设置有用于旋转所述固定杆42的旋转把手43。The cross section of the chute 11 is a convex structure, the cross section of the sliding card 41 is a convex structure, and the upper end of the sliding card 41 protrudes from the chute 11, and the upper surface of the sliding card 41 is There is a threaded hole penetrating through the slide card 41 in the vertical direction, and a fixed rod 42 is arranged in the threaded hole. The lower end of the fixed rod 42 can contact with the inner lower surface of the chute 11 to form a fixed connection. The sliding card 41 protrudes and is provided with a rotating handle 43 for rotating the fixing rod 42 .
所述滑槽11的数量为两个,且分别设置于所述体位架1长度方向的两个侧沿上,根据需要在适应的所述滑槽11内滑入所述滑卡41进行使用即可。The number of the chute 11 is two, and they are respectively arranged on the two side edges of the length direction of the body position frame 1, and slide the slide card 41 into the adapted chute 11 as required for use. Can.
所述滑槽11的端部设置有限位块,使得所述机械手4的所述滑卡41仅能够从所述滑槽11的一个端部进入所述滑槽11内,防止在滑动所述机械手4时,因力度过大,使得所述机械手4从所述滑槽11的另一端脱出。The end of the chute 11 is provided with a limit block, so that the sliding card 41 of the manipulator 4 can only enter the chute 11 from one end of the chute 11, preventing the manipulator from sliding. 4 o'clock, because the force is too large, the manipulator 4 is disengaged from the other end of the chute 11 .
所述机械手4包括第一支撑臂44、第二支撑臂45和推压装置46,所述第一支撑臂44以能够沿其中心线自由转动的方式竖直设置于所述滑卡41上,所述第一支撑臂44的上端与所述第二支撑臂45的一端可转动连接,所述第二支撑臂45的另一端与所述推压装置46可转动连接,所述滑卡41满足所述机械手4在X轴的自由度,所述第一支撑臂44满足所述机械手4在Z轴的自由度,所述第二支撑臂45满足所述机械手4在Y轴的自由度,即使得所述推压装置46能够在所述体位架1的上方进行全自由度移动。The manipulator 4 includes a first support arm 44, a second support arm 45 and a pushing device 46, and the first support arm 44 is vertically arranged on the slide card 41 in a manner capable of freely rotating along its center line, The upper end of the first support arm 44 is rotatably connected to one end of the second support arm 45, and the other end of the second support arm 45 is rotatably connected to the pushing device 46. The sliding card 41 satisfies The degree of freedom of the manipulator 4 on the X axis, the first support arm 44 meets the degree of freedom of the manipulator 4 on the Z axis, and the second support arm 45 meets the degree of freedom of the manipulator 4 on the Y axis, even Therefore, the pressing device 46 can move with a full degree of freedom above the body position frame 1 .
优选的,所述第一支撑臂44和所述第二支撑臂45均为伸缩结构。Preferably, both the first support arm 44 and the second support arm 45 are telescopic structures.
所述第二支撑臂45通过第一旋转轴47可转动的设置于所述第一支撑臂44上,所述推压装置46通过第二旋转轴48可转动的设置于所述第二支撑臂45上,且所述第一旋转轴47和所述第二旋转轴48上均设置有螺纹和用于锁紧的锁紧螺栓49,所述第一支撑臂44与所述第二支撑臂45、所述第二支撑臂45与所述推压装置46均通过所述锁紧螺栓49进行锁定,当所述第二支撑臂45、所述推压装置46旋转到设定的位置后,通过所述锁紧螺栓49进行锁紧保证所述第一支撑臂44、所述第二支撑臂45、所述推压装置46不发生相对运动,增加挤压的精准度。The second support arm 45 is rotatably arranged on the first support arm 44 through the first rotating shaft 47, and the pushing device 46 is rotatably arranged on the second supporting arm through the second rotating shaft 48. 45, and the first rotation shaft 47 and the second rotation shaft 48 are provided with threads and locking bolts 49 for locking, the first support arm 44 and the second support arm 45 , the second support arm 45 and the pushing device 46 are locked by the locking bolt 49, when the second supporting arm 45 and the pushing device 46 are rotated to the set position, they are locked by The locking bolt 49 is locked to ensure that the first support arm 44 , the second support arm 45 , and the pushing device 46 do not move relative to each other, thereby increasing the precision of extrusion.
优选的,所述滑卡41上设置有第一旋转电机,所述第一旋转电机的输出端竖直设置,且其上设置有第一齿轮,所述第一支撑臂44与所述第一旋转电机并列设置,且所述第一支撑臂44上设置有与所述齿轮相匹配的第二齿轮,通过所述第一旋转电机的动作带动所述第一支撑臂44进行转动,并在所述第一支撑臂44旋转到一定角度后通过电机的扭矩保证所述第一支撑臂44不发生转动。Preferably, the slide card 41 is provided with a first rotating motor, the output end of the first rotating motor is vertically arranged, and a first gear is arranged on it, and the first supporting arm 44 is connected to the first rotating motor. The rotating motors are arranged side by side, and the first supporting arm 44 is provided with a second gear matched with the gear, the first supporting arm 44 is driven to rotate by the action of the first rotating motor, and After the first support arm 44 rotates to a certain angle, the torque of the motor ensures that the first support arm 44 does not rotate.
所述第一支撑臂44与所述第二支撑臂45的铰接端上设置有指针,所述第二支撑臂45上设置有与所述指针相配合的圆形刻度,所述圆形刻度的圆心处于所述第一旋转轴47的轴线上,且当所述第一支撑臂44与所述第二支撑臂45处于同一直线时所述指针指向所述圆形刻度的零点;所述第二支撑臂45与所述推压装置46的铰接端上设置有指针,所述推压装置46上设置有与所述指针相配合的圆形刻度,所述圆形刻度的圆心处于所述第二旋转轴48的轴线上,且当所述第二支撑臂45与所述推压装置46处于同一直线时所述指针指向所述圆形刻度的零点,所述圆形刻度可以直接在对应的位置进行雕刻,也可以在对应的位置进行贴放,且所述圆形刻度上设置有0°-360°的刻度线,且精度为1°,医生在转动所述机械手4时,根据患者的需要进行选择适应的角度进行转动,并根据所述指针和所述圆形刻度进行确定转动角度。A pointer is provided on the hinged end of the first support arm 44 and the second support arm 45, and a circular scale matching with the pointer is provided on the second support arm 45. The center of circle is on the axis of the first rotating shaft 47, and when the first support arm 44 and the second support arm 45 are in the same straight line, the pointer points to the zero point of the circular scale; A pointer is provided on the hinged end of the support arm 45 and the pushing device 46, and a circular scale matching with the pointer is provided on the pushing device 46, and the center of the circular scale is at the second on the axis of the rotating shaft 48, and when the second support arm 45 and the pushing device 46 are in the same straight line, the pointer points to the zero point of the circular scale, and the circular scale can be directly at the corresponding position For engraving, it can also be pasted at the corresponding position, and the scale line of 0°-360° is set on the circular scale, and the accuracy is 1°. When the doctor rotates the manipulator 4, according to the needs of the patient, Select a suitable angle to rotate, and determine the rotation angle according to the pointer and the circular scale.
优选的,所述第一支撑臂44和所述第二支撑臂45之间能够进行±150°转动,所述第二支撑臂45和所述推压装置46之间能够进行±150°转动。Preferably, the first support arm 44 and the second support arm 45 can rotate by ±150°, and the second support arm 45 and the pushing device 46 can rotate by ±150°.
所述滑卡41上围绕所述第一支撑臂44设置有圆形刻度,且所述第一支撑臂44上设置有与其相对应的指针,且当所述第二支撑臂45与所述体位架1的宽边平行时,指针指向圆形刻度的零点,在所述第一支撑臂44进行旋转时能够通过所述指针的读数实时读出所述第一支撑臂44的旋转角度。The sliding card 41 is provided with a circular scale around the first support arm 44, and the first support arm 44 is provided with a pointer corresponding to it, and when the second support arm 45 and the body position When the wide sides of the frame 1 are parallel, the pointer points to the zero point of the circular scale, and the rotation angle of the first support arm 44 can be read in real time through the reading of the pointer when the first support arm 44 rotates.
所述推压装置46包括底座461、旋转轴462、液压缸463和挤压头464,所述底座461的一端通过所述第二弯曲轴与所述第二支撑臂45可转动连接,所述旋转轴462通过承重轴承设置于所述底座461内部,且一端伸出所述底座461的端面,所述液压缸463的固定部设置于所述旋转轴462伸入所述底座461的端面上,且能够随所述旋转轴462进行转动,所述挤压头464可拆卸的设置于所述液压缸463的输出头上,且能够随所述液压缸463的动作远离和靠近所述底座461。The pushing device 46 includes a base 461, a rotating shaft 462, a hydraulic cylinder 463 and an extruding head 464. One end of the base 461 is rotatably connected to the second support arm 45 through the second bending shaft. The rotating shaft 462 is arranged inside the base 461 through a load-bearing bearing, and one end protrudes from the end face of the base 461, and the fixed part of the hydraulic cylinder 463 is arranged on the end face of the rotating shaft 462 extending into the base 461, And can rotate with the rotating shaft 462 , the extrusion head 464 is detachably arranged on the output head of the hydraulic cylinder 463 , and can move away from and close to the base 461 with the movement of the hydraulic cylinder 463 .
优选的,所述底座461上设置有第二旋转电机,所述第二旋转电机带动所述旋转轴462进行转动,进而带动所述挤压头464转动。Preferably, the base 461 is provided with a second rotating motor, and the second rotating motor drives the rotating shaft 462 to rotate, and then drives the extrusion head 464 to rotate.
所述液压缸463的伸缩带动所述挤压头464进行动作,对患者的脊柱进行挤压,优选的,所述挤压头464和所述液压缸463之间设置有压力传感器,且能够通过有线或无线的方式将压力的读数传递至医生处,使得医生对患者脊柱的压力有具体的判断,增加挤压的力度的精准。The expansion and contraction of the hydraulic cylinder 463 drives the extrusion head 464 to act to squeeze the patient's spine. Preferably, a pressure sensor is provided between the extrusion head 464 and the hydraulic cylinder 463, and can pass through The pressure readings are transmitted to the doctor in a wired or wireless way, so that the doctor can have a specific judgment on the pressure of the patient's spine and increase the accuracy of the squeezing force.
所述挤压头464远离所述底座461的一端的形状为开口朝向远离所述底座461方向的U型结构,通过U型结构的两个端部对患者的脊柱进行挤压,适用于从脊柱的正上方向下挤压。The shape of the end of the extruding head 464 away from the base 461 is a U-shaped structure with the opening facing away from the base 461, and the patient's spine is squeezed through the two ends of the U-shaped structure, which is suitable for extruding from the spine. Squeeze downwards directly above.
所述挤压头464远离所述底座461的一端的形状为空心圆柱状结构,优选的,所述空心圆柱状结构内部设置有弹簧和挤压块,所述弹簧一端与所述挤压头464靠近所述底座461的一端固定连接,另一端连接所述挤压块,所述挤压块能够在所述弹簧的带动下进入所述空心圆柱状结构内,且在所述弹簧的状态下,所述挤压块的远离所述弹簧的表面与所述空心圆柱状结构远离所述底座461的端面齐平,当使用时,所述空心圆柱状结构对患者的脊柱进行挤压,所述挤压块被挤入所述空心圆柱状结构内,增加挤压强度和定位性能。The shape of the end of the extruding head 464 away from the base 461 is a hollow cylindrical structure. Preferably, a spring and an extruding block are arranged inside the hollow cylindrical structure, and one end of the spring is connected to the extruding head 464. One end close to the base 461 is fixedly connected, and the other end is connected to the extruding block, the extruding block can enter the hollow cylindrical structure driven by the spring, and in the state of the spring, The surface of the extrusion block away from the spring is flush with the end surface of the hollow cylindrical structure away from the base 461. When in use, the hollow cylindrical structure compresses the spine of the patient. A compact is extruded into the hollow cylindrical structure, increasing the extrusion strength and positioning performance.
优选的,所述挤压块与所述空心圆柱状结构齐平的端面朝向所述弹簧凹陷形成球缺状凹陷,增加挤压块的定位性能。Preferably, the end surface of the extrusion block that is flush with the hollow cylindrical structure is recessed toward the spring to form a spherical depression, which increases the positioning performance of the extrusion block.
所述挤压头464远离所述底座461的一端的形状为两个并列设置的且开口朝向远离所述底座461方向的U型结构,即为四爪状,增加接触面积和接触位置,进而增加挤压的稳定性。The shape of the end of the extruding head 464 away from the base 461 is two U-shaped structures arranged side by side with the opening facing away from the base 461, that is, four-claw shape, which increases the contact area and contact position, thereby increasing the extrusion stability.
所述挤压头464为球形机械手,所述球形机械手包括气缸、导气管、球状挤压头464和设置于所述球状挤压头464内的颗粒,所述气缸固定设置于所述液压缸463的输出部上,所述球状挤压头464设置于所述液压缸463的远离所述底座461的端部,且通过所述导气管与所述气缸连通,所述颗粒设置于所述球状挤压头464内,且能够在所述气缸的抽取下进入所述导气管内,所述球状挤压头464由柔性材料制成,优选的为硅胶材料,所述颗粒的总体积为所述球状挤压头464内部体积的三分之一至二分之一,在使用时,将所述球状挤压头464向患者的脊柱靠近,并使所述球状挤压头464变形,当达到设定的压力后,所述气缸将所述球状挤压头464内部的气体抽出,使得所有所述颗粒完全挤压在所述球状挤压头464内,此时所有所述颗粒分别对所述球状挤压头464所包覆的脊柱进行多方向挤压,防止了所述挤压头464在挤压后发生滑动等动作对患者造成二次伤害。The extruding head 464 is a spherical manipulator, and the spherical manipulator includes a cylinder, an air guide tube, a spherical extruding head 464 and particles arranged in the spherical extruding head 464, and the air cylinder is fixedly arranged on the hydraulic cylinder 463 The spherical extrusion head 464 is arranged on the end of the hydraulic cylinder 463 away from the base 461, and communicates with the cylinder through the air duct, and the particles are arranged on the spherical extrusion head. In the pressure head 464, and can enter the air guide tube under the extraction of the cylinder, the spherical extrusion head 464 is made of flexible material, preferably silica gel material, the total volume of the particles is the spherical One-third to one-half of the internal volume of the extruding head 464. When in use, the spherical extruding head 464 is approached to the patient's spine, and the spherical extruding head 464 is deformed. After the pressure, the air cylinder pumps out the gas inside the spherical extrusion head 464, so that all the particles are completely extruded in the spherical extrusion head 464. The spine covered by the indenter 464 is extruded in multiple directions, which prevents the extruding head 464 from sliding and other actions after extrusion to cause secondary injury to the patient.
所述旋转轴462远离所述底座461的端部设置有第二螺纹孔,所述挤压头464靠近所述旋转轴462的一端设置有与所述第二螺纹孔相配合的外螺纹,方便对设置在旋转轴462上的挤压头464进行更换。The end of the rotating shaft 462 away from the base 461 is provided with a second threaded hole, and the end of the extruding head 464 close to the rotating shaft 462 is provided with an external thread matched with the second threaded hole, which is convenient The extrusion head 464 provided on the rotating shaft 462 is replaced.
以上所述,仅为本发明的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
Claims (6)
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| CN108652730B (en) * | 2018-04-03 | 2019-11-08 | 李涛 | An implantable scoliosis surgery auxiliary adjustable bending plate |
| CN108904111A (en) * | 2018-05-28 | 2018-11-30 | 康玉山 | Full-automatic four-dimensional fixed point orientation spine correcting bed |
| CN109758176A (en) * | 2019-03-07 | 2019-05-17 | 中国科学院大学宁波华美医院(宁波市第二医院) | A body frame for orthopedic fluoroscopy |
| CN112716541B (en) * | 2021-01-12 | 2022-02-18 | 山东大学齐鲁医院 | Cervical vertebra anterior surgery gap retractor |
| CN118697446B (en) * | 2024-06-26 | 2025-02-11 | 上海斯潘威生物技术有限公司 | A rod bender for connecting rods in orthopedic spine surgery and a preparation method thereof |
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