CN101744656B - Minimally invasive spine surgical robot against nerve injuries - Google Patents

Abstract

The invention relates to a minimally invasive spine surgical robot against nerve injuries, which consists of a mechanical arm, a moving unit and a main control system. The minimally invasive spine surgical robot is characterized in that the robot has the function of regional protection or a regional protection net, the former forms a region by taking a certain point away from nerves as the center, a surgical instrument can move freely in the region, but not exceed the periphery and the bottom surface of the region, the depth from the point to the bottom surface of the region is set to be equal to or slightly larger than the shortest distance from the point to the surface of the nerves, thereby preventing injuring the nerves; and the latter forms the regional protection net which is similar to the shape of the nerves by using a plurality of points nearby the surface of the nerves, the surgical instrument can move freely on the net, but not exceed the net downwards, thereby also preventing injuring the nerves. The minimally invasive spine surgical robot has the advantages of safety, reliability, high precision, high efficiency and effects of reducing the working intensity of a doctor, facilitating the medical training, carrying out remote surgery and the like, and is applicable to minimally invasive decompression surgery treatment of a plurality of spinal diseases, such as spinal fracture, spinal tumors and the like.

Description

Minimally invasive spine surgical robot against nerve injuries

Technical field

The invention belongs to a kind of medical surgical instrument field, particularly a kind of minimally invasive spine surgical robot against nerve injuries.

Background technology

As everyone knows, spine disorders is commonly encountered diseases, frequently-occurring disease, as spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis etc., its therapeutic method of surgery is a lot, various Minimally Invasive Surgerys (as intervertebral disc operation under chemonucleolysis, pd, laser diskectomy, plasma radiofrequency report of nucleoplasty, scope) that get up as traditional open surgery and development in recent years etc.Although these methods have its advantage separately, no matter be traditional open surgery or Minimally Invasive Surgery, all face a same risk, i.e. may there is nerve injury, cause catastrophic consequence in operation.

Summary of the invention

While the object of this invention is to provide a kind of spinal operation, can effectively prevent nerve injury, not only safe and efficient and wound but also little minimally invasive spine surgical robot.

The technical scheme that the application provides is as follows:

A minimally invasive spine surgical robot against nerve injuries, it is by mechanical arm, mobile unit and master control system form, and described mechanical arm comprises machine seat board, service aisle, suction pump and move up and down drive mechanism and motor, nerve retractor and move up and down drive mechanism and motor, operating theater instruments seat, operating theater instruments moves up and down and rotating actuator and motor, endoscope and inside of human body organizational structure display system, described mobile unit comprises operation chassis, directions X moves and rotary rail and motor, Y-direction moving guide rail and motor, Z direction moves and rotary rail and motor, and described master control system is by control station, computer, hand controller, outer scene display system, motor driver forms, described master control system generates " area protection " function, by apart from neural certain form a region centered by a bit, operating theater instruments can freely-movable in this region but can not be gone beyond its surrounding and bottom surface, setting the beeline of this point to the degree of depth of this bottom surface, region and this point to neural surface equates or is slightly larger than the latter, can prevent injured nerve, guarantee neural safety, or, a plurality of points that described master control system gets neural surface are that reference point forms " area protection net or a barrier " close with neural profile, operating theater instruments can go up freely-movable but can not go beyond this net or barrier downwards at this " area protection net or barrier ", equally also can prevent injured nerve, guarantee neural safety.

Preferably, its service aisle is inside and outside two-layer, has two grooves on the inwall of internal layer, can hold two nerve retractoies and pass through.

Preferably, described operating theater instruments comprises " mushroom head " pliers, rounded the expanding of described " mushroom head " pliers inner prop front end, and described inner prop has a sleeve pipe outward.

The present invention has the following advantages: 1, safe and reliable; 2, precision is high, good stability; 3, efficiency is high, can shorten operating time; 4, can reduce doctor's working strength; 5, be convenient to medical science training; 6, can carry out remote operation.Be applicable to multiple spinal disease as the micro-wound pressure-reduced operative treatment of spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis etc., also can be for inserting pedicle screw and vertebroplasty.

Accompanying drawing explanation

Fig. 1 is minimally invasive spine surgical robot side view;

Fig. 2 is minimally invasive spine surgical robot end-view;

Fig. 3 is minimally invasive spine surgical robot top view;

Fig. 4 is partial enlarged drawing and the side view of the mechanical arm of Fig. 1;

Fig. 5 is master control system schematic diagram;

Fig. 6 is " mushroom head " pliers top schematic diagram.

In above Fig. 1-6:

Operation chassis 1,mechanical arm 2,mobile unit 3, master control system 4, control station 5, endoscope 6, suction pump 7,nerve retractor 8,service aisle 9,operating theater instruments 10, operatingtheater instruments seat 11,machine seat board 12,gyroaxis 13,push rod 14, controlleddevice 15, outerscene display system 16, " mushroom head "pliers 17.

The specific embodiment

Technical scheme of the present invention is to realize like this.Minimally invasive spine surgical robot against nerve injuries is comprised of mechanical arm, mobile unit and master control system three parts.Mechanical arm comprises machine seat board, service aisle, suction pump and moves up and down drive mechanism and motor, nerve retractor and move up and down drive mechanism and motor, operating theater instruments seat, operating theater instruments moves up and down and rotating actuator and motor, endoscope and inside of human body organizational structure display system etc.Mobile unit comprises operation chassis, directions X moves moves and rotary rail and motor with rotary rail and motor, Y-direction moving guide rail and motor, Z direction.Master control system is comprised of control station, computer, hand controller, outer scene display system, motor driver, control software etc.Take hernia of lumbar intervertebral disk as example, during operation, prior to center work one after patient's waist, be about the little otch of 1.5cm, by hand controller, send instruction again, mobile mechanical arm makes service aisle be entered in human body by otch, along spinous process left or right side, drop to lamina surface and compress gently again, to prevent that muscular tissue from entering in service aisle.Attitude and the penetration depth of suction pump and operating theater instruments are controlled in continuation by hand controller, when lamina surface is touched when some gently in the end of operating theater instruments (as drill bit), start master control system by " area protection " function of controlling Software Create, centered by this touch points, forming an operating theater instruments within it can freely-movable but can not go beyond the region of its surrounding and bottom surface, touch points all can be set to the degree of depth of this bottom surface, region and the distance of region surrounding, for example set touch points and to the degree of depth of this bottom surface, region, be slightly larger than the vertebral plate thickness of preoperative CT measurement, drill bit is opened when " bone window " bores vertebral plate and can be broken through smoothly vertebral plate sclerotin like this, but can not enter canalis spinalis too deeply presses nerve or slightly presses also in nerve allows the scope of pressurized, be unlikely nerve is sustained damage.Because nerve is subcircular structure, should " zone of protection " be positioned at its tangent position, touch points is minimum to the degree of depth of this bottom surface, region, when operating theater instruments " expands bone window " by touch points to this region surrounding motion, also just far away apart from nervous tissue, so also just safer.The setting of " area protection " size is different with wanting the difference of neuroprotective surface condition, when surface is more smooth " area protection " scope can be larger, more deeply; When surface undulation changes greatly, (as nerve root initial part) " area protection " scope is smaller, more shallow.A plurality of points that master control system also can get neural surface are that reference point forms " area protection net or a barrier " close with neural profile, operating theater instruments can go up freely-movable but can not go beyond this net or barrier downwards at this " area protection net or barrier ", equally also can prevent injured nerve, guarantee neural safety.To likely injuring each neural step operation, before operation, must so make protection initialization, can under protection, remove ligamenta flava like this, appear spinal dura mater, nerve root and the outstanding intervertebral disc of excision, thereby avoid injured nerve, guarantee neural safety.In addition, during operating theater instruments rotary work, adopt the mode of low-angle rotating, with antiwind injured nerve, guarantee neural safety.

In like manner, control the degree of depth that operating theater instruments enters intervertebral space, make it can not cross anterior margin of vertebral body, can prevent from damaging intraperitoneal trunk.

Details are as follows by reference to the accompanying drawings for structure of the present invention.

Minimally invasive spine surgical robot is comprised ofmechanical arm 2,mobile unit 3 and master control system 4 three parts.Mechanical arm comprisesmachine seat board 12,service aisle 9, suction pump 7 and moves up and down drive mechanism and motor,nerve retractor 8 and move up and down drive mechanism and motor, operatingtheater instruments seat 11,operating theater instruments 10 move up and down and rotating actuator and motor, endoscope 6 and inside of human body organizational structure display system etc.Mobile unit comprisesoperation chassis 1, directions X moves moves and β angle rotation (push rod 14pusher seat board 12wraparound rotating shafts 13 are rotated) guide rail and motor with α angle rotary rail and motor, Y-direction moving guide rail and motor, Z direction.Master control system 4 is comprised of control station 5 control stations, computer,hand controller 15, outerscene display system 16, motor driver and control software etc.Take hernia of lumbar intervertebral disk as example, during operation, prior to center work one after patient's waist, be about the little otch of 1.5cm, by hand controller, send instruction again, mobilemechanical arm 2 makesservice aisle 9 be entered in human body by otch, along spinous process left or right side, drop to lamina surface and compress gently again, to prevent that muscular tissue from entering in service aisle 9.Attitude and the penetration depth of suction pump 7 andoperating theater instruments 10 are controlled in continuation by hand controller, when lamina surface is touched when some gently in the end of operating theater instruments 10 (as drill bit), start master control system 4 by " area protection " function of controlling Software Create, centered by this touch points, forming anoperating theater instruments 10 within it can freely-movable but can not go beyond the region of its surrounding and bottom surface, touch points all can be set to the degree of depth of this bottom surface, region and the distance of region surrounding, for example set touch points and to the degree of depth of this bottom surface, region, be slightly larger than the vertebral plate thickness of preoperative CT measurement, drill bit is opened when " bone window " bores vertebral plate and can be broken through smoothly vertebral plate sclerotin like this, but can not enter canalis spinalis too deeply presses nerve or slightly presses also in nerve allows the scope of pressurized, be unlikely nerve is sustained damage.Because nerve is subcircular structure, should " zone of protection " be positioned at its tangent position, touch points is minimum to the degree of depth of this bottom surface, region, whenoperating theater instruments 10 " expands bone window " by touch points to this region surrounding motion, also just far away apart from nervous tissue, so also just safer.The setting of " area protection " size is different with wanting the difference of neuroprotective surface condition, when surface is more smooth " area protection " scope can be larger, more deeply; When surface undulation changes greatly, (as nerve root initial part) " area protection " scope is smaller, more shallow.A plurality of points that control software also can get neural surface are that reference point forms " an area protection net " close with neural profile,operating theater instruments 10 can go up freely-movable but can not go beyond this net downwards at this " area protection net ", equally also can prevent injured nerve, guarantee neural safety.To likely injuring each neural step operation, before operation, must so make protection initialization, can under protection, remove ligamenta flava like this, appear spinal dura mater, nerve root and the outstanding intervertebral disc of excision, thereby avoid injured nerve, guarantee neural safety.In addition, duringoperating theater instruments 10 rotary work, adopt the mode of low-angle rotating, with antiwind injured nerve, guarantee neural safety.

In like manner, control the degree of depth that operating theater instruments enters intervertebral space, make it can not cross anterior margin of vertebral body, can prevent from damaging intraperitoneal trunk.

One side has been performed the operation in the time of need carrying out offside operation, andmechanical arm 2 is rotated to γ angle, can complete commutation and carry out offside operation technique.

Operating theater instruments 10 comprises that " mushroom head "pliers 17, abrasive drilling are first-class, because its number of packages is few, conversion fast, and is continuous operation (needn't repeatedly pass in and out service aisle 9), therefore can improve operation efficiency, shortens operating time.

The present invention has the following advantages: 1, safe and reliable; 2, precision is high, good stability; 3, efficiency is high, can shorten operating time; 4, can reduce doctor's working strength; 5, be convenient to medical science training; 6, can carry out remote operation.Be applicable to multiple spinal disease as the micro-wound pressure-reduced operative treatment of spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, spinal canal stenosis, spondylolishesis etc., also can be for inserting pedicle screw and vertebroplasty.

Claims (3)

1. a minimally invasive spine surgical robot against nerve injuries, it is by mechanical arm, mobile unit and master control system form, described mechanical arm comprises machine seat board, service aisle, suction pump and move up and down drive mechanism and motor, nerve retractor and move up and down drive mechanism and motor, operating theater instruments seat, operating theater instruments moves up and down and rotating actuator and motor, endoscope and inside of human body organizational structure display system, described mobile unit comprises operation chassis, directions X moves and rotary rail and motor, Y-direction moving guide rail and motor, Z direction moves and rotary rail and motor, described master control system is by control station, computer, hand controller, outer scene display system, motor driver forms, it is characterized in that, described master control system generates " area protection " function, by apart from neural certain form a region centered by a bit, operating theater instruments can freely-movable in this region but can not be gone beyond its surrounding and bottom surface, setting the beeline of this point to the degree of depth of this bottom surface, region and this point to neural surface equates or is slightly larger than the latter, can prevent injured nerve, guarantee neural safety, or, a plurality of points that described master control system gets neural surface are that reference point forms " area protection net or a barrier " close with neural profile, operating theater instruments can go up freely-movable but can not go beyond this net or barrier downwards at this " area protection net or barrier ", equally also can prevent injured nerve, guarantee neural safety.

2. minimally invasive spine surgical robot against nerve injuries according to claim 1, is characterized in that, its service aisle is inside and outside two-layer, has two grooves on the inwall of internal layer, can hold two nerve retractoies and pass through.

3. minimally invasive spine surgical robot against nerve injuries according to claim 1, is characterized in that, described operating theater instruments comprises " mushroom head " pliers, rounded the expanding of described " mushroom head " pliers inner prop front end, and described inner prop has a sleeve pipe outward.

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