Navigation instrument handss are used in a kind of vertebral column digital operationTechnical field
The present invention relates to a kind of robot arm, more particularly to navigation instrument handss are used in a kind of operation of vertebral column digital.
Background technology
At present there are thousands of spinal fracture, tumor of spine, scoliosis, intervertebral disk hernia, vertebra in the annual whole worldManaging narrow, spondylolishesises patient carries out various spinal operations, such as fixed, vertebra in laminectomy for decompression, pedicle nailBody plasty, Nuclectomy etc..Because the vital tissues such as spinal cord, blood vessel and internal organs are located at around intraspinal tube or vertebra, operation is lostBy mistake such as pedicle nail is inserted to penetrate pedicle of vertebral arch cortical bone, nucleus pulposus clamp and go deep into abdominal cavity and may cause the calamities such as paralysis or even deathConsequence.Therefore, be accurately positioned, precisely operate field of spinal surgery tool be of great significance.Currently used for spinal surgeryThe method of positioning is a lot, so that pedicle nail is inserted as an example, can substantially be summarized as five kinds：1 artificial vertebral surface bone mark is determinedPosition is aided with the method such as the Electrophysiology and electrical impedance monitoring such as x-ray positive side position perspective, somatosensory evoked potential and electromyogram and insertsDirection, clinically generally adopts at present, and precision is poor.2 computer assisted navigations it be based on global positioning system（GPS）PrincipleGuide, the data that will be obtained after preoperative targeted vertebra CT, MRI image three-dimensional reconstruction are stored in " virtual world coordinate system ",Intraoperative position device is in real time again by the locus foundation of targeted vertebra and operating theater instruments in " real-world coordinates system ", Ran HoutongThe matching guiding pedicle for crossing the two coordinate systems is inserted.Due to easily by image drift, tracing system it is disturbed, can not be real-timeThe impact of many factors such as dynamic monitoring, document report the method is used for Thoracolumbar disk, and cumbersome time-consuming.3 digitizeds are ledSimilar with computer assisted navigation principle to this method of template, simply preoperative need are by computer controls foundation vertebral surfaceThe reserved pilot hole masterplate of shape processing, is buckled in vertebral surface guiding pedicle nail and inserts in art.It will be apparent that this method easily receives vertebraThe impact of bone surface situation, needs bone surface in a big way to appear, and surface relief change is bigger, and template is coincide with bone surfaceDegree is higher, and guiding accuracy is also higher.Do not appearing or very little appears in the Minimally Invasive Surgerys such as the percutaneous of vertebral surface, the methodIt is difficult to apply.The Spineassiant of 4 operating robots such as Israel（Spinal column assistant), Korea based on optically tracked handssArt robot-SPINEBOT, the robot based on the operation guiding system of C arm machine 2D image, the guiding of O arms in art of GermanyArt system etc..Need to guide using computer assisted navigation principle or by high-end image documentation equipment, not only ray exposure in artMany costs are also costly.(5) localization method some other in other prior arts, such as framework are positioned, due to invasive at presentTend to superseded.It is higher using scanning cover registration precision based on the stereotactic surgery system of CT, MRI scan in specific underframe, butCan only carry out in CT or MRI rooms, application is limited to；Registered using body surface mark, due to it cannot be guaranteed that in art and preoperative positionThe movement of consistent and skin and positioning precision is relatively low, be only used for the less demanding bone surgery of performance accuracy.
In view of this, it would be highly desirable to for above-mentioned technical problem, a kind of spinal column number positioned based on microgap of the design that looks for another wayWord surgery systems.Meanwhile, for the ease of guiding and the positioning of each surgical device, need a kind of automatization's navigation instrument handss to enterRow effectively coordinates.
The content of the invention
The purpose of the present invention is exactly to solve the above-mentioned problems in the prior art, there is provided a kind of vertebral column digital handssArt navigation instrument handss.
The purpose of the present invention is achieved through the following technical solutions：
Navigation instrument handss are used in a kind of vertebral column digital operation, include robot arm body, wherein：Described robot arm bodyTop is provided with mounting assembly, and described robot arm body lower section is provided with guidance set, is provided with described guidance setPositioning component.
Further, navigation instrument handss are used in a kind of above-mentioned vertebral column digital operation, wherein：Described mounting assembly is companyConnection interface, described connecting interface is arranged on robot arm body top, and in described connecting interface detent is provided with.
Further, navigation instrument handss are used in a kind of above-mentioned vertebral column digital operation, wherein：Described guidance set isGuide pipe, in described guide pipe accommodating chamber is provided with.
Further, navigation instrument handss are used in a kind of above-mentioned vertebral column digital operation, wherein：Described guide pipe peripheral hardwareThere is reinforcement side.
Yet further, navigation instrument handss are used in a kind of above-mentioned vertebral column digital operation, wherein：Described positioning component isHolder, described holder is set in the top of guidance set.
The advantage of technical solution of the present invention is mainly reflected in：Rely on the presence of guidance set, it is ensured that operation uses processIn each operation time limit can setting position pass through, especially can allow appearance pedicle nail, intervertebral fusion componentPassed through with setting means.Meanwhile, by the presence of connecting interface, can be stably connected with various operation devices.Furthermore, thisInvention simple structure, it is easy to manufacture.
Description of the drawings
The purpose of the present invention, advantage and feature, by by the non-limitative illustration of preferred embodiment below carry out diagram andExplain.
Fig. 1 is the organigram of this vertebral column digital operation navigation instrument handss.
| 1 | Robot arm body | 2 | Connecting interface |
| 3 | Detent | 4 | Guide pipe |
| 5 | Accommodating chamber | 6 | Strengthen side |
| 7 | Holder | | |
Specific embodiment
Navigation instrument handss use in a kind of vertebral column digital operation as shown in Figure 1, include robot arm body 1, its it is special itPlace is：The top of robot arm body of the present invention 1 is provided with mounting assembly.Specifically, it is contemplated that subsequent procedures devicePassing through for part, possesses preferably guide effect, and the lower section of robot arm body 1 is provided with guidance set.Meanwhile, on guidance setPositioning component is installed.So, it is ensured that the interim positioning of surgical device is needed, it is ensured that smoothly navigation.
Just from the point of view of the preferably embodiment of the present invention one, mounting assembly is connecting interface 2.Meanwhile, in order to meet each handsThe unified connection of art device needs, and connecting interface 2 is standard interface commonly used in the trade.Also, in order to meet and follow-up equipmentConnection facility, carry out effective verticalization navigation guide, connecting interface 2 is arranged on the top of robot arm body 1.Furthermore, it is considered toTo after follow-up equipment connection, overall is not in during use to be provided with detent in unnecessary loosening, connecting interface 23。
From the point of view of further, the hold pedicle nail, intervertebral fusion component for the ease of various models is passed through, and is follow-upOperation provides facility, and the guidance set for adopting is guide pipe 4, and in the guide pipe 4 accommodating chamber 5 is provided with.Simultaneously, it is contemplated that canThe bulk strength of guide pipe 4 is improved, unnecessary deformation is prevented, guide pipe 4 is externally provided with reinforcement side 6.
From the point of view of further temporarily, it is contemplated that in operation implementation process, individual surgical apparatus is easily positioned, adoptedPositioning component is holder 7.Meanwhile, allow holder 7 to be set in the top of guidance set, it is convenient for operation.
After above-mentioned character express can be seen that using the present invention, the presence of guidance set is relied on, it is ensured that operationEach operation time limit during use can pass through in the position of setting, can especially allow and hold pedicle nail, intervertebralFusion component is passed through with setting means.Meanwhile, by the presence of connecting interface, can stably be connected with various operation devicesConnect.Furthermore, simple structure of the present invention, it is easy to manufacture.
These embodiments are only the prominent examples for applying technical solution of the present invention, all to take equivalent or equivalent transformationAnd the technical scheme for being formed, all fall within the scope of protection of present invention.