A kind of minimally invasive spine surgical robot end direction sleeveTechnical field
The present invention relates to a kind of operating robot ends to be directed toward sleeve, and in particular to a kind of minimally invasive spine surgical robot endIt is directed toward sleeve in end.
Background technique
It is nail pedicle fix operation, titanium rete operation, vertebra than more typical three kinds of art formulas in minimally invasive spine surgicalConvex molding operation after body, it is all clinically according to doctor at present that these three art formulas, which require to squeeze into Kirschner wire in pedicle of vertebral arch,Experience determines position and the posture into needle, has biggish difficulty.It is big that existing spinal operation robot end is directed toward sleeveAll be it is integrated, have biggish working space requirement to robot during surgery, largely limit robot in clinicOn application range.
Summary of the invention
The present invention be solve existing spinal operation robot end be directed toward sleeve be it is integrated, during surgery to robotThere is biggish working space requirement, limit the problem of robot clinically applies, a kind of minimally invasive spine surgical machine is providedIt is directed toward sleeve in people end.
Sleeve is directed toward in a kind of minimally invasive spine surgical robot end of the invention, and composition is fixed including primary lock knob, L shapePosition plate, bracket and seperated sleeve assembly, primary lock knob are multi-diameter shaft, and multi-diameter shaft is followed successively by knob, optical axis and spiral shell from left to rightColumn, seperated sleeve assembly are made of left semicircle shape sleeve, right semicircular sleeve, pin shaft and locking pin, left semicircle shape sleeve and the right sideHalf circular sleeve fastens setting and constitutes circular sleeve, and left semicircle shape sleeve and the side junction of right semicircular sleeve pass through pin shaftHinged, left semicircle shape sleeve and the other side junction of right semicircular sleeve are linked together by locking pin, and left halfThe outer wall of circular sleeve is equipped with the first mounting groove, and the riser back side of L shape positioning plate is equipped with flange, by outside extremely on riser and flangeIt is inside successively arranged internal thread hole and unthreaded hole, the aperture of internal thread hole is less than the aperture of unthreaded hole, and the diameter of optical axis is less than internal thread holeAperture, the stud on primary lock knob is then passed through unthreaded hole after being threaded through internal thread hole, and optical axis is arranged in internal thread hole and unthreaded holeIn, one end of bracket and L shape positioning plate are affixed, and the other end and left semicircle shape sleeve of bracket are affixed, on the riser of L shape positioning plateIf there are two location holes.
Further, the transverse slat lower end surface of the L shape positioning plate is equipped with inclined-plane.
Further, the outer wall of the left semicircle shape sleeve is equipped with the first mounting groove, and inclined-plane is equipped with the second mounting groove.
Further, the bracket is vertically arranged with the inclined-plane on positioning plate.
Further, the oblique angle on the inclined-plane is 30 °~60 °.
Technical solution of the present invention has the advantages that
One, it is fission that sleeve design is directed toward in end by the present invention, and realizes quickly connecting for sleeve by pin shaft and locking pinConnect, and can open at any time, adapt to different types of operating robot so that robot clinically apply it is unrestricted.
Two, the present invention can be quickly connected the position and appearance for accurately to provide that Kirschner wire needs to squeeze into robotState, structure is simple, easy to use, has very high safety and reliability.
Three, it is removed from operating robot when sleeve is directed toward in minimally invasive spine surgical robot end of the invention by needsWhen, due to devising internal thread hole, when stud is retracted into internal thread hole position, stud can be threadedly coupled with internal thread hole, be madeWinner's locking knob will not be detached from from L shape positioning plate, this maintains the ring of operating room for preventing primary lock knob from fallingBorder is very helpful.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is the perspective view of main locking knob 1；
Fig. 3 is the perspective view of locking pin 4-4；
Fig. 4 is the perspective view of left semicircle shape sleeve 4-1；
Fig. 5 is the perspective view of right semicircular sleeve 4-2；
Fig. 6 is whole main view of the invention.
Specific embodiment
Specific embodiment 1: illustrating that present embodiment, present embodiment include primary lock knob 1, L in conjunction with FIG. 1 to FIG. 6Shape positioning plate 2, bracket 3 and seperated sleeve assembly 4, primary lock knob 1 are multi-diameter shaft, and multi-diameter shaft is followed successively by knob 1- from left to right1, optical axis 1-2 and stud 1-3, seperated sleeve assembly 4 is by left semicircle shape sleeve 4-1, right semicircular sleeve 4-2, pin shaft 4-3 and lockTight pin 4-4 composition, left semicircle shape sleeve 4-1 and right semicircular sleeve 4-2 fasten setting and constitute circular sleeve, left semicircle shape sleeveThe side junction of 4-1 and right semicircular sleeve 4-2 is hinged by pin shaft 4-3, left semicircle shape sleeve 4-1 and right semi-circleThe other side junction of shape sleeve 4-2 is linked together by locking pin 4-4, and the outer wall of left semicircle shape sleeve 4-1 is equipped with theThe back side riser 2-1 of one mounting groove 4-1-1, L shape positioning plate 2 be equipped with flange 2-2, riser 2-1 and flange 2-2 on from outside to inside according toSecondary to be equipped with internal thread hole 2-3 and unthreaded hole 2-4, the aperture of internal thread hole 2-3 is less than the aperture of unthreaded hole 2-4, and the diameter of optical axis 1-2 is smallUnthreaded hole 2-4, and light are then passed through after the stud 1-3 on the aperture of internal thread hole 2-3, primary lock knob 1 is threaded through internal thread hole 2-3Axis 1-2 be arranged in internal thread hole 2-3 and unthreaded hole 2-4, one end of bracket 3 and L shape positioning plate 2 are affixed, the other end of bracket 3 andLeft semicircle shape sleeve 4-1 is affixed, is set on the riser 2-1 of L shape positioning plate 2 there are two location hole 2-6.Location hole 2-6 is used for and handIt plays the role of positioning when the A connection of art robot.Seperated sleeve assembly 4 is for clamping reamer.
Specific embodiment 2: the transverse slat lower end of the L shape positioning plate 2 of embodiment is described with reference to Fig.6, present embodimentFace is equipped with inclined-plane 2-5.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: the left semicircle shape sleeve 4-1's of embodiment is described with reference to Fig.6, present embodiment is outerWall is equipped with the first mounting groove 4-1-1, and inclined-plane 2-5 is equipped with the second mounting groove 2-5-1.Design is easily installed bracket 3 in this way, i.e.,One end of bracket 3 is arranged in the second mounting groove 2-5-1, and bracket 3 and positioning plate 2 weld, and the other end setting of bracket 3 is theIn one mounting groove 4-1-1, and bracket 3 and left semicircle shape sleeve 4-1 are welded.Other compositions and connection relationship and specific embodimentTwo is identical.
Specific embodiment 4: the bracket 3 of embodiment is described with reference to Fig.6, present embodiment with it is oblique on positioning plate 2Face 2-2 is vertically arranged.Bracket 3 is vertically arranged with the inclined-plane 2-2 on positioning plate 2.Design is easily installed bracket 3 in this way.Other groupsAt and connection relationship be the same as the specific implementation mode 3.
Specific embodiment 5: the bevel angle α of the inclined-plane 2-2 of embodiment is described with reference to Fig.6, present embodiment is 30 °~60 °.Other compositions and connection relationship are identical as specific embodiment four.
Specific embodiment 6: the bevel angle α of the inclined-plane 2-2 of embodiment is described with reference to Fig.6, present embodiment is 45 °.Other compositions and connection relationship are identical as specific embodiment five.
The working principle of the invention:
Stud 1-3 on primary lock knob 1 is threadedly coupled with threaded hole corresponding on operating robot A, utilizes L shapeThe L shape end face of positioning plate 2 and location hole 2-6 are accurately positioned.Seperated sleeve assembly 4 is used to clamp reamer, and due to beingFission design, under the action of locking pin 4-4, can open and close at any time, reduce the index request to robot, be applicable in notIsostructural operating robot.Operating robot is improved in the application of orthopaedics Minimally Invasive Surgery.