技术领域technical field
本发明涉及医疗器械领域，具体涉及一种用于脊柱手术的导航定位结构。The invention relates to the field of medical instruments, in particular to a navigation and positioning structure for spinal surgery.
背景技术Background technique
脊柱外科手术需要依靠C型臂或O型臂等影像设备对脊柱进行扫描定位。手术过程中医生需要根据术中影像学检查情况结合术前影像学检查结果对患者脊柱解剖结构的体表定位进行大致判断，在微创穿刺操作或者开放手术内固定置入前的定位及操作方向高度依赖医生的经验，难以做到精确操作。如果微创穿刺操作或者开放手术内固定置入方向定位不准确，则极有可能损伤血管、神经等重要解剖结构，引起严重后果。因此，脊柱外科手术操作迫切需要能够辅助医生对脊柱解剖结构进行精确定位的导航定位结构。Spine surgery needs to rely on imaging equipment such as C-arm or O-arm to scan and position the spine. During the operation, the doctor needs to roughly judge the body surface positioning of the patient's spinal anatomical structure based on the intraoperative imaging examination and the preoperative imaging examination results. Highly dependent on the doctor's experience, it is difficult to achieve precise operation. If the minimally invasive puncture operation or the positioning of the internal fixation in open surgery is inaccurate, it is very likely to damage important anatomical structures such as blood vessels and nerves, causing serious consequences. Therefore, spinal surgery operations urgently need a navigation and positioning structure that can assist doctors in accurately positioning the anatomical structure of the spine.
Spine Assist是一种较为简单的机器人设备，是为一个具有六个自由度的并联机械臂，为半主动模式，用以定位和维持脊柱手术过程中手术工具的轨迹。设备与骨性结构的连接可以通过将特殊设计的桥接设备安装在棘突夹上来实现，也可以通过把T型悬停微创支架使用克氏针安装在棘突上，并将两枚固定针直接固定在髂后上棘上来完成。然而此结构采用的并联机械臂设计结构过于复杂，对动力结构性能要求较高，控制算法复杂，造价昂贵。运动主体结构内部的6个连杆锁定力度较低，支撑力线方向与连杆运动方向一致，结构稳定性差。除此之外，其安装过程耗时较长，对于严重脊柱畸形的患者，因其并联结构，活动范围有限，因此无法有效进行椎弓根螺钉穿刺点的准确定位。最初，该系统主要用于椎弓根螺钉和经椎板螺钉的置入。因此应用场景要求较高，应用范围较窄，无法有效推广。Spine Assist is a relatively simple robotic device. It is a parallel robotic arm with six degrees of freedom and is in semi-active mode. It is used to locate and maintain the trajectory of surgical tools during spinal surgery. The connection between the device and the bony structure can be achieved by installing a specially designed bridging device on the spinous process clip, or by installing the T-shaped hovering minimally invasive bracket on the spinous process with Kirschner wires, and placing two fixed pins This is done with direct fixation on the posterior superior iliac spine. However, the design structure of the parallel manipulator used in this structure is too complex, which requires high performance of the dynamic structure, complex control algorithm, and expensive cost. The locking strength of the six connecting rods inside the main structure of the movement is low, and the direction of the supporting force line is consistent with the direction of movement of the connecting rods, resulting in poor structural stability. In addition, the installation process takes a long time. For patients with severe spinal deformity, due to the parallel structure, the range of motion is limited, so it is impossible to effectively locate the puncture point of the pedicle screw. Initially, the system was primarily used for pedicle and translaminar screw placement. Therefore, the requirements for application scenarios are relatively high, and the scope of application is narrow, which cannot be effectively promoted.
Renaissance与Spine Assist结构相似，为第二代脊柱手术机器人，其在SpineAssist基础上扩展了可用的临床应用范围。但是，Mazor Renaissance仍然面临着一些类似于早期同行的挑战，特别是由于引导套管的研磨作用而导致的植入物错位。第三代Mazor X系统与以前的版本相比，机械臂可以串联而不是并联运动，从而增加了系统的运动范围和工作能力。然而此设计增加了机械臂所需要的工作空间，使手术室内部空间十分拥挤，影响手术体验。每次脊柱定位之后只能实现一个椎体层面的操作，多个椎体节段手术操作需要大量时间进行逐层匹配，严重影响手术操作流程。除此之外，复杂的机械臂设计结构以及外部定位工作站使其造价极为昂贵，无法普及应用。Renaissance is similar in structure to Spine Assist, and it is the second-generation spine surgery robot, which expands the available clinical application range on the basis of SpineAssist. However, Mazor Renaissance still faces some challenges similar to its earlier counterparts, notably implant misalignment due to the abrasive action of the guide cannula. Compared with previous versions of the third-generation Mazor X system, the robotic arms can move in series instead of parallel, which increases the range of motion and work capacity of the system. However, this design increases the working space required by the robotic arm, which makes the interior space of the operating room very crowded and affects the surgical experience. After each spine positioning, only one vertebral body level operation can be realized. The operation of multiple vertebral body segments requires a lot of time for layer-by-layer matching, which seriously affects the surgical operation process. In addition, the complex design structure of the mechanical arm and the external positioning workstation make the cost extremely expensive and cannot be widely used.
发明内容Contents of the invention
针对上述现有技术中存在的不足，本发明提供了一种用于脊柱手术的导航定位结构，该导航定位结构固定于椎体棘突表面，固定过程简单，操作便捷，通过导航定位结构的轴向旋转能够实现固定节段椎体及上下节段椎体共3个椎体的同时定位，极大缩短操作时间，提高手术效率，减少了导航定位结构的体积，节省了操作空间，使导航定位结构能够更加小型化。另外，该导航定位结构能够与椎弓根螺钉置入设备以及椎间孔镜等现有手术器械进行匹配，扩大了该导航定位结构的适用场景。Aiming at the deficiencies in the above-mentioned prior art, the present invention provides a navigation and positioning structure for spinal surgery, the navigation and positioning structure is fixed on the surface of the spinous process of the vertebral body, the fixing process is simple, the operation is convenient, and the axis of the navigation and positioning structure Rotation can realize the simultaneous positioning of the fixed segmental vertebral body and the upper and lower segmental vertebral bodies, which greatly shortens the operation time, improves the operation efficiency, reduces the volume of the navigation and positioning structure, saves the operation space, and makes the navigation and positioning The structure can be further miniaturized. In addition, the navigation and positioning structure can be matched with existing surgical instruments such as pedicle screw placement equipment and intervertebral foramina mirrors, expanding the application scenarios of the navigation and positioning structure.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种用于脊柱手术的导航定位结构，所述导航定位结构包括第一组件、第二组件、第三组件、第四组件和第五组件；A navigation and positioning structure for spinal surgery, the navigation and positioning structure includes a first component, a second component, a third component, a fourth component and a fifth component;
所述第一组件、所述第二组件、所述第三组件和所述第四组件由下向上同轴相接；所述第一组件包括支撑轴和固定针，所述固定针上部安装在所述支撑轴内，下部固定于椎体棘突表面；所述第一组件通过所述支撑轴与所述第二组件、所述第三组件由下向上依次相连；所述第二组件为驱动组件，包括第一旋转电机，通过所述第一旋转电机带动所述第三组件转动；所述第三组件为球形铰链组件；所述第四组件为校准组件，通过第二旋转电机与所述第三组件相连接，并在所述第二旋转电机带动下相对所述第三组件转动；The first assembly, the second assembly, the third assembly and the fourth assembly are coaxially connected from bottom to top; the first assembly includes a support shaft and a fixed pin, and the upper part of the fixed pin is installed on In the support shaft, the lower part is fixed on the surface of the spinous process of the vertebral body; the first component is connected with the second component and the third component sequentially from bottom to top through the support shaft; the second component is a drive The assembly includes a first rotating motor, which drives the third assembly to rotate through the first rotating motor; the third assembly is a spherical hinge assembly; the fourth assembly is a calibration assembly, and the second rotating motor is connected to the The third component is connected and rotates relative to the third component driven by the second rotating motor;
所述第五组件为操作组件，由操作臂和第二套筒连接组成；所述操作臂包括悬梁臂、滑动块和固定管；所述滑动块和所述固定管分别安装在所述悬梁臂的上下两端，所述悬梁臂与所述滑动块之间夹角为90°～180°；所述滑动块置于所述第四组件的上表面，所述滑动块在所述第四组件上的第二直线电机带动下沿所述第四组件上表面直线滑动；所述第二套筒安装在所述固定管内，所述第二套筒内部与外科手术器械匹配相接。The fifth component is an operating component, which is composed of an operating arm and a second sleeve; the operating arm includes a cantilever arm, a sliding block and a fixed tube; the sliding block and the fixed tube are respectively installed on the cantilever arm The upper and lower ends of the cantilever arm and the sliding block are at an angle of 90° to 180°; the sliding block is placed on the upper surface of the fourth component, and the sliding block is placed on the fourth component Driven by the second linear motor on the upper surface, it linearly slides along the upper surface of the fourth component; the second sleeve is installed in the fixed tube, and the inside of the second sleeve is matched with the surgical instrument.
进一步地，所述第三组件包括基座、第二齿轮、第二连接杆、第二连接块和顶座；所述顶座和所述基座分别位于所述第三组件上下两端；所述第二齿轮安装在所述基座上，并与所述第二连接杆下端相连，所述第二齿轮与所述第二组件的第一齿轮啮合连接，所述第一旋转电机通过所述第一齿轮和所述第二齿轮的啮合传动带动所述第三组件转动；所述第二连接杆上端通过所述第二连接块安装在所述顶座下方；所述第二连接杆为弓形连接杆，多个所述第二连接杆围绕所述第三组件轴心交叉旋转排列形成所述第三组件的球形铰链结构。Further, the third component includes a base, a second gear, a second connecting rod, a second connecting block and a top seat; the top seat and the base are respectively located at the upper and lower ends of the third component; the The second gear is mounted on the base and connected to the lower end of the second connecting rod, the second gear is meshed with the first gear of the second assembly, and the first rotating motor passes through the The meshing transmission of the first gear and the second gear drives the third assembly to rotate; the upper end of the second connecting rod is installed under the top seat through the second connecting block; the second connecting rod is bow-shaped Connecting rods, a plurality of the second connecting rods are arranged to cross and rotate around the axis of the third component to form a spherical hinge structure of the third component.
进一步地，所述第二连接杆由弓形杆和两个U型结构组成，两个所述U型结构分别连接在所述弓形杆的两端；且两个所述U型结构的U型开口分别朝向外侧。Further, the second connecting rod is composed of an arched rod and two U-shaped structures, and the two U-shaped structures are respectively connected to both ends of the arched rod; and the U-shaped openings of the two U-shaped structures facing outwards respectively.
进一步地，所述第二齿轮由表面相互垂直的扇形齿盘和第一连接块连接组成；所述扇形齿盘与所述基座上的第一轴瓦相连；所述第一连接块与所述第二连接杆相连接。Further, the second gear is composed of sector toothed discs whose surfaces are perpendicular to each other connected to the first connecting block; the sectoral toothed disc is connected with the first bearing bush on the base; the first connecting block is connected to the The second connecting rod is connected.
进一步地，所述第一组件为棘突夹结构。Further, the first component is a spinous process clip structure.
进一步地，所述第一组件还包括连接轴、第一连接杆、第一旋转轴、第二旋转轴、固定块、固定钉；所述连接轴与所述支撑轴下方同轴连接，所述连接轴底端为鞍状面，所述固定针由所述连接轴内穿过深入所述支撑轴内；四个所述第一连接杆两两对称设置在所述第一组件的左右两侧，且同侧的两个所述第一连接杆平行排列，所述第一连接杆上端通过所述第一旋转轴与所述连接轴相连接，所述固定块置于同侧的两个所述第一连接杆之间，并通过所述第二旋转轴与所述第一连接杆连接；所述固定块的两侧边为锯齿面，用于与椎体棘突表面相贴；两个所述固定钉分别由所述固定块中心穿过交叉固定在椎体棘突表面。Further, the first assembly also includes a connecting shaft, a first connecting rod, a first rotating shaft, a second rotating shaft, a fixed block, and a fixing nail; the connecting shaft is coaxially connected with the lower part of the supporting shaft, and the The bottom end of the connecting shaft is a saddle-shaped surface, and the fixed pins pass through the connecting shaft and go deep into the supporting shaft; the four first connecting rods are symmetrically arranged on the left and right sides of the first component , and the two first connecting rods on the same side are arranged in parallel, the upper end of the first connecting rod is connected to the connecting shaft through the first rotating shaft, and the fixing block is placed on the two between the first connecting rods, and connected with the first connecting rod through the second rotating shaft; the two sides of the fixed block are serrated surfaces, which are used to stick to the surface of the spinous process of the vertebral body; two The fixing nails are respectively fixed on the surface of the spinous process of the vertebral body through the intersection from the center of the fixing block.
进一步地，所述第一连接杆为弧形杆。Further, the first connecting rod is an arc rod.
进一步地，所述第二组件还包括盘状平台、第一齿轮；在所述盘状平台上以圆周阵列均布多个第一齿轮槽，多个所述第一旋转电机以圆周阵列均布安装在所述盘状平台上，并位于所述第一齿轮槽一侧；所述第一旋转电机的转轴与所述第一齿轮相连，所述第一齿轮的下部置于所述第一齿轮槽内，所述第一齿轮与所述第三组件啮合传动。Further, the second component also includes a disc-shaped platform and a first gear; on the disc-shaped platform, a plurality of first gear slots are evenly distributed in a circular array, and a plurality of the first rotating motors are evenly distributed in a circular array Installed on the disc-shaped platform and located on one side of the first gear groove; the shaft of the first rotating motor is connected with the first gear, and the lower part of the first gear is placed on the first gear In the slot, the first gear is engaged with the third component for transmission.
进一步地，所述第四组件由驱动盘和伸缩盘组成，所述驱动盘设置在所述伸缩盘下方；Further, the fourth assembly is composed of a drive plate and a telescopic plate, and the drive plate is arranged under the telescopic plate;
所述驱动盘还包括第一固定盘、第一直线电机；所述第二旋转电机安装在所述第一固定盘下表面，并通过所述第三组件顶端中心设置的第十七固定孔与所述第三组件固定连接，所述第四组件在所述第二旋转电机驱动下相对所述第三组件轴向旋转；两个所述第一直线电机对称固定在所述第一固定盘上表面；The drive plate also includes a first fixed plate and a first linear motor; the second rotary motor is installed on the lower surface of the first fixed plate and passes through the seventeenth fixed hole set at the center of the top end of the third component It is fixedly connected with the third component, and the fourth component is driven by the second rotating motor to rotate axially relative to the third component; the two first linear motors are symmetrically fixed on the first fixed the upper surface of the plate;
所述伸缩盘还包括第二固定盘、第一套筒、推动杆；两个所述第一套筒对称安装在所述第二固定盘下表面两侧，分别套在所述第一直线电机上，并与所述第一直线电机的输出轴相连接；所述第二直线电机安装在所述第二固定盘上表面上，所述第二直线电机通过所述推动杆与所述第五组件的所述滑动块相连。The telescopic disk also includes a second fixed disk, a first sleeve, and a push rod; the two first sleeves are symmetrically installed on both sides of the lower surface of the second fixed disk, and are respectively sleeved on the first straight line. on the motor, and is connected with the output shaft of the first linear motor; the second linear motor is installed on the upper surface of the second fixed plate, and the second linear motor is connected to the Said sliders of the fifth assembly are connected.
进一步地，所述第五组件还包括固定栓；所述滑动块内部沿轴线设有滑动槽；所述第二固定盘表面上设有第二十固定孔，所述第二十固定孔与所述第二直线电机分置于所述第二固定盘中心的相对两侧；所述固定栓通过所述滑动槽插入所述第二十固定孔内，引导所述滑动块直线运动。Further, the fifth component also includes a fixing bolt; a sliding groove is provided inside the sliding block along the axis; a twentieth fixing hole is arranged on the surface of the second fixing plate, and the twentieth fixing hole is connected to the The second linear motor is located on two opposite sides of the center of the second fixed plate; the fixed bolt is inserted into the twentieth fixed hole through the sliding slot, and guides the sliding block to move linearly.
本发明的有益效果：Beneficial effects of the present invention:
本发明公开的导航定位结构能够辅助医生对脊柱解剖结构进行精确定位，固定过程简单，操作便捷，且体积小，节省了操作空间，通过导航定位结构的轴向旋转能够实现固定节段椎体及上下节段椎体共3个椎体的同时定位，极大缩短了操作时间，提高了手术效率，而第五组件中的第二套筒能够与椎弓根螺钉置入设备以及椎间孔镜等现有手术器械进行匹配，扩展了其适用场景，有利于本发明的进一步推广。The navigation and positioning structure disclosed in the present invention can assist doctors to accurately locate the anatomical structure of the spine. The fixing process is simple, the operation is convenient, and the volume is small, which saves the operation space. Simultaneous positioning of the three vertebral bodies in the upper and lower segments greatly shortens the operation time and improves the operation efficiency, and the second sleeve in the fifth component can be inserted into the equipment with the pedicle screw and the intervertebral foramina mirror It can be matched with existing surgical instruments, which expands its application scenarios, which is beneficial to the further promotion of the present invention.
本发明的第一组件采用棘突夹设计，使导航定位结构牢固固定于椎体棘突，能够适应椎体不同角度的轴向旋转，并能够及时调整位姿，适应脊柱畸形等复杂解剖结构的要求，解决了传统脊柱手术机器人对于重度脊柱侧凸等椎体严重轴向旋转的患者的定位操作极为困难，容易出现定位失败的问题，扩大了本发明的适用范围；本发明与传统脊柱手术机器人需要将操作端机械臂固定于手术室地面相比，本发明仅需要固定于棘突之上，不需要固定于手术室地面的大型基座支架等结构，操作过程简单，极大地减少了导航定位结构的体积以及操作过程中所占用的手术室空间，使导航定位结构能够更加小型化。同时因该导航定位结构能够围绕棘突夹所固定的椎体进行轴向旋转，有助于导航定位结构对固定椎体的上下节段椎体同时定位，简化了操作步骤，提高了手术效率。The first component of the present invention adopts the spinous process clamp design, so that the navigation and positioning structure is firmly fixed on the spinous process of the vertebral body, which can adapt to the axial rotation of the vertebral body at different angles, and can adjust the position and posture in time to adapt to complex anatomical structures such as spinal deformities. Requirements, it solves the extremely difficult positioning operation of the traditional spinal surgery robot for patients with severe scoliosis and other severe axial rotation of the vertebral body, and the problem of positioning failure is prone to occur, expanding the scope of application of the present invention; the present invention is compatible with traditional spinal surgery robots Compared with the need to fix the manipulator arm on the operating room floor, the present invention only needs to be fixed on the spinous process, and does not need a large base bracket fixed on the operating room floor. The operation process is simple and greatly reduces the need for navigation and positioning. The volume of the structure and the operating room space occupied during the operation enable the navigation and positioning structure to be more miniaturized. At the same time, because the navigation and positioning structure can rotate axially around the vertebral body fixed by the spinous process clip, it is helpful for the navigation and positioning structure to simultaneously position the upper and lower segmental vertebral bodies of the fixed vertebral body, which simplifies the operation steps and improves the operation efficiency.
本发明的第二组件作为驱动组件，其位于整体结构下方，能够有效平衡结构重心位置，并能够提供最准确的动力。The second component of the present invention is used as a driving component, which is located under the overall structure, can effectively balance the position of the center of gravity of the structure, and can provide the most accurate power.
本发明首次在第三组件采用了球形铰链设计，通过多个轴向交叉排列的弓形的第二连接杆形成主体运动结构，其对第四组件的支撑能力也更强，第三组件的球形铰链结构能够使顶座与基座间产生最大360°相对旋转和90°弯曲运动，活动范围更大，并能够通过第二连接杆对顶座产生稳定的支撑力，进一步提高结构的强度，而第三组件中的每个铰链只需要一个第一旋转电机驱动，驱动简单，对动力系统功能和结构强度要求较低，能够降低生产成本。而传统脊柱手术机器人多采用串联机械臂结构设计，对驱动电机的性能要求较高，并且需要配合机械臂内部自锁结构以维持机械臂的位姿，从而使机械臂内部结构复杂，造价昂贵，并且内部组件容易损坏，使用寿命较短。因此，本发明能够在保证定位精度和活动范围的同时极大降低生产成本，有利于进一步推广。The present invention adopts the spherical hinge design in the third component for the first time, and forms the main movement structure through a plurality of axially crossed arc-shaped second connecting rods, which has a stronger supporting capacity for the fourth component. The spherical hinge of the third component The structure can generate a maximum 360° relative rotation and 90° bending movement between the top seat and the base, with a larger range of motion, and can generate stable support for the top seat through the second connecting rod, further improving the strength of the structure, while the first Each hinge in the three components only needs to be driven by a first rotating motor, the driving is simple, the requirements on the function and structural strength of the power system are low, and the production cost can be reduced. However, traditional spine surgery robots mostly adopt the structural design of serial manipulators, which have high requirements on the performance of the drive motor, and need to cooperate with the internal self-locking structure of the manipulator to maintain the position and posture of the manipulator, which makes the internal structure of the manipulator complex and expensive. And the internal components are easily damaged and have a short service life. Therefore, the present invention can greatly reduce the production cost while ensuring the positioning accuracy and the range of activities, which is beneficial to further popularization.
本发明的第四组件能够进一步调整导航定位结构的操作范围，减少定位过程中的偏倚。The fourth component of the present invention can further adjust the operating range of the navigation and positioning structure and reduce the bias in the positioning process.
本发明的第五组件通过套筒与常用脊柱外科器械、普通骨科器械等相匹配，无需增加手术耗材，与传统脊柱手术机器人操作端需要专用手术器械以完成手术，且部分器械为一次性使用耗材相比，本发明大大降低了手术成本，从而增加了该导航定位结构的应用范围。另外，本发明通过固定管能够对椎体解剖部位进行定位，并对内固定置入及微创穿刺操作进行导航。并且本发明在使用过程中作为医生的辅助工具，不改变医生的手术习惯，使用方便，易于被使用者接受。The fifth component of the present invention is matched with commonly used spinal surgical instruments and common orthopedic instruments through sleeves, without adding surgical consumables, and requires special surgical instruments at the operating end of traditional spinal surgery robots to complete the operation, and some of the instruments are disposable consumables In comparison, the present invention greatly reduces the operation cost, thereby increasing the application range of the navigation and positioning structure. In addition, the present invention can locate the anatomical site of the vertebral body through the fixing tube, and can navigate the internal fixation placement and minimally invasive puncture operation. And the present invention is used as a doctor's auxiliary tool during use, does not change the doctor's operation habits, is easy to use, and is easy to be accepted by users.
附图说明Description of drawings
图1为本发明用于脊柱手术的导航定位结构示意图；Fig. 1 is a schematic diagram of a navigation and positioning structure for spinal surgery according to the present invention;
图2为本发明中第一组件示意图；Fig. 2 is a schematic diagram of the first assembly in the present invention;
图3为图2中支撑轴示意图；Fig. 3 is a schematic diagram of the supporting shaft in Fig. 2;
图4为图2中连接轴示意图；Fig. 4 is a schematic diagram of the connecting shaft in Fig. 2;
图5为图2中第一连接杆示意图；Fig. 5 is a schematic diagram of the first connecting rod in Fig. 2;
图6为图2中第一旋转轴示意图；Fig. 6 is a schematic diagram of the first rotation axis in Fig. 2;
图7为图2中第二旋转轴示意图；Fig. 7 is a schematic diagram of the second rotation axis in Fig. 2;
图8为图2中固定块示意图；Fig. 8 is a schematic diagram of the fixed block in Fig. 2;
图9为图2中固定钉示意图；Fig. 9 is a schematic diagram of the fixing nail in Fig. 2;
图10为图2中固定针示意图；Fig. 10 is a schematic diagram of the fixed pin in Fig. 2;
图11为本发明中第二组件示意图；Fig. 11 is a schematic diagram of the second component in the present invention;
图12为本发明中第三组件示意图；Fig. 12 is a schematic diagram of the third component in the present invention;
图13为图12中基座示意图；Fig. 13 is a schematic diagram of the base in Fig. 12;
图14为图12中第二齿轮示意图；Fig. 14 is a schematic diagram of the second gear in Fig. 12;
图15为图12中第二连接杆示意图；Fig. 15 is a schematic diagram of the second connecting rod in Fig. 12;
图16为图12中第二连接块示意图；Fig. 16 is a schematic diagram of the second connection block in Fig. 12;
图17为图12中顶座示意图；Figure 17 is a schematic diagram of the top seat in Figure 12;
图18为本发明中第四组件示意图；Fig. 18 is a schematic diagram of the fourth component in the present invention;
图19为图18中驱动盘示意图；Fig. 19 is a schematic diagram of the driving disk in Fig. 18;
图20为图18中伸缩盘示意图；Figure 20 is a schematic diagram of the telescopic disk in Figure 18;
图21为本发明中第五组件示意图；Figure 21 is a schematic diagram of the fifth component in the present invention;
图22为图21中操作臂示意图；Fig. 22 is a schematic diagram of the operating arm in Fig. 21;
图23为图21中固定栓示意图；Fig. 23 is a schematic diagram of the fixing bolt in Fig. 21;
图24为图21中第二套筒示意图；Fig. 24 is a schematic diagram of the second sleeve in Fig. 21;
图25为本发明用于脊柱手术的导航定位结构安装于椎体的示意图；Fig. 25 is a schematic diagram of the installation of the navigation and positioning structure for spinal surgery of the present invention on the vertebral body;
图26为本发明用于脊柱手术的导航定位结构进行多节段椎体定位操作过程的示意图。Fig. 26 is a schematic diagram of the multi-segment vertebral body positioning operation performed by the navigation and positioning structure used in spinal surgery according to the present invention.
其中：1、第一组件；11、支撑轴；111、第一固定孔；12、连接轴；121、第一柱状部；122、支撑块；123、第二固定孔；124、第三固定孔；125、鞍状面；13、第一连接杆；131、第四固定孔；132、第五固定孔；14、第一旋转轴；141、第六固定孔；15、第二旋转轴；151、垫圈；16、固定块；161、第七固定孔；162、第八固定孔；163、锯齿面；17、固定钉；171、第二柱状部；172、第一固定柄；173、钉头；18、固定针；181、圆柱；182、针头；2、第二组件；21、盘状平台；22、第一齿轮；23、第一旋转电机；24、第一齿轮槽；25、第九固定孔；3、第三组件；31、基座；311、基座盘；312、第十固定孔；313、第一轴瓦；314、第十一固定孔；315、第二齿轮槽；32、第二齿轮；321、扇形齿盘；322、第十二固定孔；323、第一连接块；324、第十三固定孔；33、第三旋转轴；34、第二连接杆；341、弓形杆；342、U型结构；343、第十四固定孔；35、第二连接块；351、第十五固定孔；352、第十六固定孔；36、顶座；361、顶座盘；362、第十七固定孔；363、第二轴瓦；364、第十八固定孔；365、第三齿轮槽；4、第四组件；41、驱动盘；411、第一固定盘；412、第十九固定孔；413、第二旋转电机；414、第一直线电机；42、伸缩盘；421、第二固定盘；422、第二十固定孔；423、第一套筒；424、第二直线电机；425、推动杆；5、第五组件；51、操作臂；511、悬梁臂；512、滑动块；513、侧孔；514、滑动槽；515、固定管；516、第二十一固定孔；52、固定栓；521、第三柱状部；522、第二固定柄；53、第二套筒；531、第四柱状部；532、固定环；533、第二十二固定孔。Among them: 1. The first component; 11. The support shaft; 111. The first fixing hole; 12. The connecting shaft; 121. The first columnar part; 122. The support block; 123. The second fixing hole; 124. The third fixing hole ; 125, saddle-shaped surface; 13, the first connecting rod; 131, the fourth fixing hole; 132, the fifth fixing hole; 14, the first rotating shaft; 141, the sixth fixing hole; 15, the second rotating shaft; 151 , washer; 16, fixed block; 161, the seventh fixed hole; 162, the eighth fixed hole; 163, serrated surface; 17, fixed nail; 171, the second columnar part; 172, the first fixed handle; 173, nail head ; 18, fixed needle; 181, cylinder; 182, needle head; 2, second assembly; 21, disc-shaped platform; 22, first gear; 23, first rotating motor; 24, first gear slot; 3. The third assembly; 31. The base; 311. The base plate; 312. The tenth fixing hole; 313. The first bearing bush; 314. The eleventh fixing hole; 315. The second gear groove; 32. Second gear; 321, fan-shaped gear plate; 322, the twelfth fixing hole; 323, the first connecting block; 324, the thirteenth fixing hole; 33, the third rotating shaft; 34, the second connecting rod; 341, bow Rod; 342, U-shaped structure; 343, the fourteenth fixing hole; 35, the second connecting block; 351, the fifteenth fixing hole; 352, the sixteenth fixing hole; 36, the top seat; 361, the top seat plate; 362, the seventeenth fixing hole; 363, the second bearing bush; 364, the eighteenth fixing hole; 365, the third gear slot; 4, the fourth component; 41, the drive plate; 411, the first fixed plate; 412, the first Nineteen fixing holes; 413, the second rotating motor; 414, the first linear motor; 42, telescopic disc; 421, the second fixing disc; 422, the twentieth fixing hole; 423, the first sleeve; 424, the first Two linear motors; 425, push rod; 5, the fifth component; 51, operating arm; 511, cantilever arm; 512, sliding block; 513, side hole; 514, sliding groove; One fixing hole; 52, fixing bolt; 521, third columnar part; 522, second fixing handle; 53, second sleeve; 531, fourth columnar part; 532, fixing ring; 533, twenty-second fixing hole .
具体实施方式Detailed ways
下面结合说明书附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例仅用于说明本发明，但不用来限制本发明的范围。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are only used to illustrate the present invention, but not to limit the scope of the present invention.
本申请文件中的上、下、左、右、内、外、前端、后端、头部、尾部等方位或位置关系用语是基于附图所示的方位或位置关系而建立的。附图不同，则相应的位置关系也有可能随之发生变化，故不能以此理解为对保护范围的限定。The orientation or position relationship terms such as up, down, left, right, inside, outside, front end, rear end, head, and tail in this application document are established based on the orientation or position relationship shown in the drawings. If the drawings are different, the corresponding positional relationship may also change accordingly, so this should not be understood as limiting the scope of protection.
本发明中，术语“安装”、“相连”、“相接”、“连接”、“固定”等应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，也可以是一体地连接，也可以是机械连接，也可以是电连接或可以相互通信，也可以是直接连接，也可以是通过中间媒介间接连接，可以是两个元器件内部的联通，也可以是两个元器件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, the terms "installation", "connection", "connection", "connection", "fixation" and so on should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated Connection can also be mechanical connection, electrical connection or mutual communication, direct connection or indirect connection through an intermediary, internal communication between two components, or two components interaction relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
本实施例记载了一种用于脊柱手术的导航定位结构，该导航定位结构无需地面支撑结构即可实现整体的稳定，节省了操作空间，使结构整体小型化。This embodiment describes a navigation and positioning structure for spinal surgery, the navigation and positioning structure can achieve overall stability without a ground support structure, save operating space, and make the overall structure miniaturized.
如图1所示，导航定位结构包括第一组件1、第二组件2、第三组件3、第四组件4和第五组件5。第一组件1、第二组件2、第三组件3和第四组件4由下向上同轴相接，第二组件2和第三组件3通过轴与第一组件1依次连接，第一组件1用于将导航定位结构牢固固定于椎体棘突上，其能够适应椎体不同角度的轴向旋转，并能够及时调整位姿，有助于导航定位结构对固定椎体的上下节段椎体同时进行导航定位操作。As shown in FIG. 1 , the navigation and positioning structure includes a first component 1 , a second component 2 , a third component 3 , a fourth component 4 and a fifth component 5 . The first component 1, the second component 2, the third component 3 and the fourth component 4 are connected coaxially from bottom to top, the second component 2 and the third component 3 are connected to the first component 1 in turn through the shaft, and the first component 1 It is used to firmly fix the navigation and positioning structure on the spinous process of the vertebral body. It can adapt to the axial rotation of the vertebral body at different angles, and can adjust the posture in time, which is helpful for the navigation and positioning structure to fix the upper and lower segments of the vertebral body. Simultaneously perform navigation and positioning operations.
第二组件2与第三组件3啮合传动，第四组件4与第三组件3相接，第五组件5一端与第四组件4相连。本实施例的导航定位结构可由金属材料(钛合金、钴铬合金、医用不锈钢)或高分子材料(硅氧树脂、聚芳醚酮、聚碳酸聚氨酯)制成。The second component 2 is engaged with the third component 3 for transmission, the fourth component 4 is connected with the third component 3 , and one end of the fifth component 5 is connected with the fourth component 4 . The navigation and positioning structure of this embodiment can be made of metal materials (titanium alloy, cobalt chromium alloy, medical stainless steel) or polymer materials (silicone resin, polyaryletherketone, polycarbonate polyurethane).
如图2所示，第一组件1为棘突夹结构，包括支撑轴11、连接轴12、第一连接杆13、第一旋转轴14、第二旋转轴15、固定块16、固定钉17和固定针18。As shown in Figure 2, the first component 1 is a spinous process clip structure, including a support shaft 11, a connecting shaft 12, a first connecting rod 13, a first rotating shaft 14, a second rotating shaft 15, a fixing block 16, and a fixing nail 17 and fixed pin 18.
如图3所示，本实施例的支撑轴11为圆柱轴，其中部设有贯穿其轴向的第一固定孔111，第一固定孔111与固定针18相匹配,固定针18置于第一固定孔111内，固定针18能够将第一组件1固定于椎体棘突上。第一组件1通过支撑轴11依次插入第二组件2和第三组件3上与第一固定孔111同轴的固定孔将第一组件1、第二组件2和第三组件3串连形成一体。As shown in Figure 3, the support shaft 11 of this embodiment is a cylindrical shaft, and the middle part is provided with a first fixing hole 111 passing through its axial direction. The first fixing hole 111 is matched with the fixing pin 18, and the fixing pin 18 is placed on the In a fixing hole 111, the fixing pin 18 can fix the first assembly 1 on the spinous process of the vertebral body. The first component 1 is sequentially inserted into the fixing holes coaxial with the first fixing hole 111 on the second component 2 and the third component 3 through the support shaft 11, and the first component 1, the second component 2 and the third component 3 are connected in series to form a whole .
连接轴12同轴连接在支撑轴11下方，如图4所示，连接轴12由上下同轴设置的第一柱状部121和支撑块122一体组成，且连接轴12设有贯穿轴向的第二固定孔123，且第二固定孔123与第一固定孔112同轴设置，二者共同容纳固定针18。支撑块122中部设有与第二固定孔123垂直的第三固定孔124，支撑块122底端为鞍状面125，且鞍状面125轴线与第三固定孔124轴线平行设置。鞍状面125为弧面结构，能够增大与椎体棘突的接触面积，使得二者更好的匹配。The connecting shaft 12 is coaxially connected below the supporting shaft 11. As shown in FIG. Two fixing holes 123 , and the second fixing hole 123 is coaxially arranged with the first fixing hole 112 , both of which accommodate the fixing pin 18 together. A third fixing hole 124 perpendicular to the second fixing hole 123 is formed in the middle of the supporting block 122 . The bottom end of the supporting block 122 is a saddle-shaped surface 125 , and the axis of the saddle-shaped surface 125 is parallel to the axis of the third fixing hole 124 . The saddle-shaped surface 125 has an arc-shaped structure, which can increase the contact area with the spinous processes of the vertebral body, so that the two can better match.
第一组件1中包含4个第一连接杆13，第一连接杆13两两对称设置在第一组件1的左右两侧，且同侧的2个第一连接杆13平行排列。如图5所示，第一连接杆13为弧形杆，本实施例的第一连接杆13采用C型结构的弧形杆，第一连接杆13的两端分别设有第四固定孔131和第五固定孔132。第一旋转轴14穿过第四固定孔131和第三固定孔124将第一连接杆13上端连接在支撑块122两侧。第二旋转轴15通过第五固定孔132将第一连接杆13与固定块16连接在一起，为使二者之间的连接固定更为紧密，在第一连接杆13与固定块16之间第二旋转轴15上还可设置一个或多个垫圈151(见图7)。第一旋转轴14和第二旋转轴15均采用柱状轴。如图6所示，第一旋转轴14中间具有与第一固定孔111和第二固定孔123同轴设置的第六固定孔141，第六固定孔141用于容纳固定针18。The first component 1 includes four first connecting rods 13, and the first connecting rods 13 are symmetrically arranged on the left and right sides of the first component 1, and the two first connecting rods 13 on the same side are arranged in parallel. As shown in Figure 5, the first connecting rod 13 is an arc rod, the first connecting rod 13 of this embodiment adopts a C-shaped arc rod, and the two ends of the first connecting rod 13 are respectively provided with fourth fixing holes 131 and the fifth fixing hole 132 . The first rotating shaft 14 passes through the fourth fixing hole 131 and the third fixing hole 124 to connect the upper end of the first connecting rod 13 to both sides of the supporting block 122 . The second rotating shaft 15 connects the first connecting rod 13 and the fixing block 16 through the fifth fixing hole 132. One or more washers 151 may also be provided on the second rotating shaft 15 (see FIG. 7 ). Both the first rotation shaft 14 and the second rotation shaft 15 are cylindrical shafts. As shown in FIG. 6 , there is a sixth fixing hole 141 disposed coaxially with the first fixing hole 111 and the second fixing hole 123 in the middle of the first rotating shaft 14 , and the sixth fixing hole 141 is used for accommodating the fixing pin 18 .
第一组件1的左右两侧对称设有固定块16，固定块16置于同侧设置的两个第一连接杆13之间。如图8所示，固定块16为梯形块，在其梯形面的一侧设有贯穿其表面的第七固定孔161，第二旋转轴15通过第五固定孔132、第七固定孔161连接第一连接杆13和固定块16。固定块16轴向中心具有贯穿的第八固定孔162，且第八固定孔162轴线与第七固定孔161轴线相互垂直，第八固定孔162与固定钉17同轴匹配，固定钉17穿过第八固定孔162与固定块16相连接。固定块16对称的两个梯形侧边为锯齿面163，锯齿面163具有一定向内侧弯曲的弧度，便于与椎体棘突表面相匹配。The left and right sides of the first component 1 are symmetrically provided with fixed blocks 16, and the fixed blocks 16 are placed between the two first connecting rods 13 arranged on the same side. As shown in Figure 8, the fixed block 16 is a trapezoidal block, and one side of its trapezoidal surface is provided with the seventh fixed hole 161 passing through its surface, and the second rotating shaft 15 is connected by the fifth fixed hole 132 and the seventh fixed hole 161. The first connecting rod 13 and the fixing block 16 . The axial center of the fixed block 16 has an eighth fixed hole 162 penetrating through, and the axis of the eighth fixed hole 162 is perpendicular to the axis of the seventh fixed hole 161. The eighth fixed hole 162 is coaxially matched with the fixed nail 17, and the fixed nail 17 passes through The eighth fixing hole 162 is connected with the fixing block 16 . The two symmetrical trapezoidal sides of the fixing block 16 are saw-toothed surfaces 163, and the saw-toothed surfaces 163 have a radian curving toward the inside, which facilitates matching with the surface of the spinous process of the vertebral body.
第一组件1的左右两侧对称设置固定钉17，如图9所示，固定钉17由同轴设置的第二柱状部171、第一固定柄172及钉头173构成，第一固定柄172和钉头173分别固定设置在第二柱状部171的两端。固定钉17由固定块16的第八固定孔162中穿过能够将固定块16进一步地固定在椎体棘突表面上，第一固定柄172可避免固定钉17脱离固定块16，过度进入患者体内。第一组件1中的两个固定钉17交叉固定在椎体棘突表面，能够进一步增加该导航定位结构的稳定性。The left and right sides of the first assembly 1 are symmetrically provided with fixing nails 17, as shown in Figure 9, the fixing nails 17 are composed of a second columnar portion 171 coaxially arranged, a first fixing handle 172 and a nail head 173, and the first fixing handle 172 The nail heads 173 are respectively fixed on two ends of the second columnar portion 171 . The fixing nail 17 passes through the eighth fixing hole 162 of the fixing block 16 to further fix the fixing block 16 on the surface of the spinous process of the vertebral body, and the first fixing handle 172 can prevent the fixing nail 17 from breaking away from the fixing block 16 and excessively entering the patient in vivo. The two fixation nails 17 in the first component 1 are cross-fixed on the surface of the spinous process of the vertebral body, which can further increase the stability of the navigation and positioning structure.
如图10所示，固定针18由圆柱181和针头182构成，针头182设置在圆柱181的下端，圆柱181较为细长，圆柱181上部由下向上可依次容纳在第六固定孔141、第二固定孔123、第一固定孔111内。As shown in Figure 10, the fixed pin 18 is made up of a cylinder 181 and a needle head 182. The needle head 182 is arranged at the lower end of the cylinder 181. The cylinder 181 is relatively slender. Inside the fixing hole 123 and the first fixing hole 111 .
第一组件1通过鞍状面125、锯齿面163、固定钉17和固定针18能够与椎体棘突表面紧密贴合，进而将导航定位结构牢固固定于椎体上，同时能够适应椎体不同角度的轴向旋转，并能够及时调整位姿，有助于导航定位结构对固定椎体的上下节段椎体同时进行导航定位操作。第一组件1左右双侧的两组第一连接杆13分别能够张开90°大小。第一组件1结构的设计有利于减少导航定位结构的体积，使导航定位结构能够更加小型化，从而节省操作空间。The first component 1 can closely fit the surface of the spinous process of the vertebral body through the saddle-shaped surface 125, the sawtooth surface 163, the fixing nail 17 and the fixing pin 18, thereby firmly fixing the navigation and positioning structure on the vertebral body, while being able to adapt to different vertebral bodies. The axial rotation of the angle and the ability to adjust the pose in time help the navigation and positioning structure to perform navigation and positioning operations on the upper and lower segmental vertebral bodies of the fixed vertebral body at the same time. The two groups of first connecting rods 13 on the left and right sides of the first assembly 1 can be opened by 90° respectively. The design of the structure of the first component 1 is beneficial to reduce the volume of the navigation and positioning structure, so that the navigation and positioning structure can be more miniaturized, thereby saving the operation space.
第二组件2为驱动组件，呈驱动平台结构。如图11所示，第二组件2包括盘状平台21、第一齿轮22和第一旋转电机23，在盘状平台21上圆周阵列均布多个第一齿轮槽24，本实施例以盘状平台21上均布3个第一齿轮槽24为例进行说明。盘状平台21中心设有第九固定孔25，第九固定孔25的内径与第一组件1的支撑轴11外径相匹配，支撑轴11穿过第九固定孔25插入第三组件3内。3个第一旋转电机23围绕第九固定孔25以圆周阵列安装在盘状平台21上，并位于第一齿轮槽24一侧，3个第一齿轮22分别固定于第一旋转电机23的转轴上，第一齿轮22的下部置于第一齿轮槽24内，并与第三组件3中的第二齿轮32啮合传动，为第三组件3的球形铰链运动提供动力，并对第三组件3起支撑作用。本实施例将第二组件2设置在导航定位结构的下部，能够有效平衡导航定位结构的重心位置，并能够提供最准确的动力。The second component 2 is a driving component, which is in the structure of a driving platform. As shown in Figure 11, the second assembly 2 includes a disc-shaped platform 21, a first gear 22 and a first rotating motor 23, and a plurality of first gear grooves 24 are evenly distributed in a circular array on the disc-shaped platform 21. Three first gear slots 24 evenly distributed on the shape platform 21 will be described as an example. The center of the disk-shaped platform 21 is provided with a ninth fixing hole 25, the inner diameter of the ninth fixing hole 25 matches the outer diameter of the support shaft 11 of the first component 1, and the support shaft 11 is inserted into the third component 3 through the ninth fixing hole 25 . Three first rotating motors 23 are mounted on the disc-shaped platform 21 in a circular array around the ninth fixing hole 25, and are located on the side of the first gear groove 24, and the three first gears 22 are respectively fixed to the shafts of the first rotating motors 23 Above, the lower part of the first gear 22 is placed in the first gear groove 24, and is meshed with the second gear 32 in the third assembly 3 to provide power for the spherical hinge movement of the third assembly 3, and to the third assembly 3 Play a supporting role. In this embodiment, the second component 2 is arranged at the lower part of the navigation and positioning structure, which can effectively balance the position of the center of gravity of the navigation and positioning structure, and can provide the most accurate power.
第三组件3为球形铰链组件，是本导航定位结构运转的核心组件。如图12所示，第三组件3包括基座31、第二齿轮32、第三旋转轴33、第二连接杆34、第二连接块35和顶座36。顶座36和基座31分别位于第三组件3上下两端，第二齿轮32通过第三旋转轴33安装在基座31上，并与第二连接杆34下端相连，第二连接杆34上端通过第三旋转轴33与第二连接块35相连，第二连接块35安装在顶座36下方。The third component 3 is a spherical hinge component, which is the core component for the operation of the navigation and positioning structure. As shown in FIG. 12 , the third assembly 3 includes a base 31 , a second gear 32 , a third rotating shaft 33 , a second connecting rod 34 , a second connecting block 35 and a top seat 36 . The top seat 36 and the base 31 are located at the upper and lower ends of the third component 3 respectively, the second gear 32 is installed on the base 31 through the third rotating shaft 33, and is connected with the lower end of the second connecting rod 34, and the upper end of the second connecting rod 34 The second connecting block 35 is connected with the second connecting block 35 through the third rotating shaft 33 , and the second connecting block 35 is installed under the top base 36 .
具体地，基座31如图13所示由基座盘311和3个第一轴瓦313组成。基座盘311中心设有第十固定孔312，第一组件1的支撑轴11插入第十固定孔312内实现第三组件3与第一组件1的连接。3个第一轴瓦313围绕第十固定孔312以圆周阵列均布安装在基座盘311上，在第一轴瓦313上部具有第十一固定孔314，第三旋转轴33穿过第十一固定孔314安装第二齿轮32及第二连接杆34。第一轴瓦313由内外两片轴瓦组成，在内外两片轴瓦之间基座盘311上开有第二齿轮槽315，第二齿轮32安装在内外两片轴瓦之间，且第二齿轮32下部穿过第二齿轮槽315与第一齿轮22啮合传动。Specifically, the base 31 is composed of a base plate 311 and three first bearing shells 313 as shown in FIG. 13 . A tenth fixing hole 312 is provided at the center of the base plate 311 , and the supporting shaft 11 of the first component 1 is inserted into the tenth fixing hole 312 to realize the connection between the third component 3 and the first component 1 . Three first bearing bushes 313 are evenly installed on the base plate 311 in a circumferential array around the tenth fixing hole 312, and there is an eleventh fixing hole 314 on the upper part of the first bearing bush 313, and the third rotating shaft 33 passes through the eleventh fixing hole The hole 314 is installed with the second gear 32 and the second connecting rod 34 . The first bearing 313 is composed of two inner and outer bearings, and a second gear groove 315 is opened on the base plate 311 between the inner and outer two bearings. The second gear 32 is installed between the inner and outer two bearings, and the lower part of the second gear 32 Pass through the second gear slot 315 and mesh with the first gear 22 for transmission.
第二齿轮32如图14所示，由表面相互垂直的扇形齿盘321和第一连接块323组成。扇形齿盘321的圆心处具有第十二固定孔322，第三旋转轴33穿过第十一固定孔314和第十二固定孔322将第二齿轮32安装在第一轴瓦313上。第一连接块323的末端具有与第十二固定孔322轴线垂直的第十三固定孔324，第三旋转轴33穿过第十三固定孔324连接第二齿轮32和第二连接杆34。As shown in FIG. 14 , the second gear 32 is composed of a sector toothed disc 321 and a first connecting block 323 whose surfaces are perpendicular to each other. There is a twelfth fixing hole 322 at the center of the sector toothed disc 321 , and the third rotating shaft 33 passes through the eleventh fixing hole 314 and the twelfth fixing hole 322 to mount the second gear 32 on the first bearing shell 313 . The end of the first connecting block 323 has a thirteenth fixing hole 324 perpendicular to the axis of the twelfth fixing hole 322 , and the third rotating shaft 33 passes through the thirteenth fixing hole 324 to connect the second gear 32 and the second connecting rod 34 .
第二连接杆34为弓形连接杆，3个第二连接杆34围绕第三组件3轴心交叉旋转排列构成第三组件3的球形铰链结构。如图15所示，第二连接杆34由弓形杆341和两个U型结构342组成。弓形杆341中部与两端夹角为90°～180°。两个U型结构342分别连接在弓形杆341的两端，且两个U型结构342的U型开口分别朝向外侧，在U型结构342的两个U型壁上同轴设有第十四固定孔343。第二连接杆34上方的U型结构342通过第三旋转轴33与第二连接块35匹配连接，下方的U型结构342通过第三旋转轴33与第二齿轮32匹配连接。The second connecting rod 34 is an arcuate connecting rod, and the three second connecting rods 34 are arranged to cross and rotate around the axis of the third component 3 to form a spherical hinge structure of the third component 3 . As shown in FIG. 15 , the second connecting rod 34 is composed of a bow rod 341 and two U-shaped structures 342 . The angle between the middle part of the bow rod 341 and both ends is 90°-180°. Two U-shaped structures 342 are respectively connected to the two ends of the bow-shaped rod 341, and the U-shaped openings of the two U-shaped structures 342 are respectively facing outward, and a fourteenth Fixing hole 343 . The U-shaped structure 342 above the second connecting rod 34 is matched and connected with the second connecting block 35 through the third rotating shaft 33 , and the U-shaped structure 342 is connected with the second gear 32 through the third rotating shaft 33 .
如图16所示，本实施例的第二连接块35采用P型块，在P型块两端相互垂直的表面上分别设有贯穿表面的第十五固定孔351、第十六固定孔352，且第十五固定孔351和第十六固定孔352轴线相垂直。第三旋转轴33通过第十四固定孔343和第十五固定孔351将第二连接杆34与第二连接块35轴连接。第三旋转轴33通过第十六固定孔352和顶座36上的第十八固定孔364将第二连接块35与顶座36轴连接。As shown in Figure 16, the second connecting block 35 of this embodiment adopts a P-shaped block, and the surfaces perpendicular to each other at both ends of the P-shaped block are respectively provided with a fifteenth fixing hole 351 and a sixteenth fixing hole 352 penetrating the surface. , and the axes of the fifteenth fixing hole 351 and the sixteenth fixing hole 352 are perpendicular to each other. The third rotating shaft 33 axially connects the second connecting rod 34 to the second connecting block 35 through the fourteenth fixing hole 343 and the fifteenth fixing hole 351 . The third rotating shaft 33 pivotally connects the second connecting block 35 to the top base 36 through the sixteenth fixing hole 352 and the eighteenth fixing hole 364 on the top base 36 .
如图17所示，顶座36由顶座盘361和3个第二轴瓦363组成。其中顶座盘361圆心具有第十七固定孔362，第四组件4中的第一直线电机414通过第十七固定孔362伸向第三组件3内。3个第二轴瓦363围绕第十七固定孔362以圆周阵列方式排列安装在顶座盘361下表面上。第二轴瓦363与第一轴瓦313结构相似，在此不再赘述。第二轴瓦363上设有与第二连接块35上的第十六固定孔352相匹配的第十八固定孔364，第三旋转轴33通过第十八固定孔364和第十六固定孔352连接第二连接块35和第二轴瓦363。在第二轴瓦363中间的顶座盘361上开有第三齿轮槽365，用于与第二轴瓦363共同容纳第二连接块35。As shown in FIG. 17 , the top seat 36 is composed of a top seat plate 361 and three second bearing shells 363 . The center of the top plate 361 has a seventeenth fixing hole 362 , and the first linear motor 414 in the fourth component 4 extends into the third component 3 through the seventeenth fixing hole 362 . Three second bearing shells 363 are arranged in a circular array around the seventeenth fixing hole 362 and installed on the lower surface of the top seat plate 361 . The structure of the second bearing bush 363 is similar to that of the first bearing bush 313 , which will not be repeated here. The second bearing bush 363 is provided with an eighteenth fixing hole 364 matching the sixteenth fixing hole 352 on the second connecting block 35 , and the third rotating shaft 33 passes through the eighteenth fixing hole 364 and the sixteenth fixing hole 352 The second connecting block 35 and the second bearing shell 363 are connected. A third gear slot 365 is formed on the top plate 361 in the middle of the second bearing bush 363 for accommodating the second connecting block 35 together with the second bearing bush 363 .
本实施例第三组件3的球形铰链结构能够使顶座36与基座31之间产生最大360°相对旋转和90°弯曲运动，并能够通过第二连接杆34对顶座36产生稳定的支撑力，进一步提高结构的强度，第二连接杆34的弓形设计能够降低结构整体对于第二组件2驱动结构综合性能的要求，因此能够降低生产成本。The spherical hinge structure of the third assembly 3 of this embodiment can generate a maximum 360° relative rotation and 90° bending movement between the top seat 36 and the base 31, and can generate stable support for the top seat 36 through the second connecting rod 34 To further improve the strength of the structure, the bow-shaped design of the second connecting rod 34 can reduce the requirements of the overall structure on the comprehensive performance of the drive structure of the second component 2, thus reducing the production cost.
第四组件4为校准组件，能够进一步矫正第三组件3在运转过程中的偏差。如图18所示，第四组件4由驱动盘41和伸缩盘42组成。驱动盘41设置在伸缩盘42下方。The fourth component 4 is a calibration component, which can further correct the deviation of the third component 3 during operation. As shown in FIG. 18 , the fourth assembly 4 is composed of a driving disc 41 and a telescoping disc 42 . The drive disk 41 is arranged below the telescopic disk 42 .
如图19所示，驱动盘41包括第一固定盘411、第二旋转电机413、第一直线电机414。第一固定盘411的中心开有与顶座36上的第十七固定孔362同轴匹配的第十九固定孔412，第二旋转电机413安装在第一固定盘411下表面，且第二旋转电机413与第十九固定孔412同轴设置，第二旋转电机413通过第十七固定孔362与第三组件3固定连接，当第二旋转电机413转动时，驱动第四组件4相对第三组件3轴向旋转，第四组件4可轴向旋转360°，实现最大范围的姿态调节。第四组件4中第十九固定孔412的设计便于安装第二旋转电机413的同时，还利于第二旋转电机413的散热。在第十九固定孔412两侧两个第一直线电机414对称固定在第一固定盘411上表面，第一直线电机414与伸缩盘42上的第一套筒423相配合实现与伸缩盘42相接的第五组件5的整体升降，从而进一步调整导航定位结构的操作范围。As shown in FIG. 19 , the drive plate 41 includes a first fixed plate 411 , a second rotary motor 413 , and a first linear motor 414 . The center of the first fixed disk 411 is provided with the nineteenth fixed hole 412 coaxially matched with the seventeenth fixed hole 362 on the top seat 36, the second rotating motor 413 is installed on the lower surface of the first fixed disk 411, and the second The rotating motor 413 is arranged coaxially with the nineteenth fixing hole 412, and the second rotating motor 413 is fixedly connected with the third assembly 3 through the seventeenth fixing hole 362. When the second rotating motor 413 rotates, it drives the fourth assembly 4 relative to the first assembly. The third component 3 can rotate axially, and the fourth component 4 can rotate 360° axially, so as to realize the maximum range of attitude adjustment. The design of the nineteenth fixing hole 412 in the fourth component 4 facilitates the installation of the second rotating electrical machine 413 and facilitates the heat dissipation of the second rotating electrical machine 413 . On both sides of the nineteenth fixing hole 412, two first linear motors 414 are symmetrically fixed on the upper surface of the first fixed disk 411, and the first linear motors 414 cooperate with the first sleeve 423 on the telescopic disk 42 to achieve telescopic The overall lifting of the fifth assembly 5 where the disc 42 is connected further adjusts the operating range of the navigation and positioning structure.
如图20所示，伸缩盘42包括第二固定盘421、第一套筒423、第二直线电机424、推动杆425。第二固定盘421表面上设有第二十固定孔422，第五组件5的固定栓52插入第二十固定孔422后，可限制第五组件5的滑动块512沿直线运动，防止出现偏倚。2个第一套筒423对称安装在第二固定盘421下表面两侧，分别套在第一直线电机414上，并与第一直线电机414的输出轴相连接。在第一直线电机414作用下，第一套筒423带动伸缩盘42实现升降运动。以第二固定盘421的圆心为中心在第二十固定孔422的对侧将第二直线电机424安装在第二固定盘421上表面上，第二直线电机424与推动杆425相连，推动杆425向第二十固定孔422延伸，且推动杆425轴线平行于第二十固定孔422中心和第二固定盘421圆心的连线。第二直线电机424通过推动杆425与第五组件5的滑动块512相连，在第二直线电机424驱动下，推动杆425推拉滑动块512在第二固定盘421上表面沿直线运动，能够扩大第五组件5的外展幅度。本实施例的第四组件4通过两个第一直线电机414不同伸缩幅度的升降实现伸缩盘42和第五组件5的整体倾斜，以进一步对导航定位结构的定位操作进行微调。As shown in FIG. 20 , the telescopic disk 42 includes a second fixed disk 421 , a first sleeve 423 , a second linear motor 424 , and a push rod 425 . The surface of the second fixed plate 421 is provided with a twentieth fixing hole 422. After the fixing bolt 52 of the fifth component 5 is inserted into the twentieth fixing hole 422, the sliding block 512 of the fifth component 5 can be restricted from moving along a straight line to prevent deviation. . The two first sleeves 423 are symmetrically mounted on both sides of the lower surface of the second fixed disk 421 , respectively sleeved on the first linear motor 414 and connected to the output shaft of the first linear motor 414 . Under the action of the first linear motor 414, the first sleeve 423 drives the telescopic disc 42 to realize the lifting movement. With the center of circle of the second fixed disk 421 as the center, the second linear motor 424 is installed on the upper surface of the second fixed disk 421 on the opposite side of the twentieth fixed hole 422, the second linear motor 424 is connected with the push rod 425, and the push rod 425 extends toward the twentieth fixing hole 422 , and the axis of the push rod 425 is parallel to the line connecting the center of the twentieth fixing hole 422 and the center of the second fixing disk 421 . The second linear motor 424 is connected to the sliding block 512 of the fifth assembly 5 through the push rod 425. Driven by the second linear motor 424, the push rod 425 pushes and pulls the sliding block 512 to move linearly on the upper surface of the second fixed plate 421, which can expand Abduction of the fifth component 5. The fourth component 4 of this embodiment realizes the overall tilting of the telescopic disc 42 and the fifth component 5 through the lifting and lowering of the two first linear motors 414 with different telescopic ranges, so as to further fine-tune the positioning operation of the navigation and positioning structure.
第五组件5为操作组件，如图21所示，第五组件5包括操作臂51、固定栓52和第二套筒53。操作臂51上端通过固定栓52与伸缩盘42的第二固定盘421相连接，第二套筒53安装在操作臂51下端。The fifth component 5 is an operating component. As shown in FIG. 21 , the fifth component 5 includes an operating arm 51 , a fixing bolt 52 and a second sleeve 53 . The upper end of the operating arm 51 is connected to the second fixed plate 421 of the telescopic plate 42 through the fixing bolt 52 , and the second sleeve 53 is installed at the lower end of the operating arm 51 .
如图22所示，操作臂51包括悬梁臂511、滑动块512和固定管515。悬梁臂511为杆状结构，上端与滑动块512下表面一侧相连接，且悬梁臂511与滑动块512之间具有90°～180°的夹角。悬梁臂511下端与固定管515中部相连。滑动块512为长方体结构，与悬梁臂511距离较远的一侧端中心具有侧孔513，推动杆425通过侧孔513与滑动块512相连接，通过推动杆425为滑动块512提供动力，进一步限定滑动块512的直线运动，降低直线运动过程中的偏倚。滑动块512内部沿轴线设有滑动槽514，优选地，滑动槽514为长条槽。固定栓52穿过滑动槽514插入第二固定盘421上的第二十固定孔422内，进而利用固定栓52引导滑动块512沿直线运动。固定管515具有贯穿轴向的第二十一固定孔516，第二套筒53通过第二十一固定孔516安装在固定管515上，固定管515能够对椎体解剖部位进行定位，并对内固定置入及微创穿刺操作进行导航。As shown in FIG. 22 , the operating arm 51 includes a cantilever arm 511 , a sliding block 512 and a fixed tube 515 . The cantilever arm 511 is a rod-shaped structure, the upper end of which is connected to one side of the lower surface of the sliding block 512 , and the angle between the cantilever arm 511 and the sliding block 512 is 90°-180°. The lower end of the cantilever arm 511 is connected with the middle part of the fixed pipe 515 . The sliding block 512 is a cuboid structure, and the center of the side end farther away from the cantilever arm 511 has a side hole 513, and the pushing rod 425 is connected with the sliding block 512 through the side hole 513, and provides power for the sliding block 512 through the pushing rod 425, further The linear motion of the sliding block 512 is limited to reduce the deviation during the linear motion. A sliding groove 514 is provided inside the sliding block 512 along the axis, preferably, the sliding groove 514 is a long groove. The fixing bolt 52 is inserted into the twentieth fixing hole 422 on the second fixing plate 421 through the sliding slot 514 , and then the fixing bolt 52 is used to guide the sliding block 512 to move along a straight line. The fixing tube 515 has a twenty-first fixing hole 516 that runs through the axial direction, and the second sleeve 53 is installed on the fixing tube 515 through the twenty-first fixing hole 516. The fixing tube 515 can position the vertebral body anatomy and Internal fixation placement and minimally invasive puncture operation for navigation.
本实施例中的固定栓52如图23所示可由第三柱状部521和第二固定柄522组成，且第三柱状部521的外径小于第二固定柄522的外径，在固定栓52插入第二十固定孔422后，第二固定柄522置于滑动块512上方。第二套筒53如图24所示由第四柱状部531和固定环532组成，且第四柱状部531的外径小于固定环532外径，固定环532能够使第二套筒53固定于固定管515上。第二套筒53设有贯穿轴向的第二十二固定孔533，第二十二固定孔533内部与普通脊柱外科手术器械、普通骨科器械等外科手术器械相匹配，进一步扩大该导航定位结构的应用范围。The fixing bolt 52 in this embodiment can be composed of a third columnar portion 521 and a second fixing handle 522 as shown in FIG. After being inserted into the twentieth fixing hole 422 , the second fixing handle 522 is placed above the sliding block 512 . The second sleeve 53 is composed of a fourth columnar portion 531 and a fixing ring 532 as shown in FIG. On the fixed pipe 515. The second sleeve 53 is provided with a twenty-second fixing hole 533 that runs through the axial direction. The interior of the twenty-second fixing hole 533 is matched with surgical instruments such as common spinal surgical instruments and common orthopedic instruments, further expanding the navigation and positioning structure. scope of application.
本实施例的导航定位结构组装好后，如图25所示，根据椎体棘突形状将第一组件1的两组第一连接杆13张开适宜角度，使得鞍状面125、锯齿面163紧贴椎体棘突表面，并通过固定钉17和固定针18将导航定位结构固定于椎体棘突表面，使得导航定位结构无需地面支撑结构即可实现整体的稳定，节省了操作空间，使结构整体小型化，也使得导航定位结构能够适应不同的椎体旋转场景，使其能够应对脊柱畸形矫形等复杂的脊柱手术。After the navigation and positioning structure of this embodiment is assembled, as shown in Figure 25, the two groups of first connecting rods 13 of the first component 1 are opened at an appropriate angle according to the shape of the spinous process of the vertebral body, so that the saddle-shaped surface 125 and the sawtooth surface 163 It is close to the surface of the spinous process of the vertebral body, and the navigation and positioning structure is fixed on the surface of the spinous process of the vertebral body through the fixing nail 17 and the fixing pin 18, so that the overall stability of the navigation and positioning structure can be achieved without the ground support structure, which saves the operation space and makes the The overall miniaturization of the structure also enables the navigation and positioning structure to adapt to different vertebral body rotation scenarios, enabling it to cope with complex spinal surgery such as spinal deformity correction.
本实施例的导航定位结构如图26所示通过第二组件2和第三组件3之间的啮合传动，带动第三组件3转动，第四组件4根据第三组件3的位姿，通过第二旋转电机413相对第三组件3转动进行微调，再通过第一直线电机414调节伸缩盘42和第五组件5的倾斜角度，实现导航定位结构定位操作的微调，第五组件5在第二直线电机424驱动下调节手术操作空间。导航定位结构在第二组件2、第三组件3、第四组件4、第五组件5配合下能够围绕第一组件1所固定的椎体进行轴向旋转，进而实现安装后对椎体的固定操作，而第四组件4的轴向旋转结合其他组件的屈曲伸展运动能够完成对椎体与上下椎体共计3个椎体节段的操作，进而简化了操作步骤，提高了手术效率。The navigation and positioning structure of this embodiment, as shown in Figure 26, drives the third component 3 to rotate through the meshing transmission between the second component 2 and the third component 3, and the fourth component 4 passes through the third component 3 according to the posture of the third component 3. Two rotary motors 413 are fine-tuned relative to the rotation of the third assembly 3, and then the first linear motor 414 is used to adjust the inclination angle of the telescopic disc 42 and the fifth assembly 5 to realize the fine-tuning of the positioning operation of the navigation and positioning structure. The operation space is adjusted under the drive of the linear motor 424 . With the cooperation of the second component 2, the third component 3, the fourth component 4, and the fifth component 5, the navigation positioning structure can rotate axially around the vertebral body fixed by the first component 1, thereby realizing the fixation of the vertebral body after installation operation, and the axial rotation of the fourth component 4 combined with the flexion and stretching movement of other components can complete the operation on the vertebral body and the upper and lower vertebral bodies, a total of 3 vertebral body segments, thereby simplifying the operation steps and improving the operation efficiency.
虽然上面结合本发明的优选实施例对本发明的原理进行了详细的描述，本领域技术人员应该理解，上述实施例仅仅是对本发明的示意性实现方式的解释，并非对本发明包含范围的限定。实施例中的细节并不构成对本发明范围的限制，在不背离本发明的精神和范围的情况下，任何基于本发明技术方案的等效变换、简单替换等显而易见的改变，均落在本发明保护范围之内。Although the principle of the present invention has been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are only explanations for the exemplary implementation of the present invention, and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation to the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple replacements based on the technical solutions of the present invention fall within the scope of the present invention. within the scope of protection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310563550.3ACN116616895B (en) | 2023-05-18 | A navigation positioning structure for spinal surgery |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310563550.3ACN116616895B (en) | 2023-05-18 | A navigation positioning structure for spinal surgery |
| Publication Number | Publication Date |
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| CN116616895Atrue CN116616895A (en) | 2023-08-22 |
| CN116616895B CN116616895B (en) | 2025-10-10 |
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