CN116370066A - Laser bone cutting device for spinal surgery - Google Patents
Laser bone cutting device for spinal surgery Download PDFInfo
- Publication number
- CN116370066A CN116370066A CN202310142477.2A CN202310142477A CN116370066A CN 116370066 A CN116370066 A CN 116370066A CN 202310142477 A CN202310142477 A CN 202310142477A CN 116370066 A CN116370066 A CN 116370066A
- Authority
- CN
- China
- Prior art keywords
- laser
- motor
- telescopic
- bone cutting
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 51
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 29
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 18
- 230000005611 electricity Effects 0.000 claims description 3
- 230000002980 postoperative effect Effects 0.000 abstract description 3
- 230000000740 bleeding effect Effects 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 210000000779 thoracic wall Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00565—Bone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Otolaryngology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Laser Surgery Devices (AREA)
Abstract
The invention discloses a laser bone cutting device for spinal surgery, which relates to the technical field of medical appliances, and has the technical scheme that: including control terminal and laser bone cutting machine and backbone operating table, laser bone cutting machine includes the host computer, the inside flexible motor one that inlays in host computer top, flexible motor one output is equipped with telescopic link one, telescopic link one is connected with horizontal rotation module, the inside one side of horizontal rotation module inlays and is equipped with flexible motor two, flexible motor two output is equipped with telescopic link two, flexible link two one end is equipped with 360 degrees rotation axis, 360 degrees rotation axis one end is connected with the operation arm, operation arm one end is connected with the laser instrument. The laser bone cutting device for spinal surgery has the advantages of small wound, small bleeding amount and quick postoperative recovery time; the surgical accuracy is high, medical accidents are reduced to the greatest extent, and the surgical efficiency is very high.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a laser bone cutting device for spinal surgery.
Background
The spine is a body support, is positioned in the middle of the back, the upper end of the spine is connected with the skull, the lower end of the spine reaches the coccyx tip, the spine is divided into five sections of the neck, the chest, the waist, the sacrum and the tail, and the upper part of the spine is long and can move, so that the spine looks like a bracket and hangs the chest wall and the abdominal wall; the lower part is short and relatively fixed. The weight of the body and the shock to which it is subjected are thus transmitted to the lower limbs. The spine is composed of vertebrae and intervertebral discs, and is a relatively soft and mobile structure.
When there is pathological change in patient's backbone, need in time carry out operation treatment, current backbone surgical operation is generally open-ended great, in order to let the doctor of main knife have good exploration field of vision and operation sword space, can also use retractor device if necessary, this does not have the accident and can increase medical risk, and postoperative recovered time is longer, also is bigger to patient's damage, in backbone surgical operation cutting process, traditional backbone surgical operation, cutting accuracy is not high, need very senior and skilled main knife doctor operate, and the operating efficiency is also not high yet.
Therefore, there is an urgent need for a laser bone cutting device for minimally invasive spinal surgery, while guaranteeing the precision and efficiency during the surgery.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a laser bone cutting device for spinal surgery.
The technical aim of the invention is realized by the following technical scheme: a laser bone cutting device for backbone surgery, includes control terminal and laser bone cutting machine and backbone operating table, control terminal and laser bone cutting machine electricity are connected, laser bone cutting machine includes the host computer, the inside flexible motor one that inlays in host computer top, flexible motor one output is equipped with telescopic link one, flexible motor one end is connected with horizontal rotation module is kept away from to telescopic link one, horizontal rotation module inside one side inlays and is equipped with flexible motor two, flexible motor two output is equipped with flexible link two, horizontal rotation module one side is kept away from to flexible link two is equipped with 360 degrees rotation axis, 360 degrees rotation axis is kept away from flexible link two one end and is connected with the operation arm, 360 degrees rotation axis one end is kept away from to the operation arm is connected with the laser.
The invention is further provided with: the servo motor I is embedded in the horizontal rotation module, and the horizontal rotation module is connected with the servo motor I in a clamping mode.
The invention is further provided with: the 360-degree rotating shaft consists of a second servo motor and a third servo motor, and the second servo motor and the third servo motor are mutually perpendicular.
The invention is further provided with: the telescopic motor II is embedded in the operation arm, a telescopic rod II is arranged at the output end of the telescopic motor II, the telescopic rod II is connected with the laser in a clamping mode, and a miniature positioning camera is arranged at one end, far away from the servo motor II, of the operation arm.
The invention is further provided with: the device also comprises an operating system, the operating system consists of a motion path control module, a picture acquisition module and a laser control module, the motion control module comprises an angle control module and a telescopic distance control module, the angle control module respectively controls the first servo motor and the 360-degree rotating shaft, the telescopic distance control module is used for controlling the first telescopic motor and the second telescopic motor respectively, the picture acquisition module is used for controlling the miniature positioning camera, and the laser control module is used for controlling the third telescopic motor and the laser.
The invention also comprises a using method, which comprises the following steps:
s1, acquiring a three-dimensional model of a spine of a patient and a cutting point position;
s2, constructing and marking an optimal cutting surface at the operation position of the patient, and obtaining a cutting angle;
s3, moving the device to the front of the operating table, starting the device, moving the laser to the position above the marking point with the aid of the positioning camera, and adjusting the angle of the laser to be cut;
s4, opening the laser, and controlling the telescopic device to cut the laser along a preset angle;
s5, after cutting is completed, the laser is closed, the telescopic device is controlled, the laser is returned in the original path, and the device is removed and the subsequent operation is performed.
In summary, the invention has the following beneficial effects:
the laser bone cutting device for the spinal surgery adopts the laser to perform cutting operation, has small wound and small bleeding amount, and has quick postoperative recovery time; the terminal is used for controlling the mechanical arm to operate the laser for cutting operation, so that the operation precision is greatly improved, medical accidents are reduced to the greatest extent, and secondary injuries of patients are avoided; the preoperative preparation is sufficient, the tool setting position and the tool setting angle are calculated, and the efficiency of the surgical process is greatly improved by matching with the high-efficiency cutting of the upper laser.
Drawings
FIG. 1 is a schematic view of a laser bone cutting device for spinal surgery according to one embodiment of the present invention;
FIG. 2 is a flow chart of an operating system in an embodiment of the invention;
FIG. 3 is a flow chart of a method of use in an embodiment of the invention.
In the figure: 1. a control terminal; 2. a host; 201. a first telescopic motor; 202. a first telescopic rod; 203. a servo motor I; 204. a horizontal rotation module; 205. a second telescopic motor; 206. a second telescopic rod; 207. a servo motor II; 208. a servo motor III; 3. an operation arm; 301. a miniature positioning camera; 4. a telescopic motor III; 401. a telescopic rod III; 5. a laser; 6. a spinal surgical table.
Detailed Description
In order that those skilled in the art will better understand the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, wherein it is to be understood that the illustrated embodiments are merely exemplary of some, but not all, of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The present invention will be described in detail with reference to examples.
Examples:
as shown in fig. 1-3, a laser bone cutting device for spinal surgery, including control terminal 1 and laser bone cutting machine and backbone operating table 6, control terminal 1 and laser bone cutting machine electricity are connected, the laser bone cutting machine includes host computer 2, the inside flexible motor 201 that inlays in host computer 2 top, flexible motor 201 output is fixed to be equipped with flexible pole one 202, flexible pole one 202 is kept away from flexible motor one 201 one end and is connected with horizontal rotation module 204, horizontal rotation module 204 inside one side inlays and is equipped with flexible motor two 205, flexible motor two 205 output is fixed to be equipped with flexible pole two 206, flexible pole two 206 is kept away from horizontal rotation module 204 one side and is fixed to be equipped with 360 degrees rotation axes, 360 degrees rotation axes are kept away from flexible pole two 206 one end and are connected with operating arm 3, 360 degrees rotation axes one end is kept away from to operating arm 3 is connected with laser 5.
In this embodiment, the first telescopic motor 201 is matched with the first telescopic rod 202 to adjust the height of the operating arm 3, the second horizontal rotating module 204 is matched with the second telescopic motor 205 and the second telescopic rod 206 to control the horizontal position of the operating arm 3, and the 360-degree rotating shaft is used to adjust the angle of the laser 5 in the operating arm 3.
The first servo motor 203 is embedded in the horizontal rotation module 204, and the horizontal rotation module 204 is clamped with the first servo motor 203.
In the present embodiment, the first servo motor 203 realizes the horizontal rotation function of the horizontal rotation module 204.
The 360-degree rotation shaft is composed of a second servo motor 207 and a third servo motor 208, and the second servo motor 207 and the third servo motor 208 are perpendicular to each other.
In this embodiment, through the perpendicular placement of 2 servo motors, the operation arm 3 is not limited to the rotation of a plane in space, and can rotate three-dimensionally, and the angle of the laser 5 in the operation arm 3 is wider.
The operation arm 3 is internally embedded with a second telescopic motor 205, the output end of the second telescopic motor 205 is fixedly provided with a second telescopic rod 206, the second telescopic rod 206 is clamped with the laser 5, and one end, far away from the second servo motor 207, of the operation arm 3 is fixedly provided with a miniature positioning camera 301.
In this embodiment, the second telescopic motor 205 is matched with the second telescopic rod 206, so that the laser 5 can move along the inner space of the operating arm 3, and the cutting is performed according to the designed degree of intersection.
The device also comprises an operating system, wherein the operating system consists of a motion path control module, a picture acquisition module and a laser control module, the motion control module comprises an angle control module and a telescopic distance control module, the angle control module respectively controls the first servo motor 203 and the 360-degree rotating shaft, the telescopic distance control module respectively controls the first telescopic motor 201 and the second telescopic motor 205, the picture acquisition module controls the micro positioning camera 301, and the laser control module controls the third telescopic motor 4 and the laser 5.
The invention also comprises a using method, which comprises the following steps:
s1, acquiring a three-dimensional model of a spine of a patient and a cutting point position;
s2, constructing and marking an optimal cutting surface at the operation position of the patient, and obtaining a cutting angle;
s3, moving the device to the front of an operating table, starting the device, moving the laser 5 to the position above the marking point with the aid of the positioning camera, and adjusting the cutting angle of the laser 5;
s4, opening the laser 5, and controlling the telescopic device to enable the laser 5 to cut along a preset angle;
s5, after cutting is completed, the laser 5 is closed, the telescopic device is controlled, the laser 5 is returned in the original path, the device is removed, and subsequent operation is performed.
Working principle: firstly, scanning the spine of a patient through a CT scanning technology, transmitting scanning data to medical 3D image software, moving a three-dimensional model of the spine of the patient, finding focus positions, observing tissue conditions around the focus, designing an optimal cutter setting path, minimizing damage as far as possible, calculating the cutter setting position of the back surface layer of the patient, marking, establishing a space coordinate system at a marking point, accurately calculating the angle, direction and length of the cutter, starting operation after preparation, enabling the patient to prone on a spine operation table 6, performing corresponding operation, moving the device to the front of the spine operation table 6 when a laser bone cutting device is needed, starting the device, assisting by means of a positioning camera (a CCD positioning camera can be used), moving the laser 5 to the position above the marking point, adjusting the cutter setting angle of the laser 5 (adjusting each angle through 3 accurate ultra-high servo motors), opening the laser 5, controlling the telescopic device to enable the laser 5 to perform forward cutting along the preset angle, and further completing operation cutting operation.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (6)
1. A laser bone cutting device for spinal surgery, characterized by: including control terminal (1) and laser bone cutting machine and backbone operation panel (6), control terminal (1) and laser bone cutting machine electricity are connected, laser bone cutting machine includes host computer (2), the inside flexible motor (201) that inlays in host computer (2) top, flexible motor (201) output is equipped with flexible pole one (202), flexible motor one (201) one end is kept away from to flexible pole one (202) is connected with horizontal rotation module (204), flexible motor two (205) are inlayed in inside one side of horizontal rotation module (204), flexible motor two (205) output is equipped with flexible pole two (206), horizontal rotation module (204) one side is kept away from to flexible pole two (206) is equipped with 360 degrees rotation axis, 360 degrees rotation axis are kept away from flexible pole two (206) one end and are connected with operating arm (3), 360 degrees rotation axis one end is kept away from to operating arm (3) is connected with laser instrument (5).
2. A laser bone cutting device for spinal surgery as recited in claim 1, wherein: the servo motor I (203) is embedded in the horizontal rotation module (204), and the horizontal rotation module (204) is clamped with the servo motor I (203).
3. A laser bone cutting device for spinal surgery as recited in claim 2, wherein: the 360-degree rotating shaft consists of a second servo motor (207) and a third servo motor (208), and the second servo motor (207) and the third servo motor (208) are perpendicular to each other.
4. A laser bone cutting device for spinal surgery as recited in claim 3, wherein: the telescopic device is characterized in that a second telescopic motor (205) is embedded in the operating arm (3), a second telescopic rod (206) is arranged at the output end of the second telescopic motor (205), the second telescopic rod (206) is connected with the laser (5) in a clamping mode, and a miniature positioning camera (301) is arranged at one end, far away from the second servo motor (207), of the operating arm (3).
5. A laser bone cutting device for spinal surgery as recited in claim 4, further comprising an operating system, wherein: the operation system consists of a motion path control module, a picture acquisition module and a laser control module, wherein the motion control module comprises an angle control module and a telescopic distance control module, the angle control module respectively controls the first servo motor (203) and the 360-degree rotating shaft, the telescopic distance control module respectively controls the first telescopic motor (201) and the second telescopic motor (205), the picture acquisition module controls the micro positioning camera (301), and the laser control module controls the third telescopic motor (4) and the laser (5).
6. A laser bone cutting device for spinal surgery as recited in claim 5, further comprising the steps of:
s1, acquiring a three-dimensional model of a spine of a patient and a cutting point position;
s2, constructing and marking an optimal cutting surface at the operation position of the patient, and obtaining a cutting angle;
s3, moving the device to the front of an operating table, starting the device, moving the laser (5) to the position above the marking point with the aid of the positioning camera, and adjusting the cutting angle of the laser (5);
s4, opening the laser (5), and controlling the telescopic device to enable the laser (5) to cut along a preset angle;
s5, after cutting is completed, the laser (5) is closed, the telescopic device is controlled, the laser (5) returns to the original path, the device is removed, and subsequent operation is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310142477.2A CN116370066A (en) | 2023-02-21 | 2023-02-21 | Laser bone cutting device for spinal surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310142477.2A CN116370066A (en) | 2023-02-21 | 2023-02-21 | Laser bone cutting device for spinal surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116370066A true CN116370066A (en) | 2023-07-04 |
Family
ID=86960518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310142477.2A Pending CN116370066A (en) | 2023-02-21 | 2023-02-21 | Laser bone cutting device for spinal surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116370066A (en) |
-
2023
- 2023-02-21 CN CN202310142477.2A patent/CN116370066A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112641510B (en) | Joint replacement surgery robot navigation and positioning system and method | |
| US20250213336A1 (en) | Methods for conducting guided oral and maxillofacial procedures, and associated system | |
| US11116584B2 (en) | Robotic surgical tool | |
| US9649164B2 (en) | Surgical robot system and surgical robot control method | |
| JP2023513692A (en) | Systems and methods for sensory augmentation in medical procedures | |
| AU2017269557A1 (en) | Medical device for cutting bone | |
| CN106725711A (en) | Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method | |
| CN115634007B (en) | Bone cutting control method, bone cutting system, and storage medium | |
| CN115701945A (en) | Surgical apparatus controllable by a surgical robotic system | |
| CN219021534U (en) | Master-slave teleoperation orthopedics robot system | |
| CN113081273A (en) | Punching auxiliary system and surgical robot system | |
| CN116370066A (en) | Laser bone cutting device for spinal surgery | |
| CN219680762U (en) | Laser bone cutting device for spinal surgery | |
| CN203609518U (en) | Digitized spinal surgery device based on microgap positioning | |
| CN115227349A (en) | Lung puncture robot based on optical tracking technology | |
| US20250040987A1 (en) | Method for indicating an incision trajectory by a laser of an intraoperative imaging system | |
| CN215534982U (en) | Self-adaptation decompression tunnel type robot arm for robot | |
| CN114027963B (en) | Sacroiliac joint screw positioning auxiliary structure and insertion method based on positioning point | |
| CN115429409A (en) | Percutaneous pedicle of vertebral arch pjncture needle anchoring position and puncture direction navigation | |
| CN113796962B (en) | Instrument arm | |
| JP7562573B2 (en) | Lockable Surgery System | |
| KR100421426B1 (en) | A Bone-Mountable Surgical Robot For Total Hip Replacement | |
| CN113440260A (en) | Self-adaptation decompression tunnel type robot arm for robot | |
| CN113693722B (en) | Auxiliary intervertebral foramen mirror positioning and guiding device | |
| EP4574077A1 (en) | Method and system for determining a configuration of a robotic arm to optimize the visibility of a tracker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |