CN102648870A - Spinal pedicle screw implantation feedback force information collection device - Google Patents
Spinal pedicle screw implantation feedback force information collection device Download PDFInfo
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- CN102648870A CN102648870A CN2011100459023A CN201110045902A CN102648870A CN 102648870 A CN102648870 A CN 102648870A CN 2011100459023 A CN2011100459023 A CN 2011100459023A CN 201110045902 A CN201110045902 A CN 201110045902A CN 102648870 A CN102648870 A CN 102648870A
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Abstract
A spinal pedicle screw implantation feedback force information collection device comprises a handle, a torsion force transmission mechanism, a tension and compression force transmission mechanism, an operation head and a reference rack; the torsion force transmission mechanism is embedded in a groove of the handle; the tension and compression force transmission mechanism is connected to the front end of the torsion force transmission mechanism; the operation head is connected to the front end of the tension and compression force transmission mechanism; and the reference rack is connected to a tension and compression connector. The spinal pedicle screw implantation feedback force information collection device is used with an optical positioning system, can directly act on the chest and the lumbar vertebra of a human body during the operation process of spinal pedicle screw implantation and collect feedback force information synchronously, and can act on the chest and the lumbar vertebra of the human body through a special information collection experiment to collect feedback force information; and the collected force information can be used for building force models in a virtual spinal pedicle screw implantation operation system.
Description
Technical field
The present invention relates to the virtual emulation technology, particularly a kind of pedicle screw is implanted the feedback force information collecting device.
Background technology
The operation virtual emulation is the application of virtual reality technology at medical domain, is the important research direction in present digitized surgical technic field.By operation virtual emulation technology, the doctor can formulate the optimization operation plan; Also can not repeat exercise by cadaver sample; Thereby reduce surgeon's operative training expense and shorten cultivation cycle; Operation virtual emulation technology has overcome few, the high deficiency of operational objectives (cadaver sample) cost of the actual hands-on chance of doctor under the conventional surgical training of doctors pattern, and is significant to the quality and the efficient that improve the medical surgery training.
Spinal column is one of most important organ of human body.People's spinal lesion and fracture dislocation incidence rate are in rising trend in recent years.The internal fixation of spine operation that is implanted as the basis with pedicle screw has advantages such as cycle weak point, instant effect, often becomes doctor and patient's first-selection.The implant surgery of spinal column pedicle screw need be confirmed the ideal mouth that advances to hammer on vertebral body; And the relative pose of monitoring in real time between screw or operation tool and the vertebral body concerns; And doctor's viewing area is limited, relies on the X-ray that obtains affected part repeatedly; Obtain the relative pose information between implant or operation tool and the trouble bone discontinuously, this has proposed very high requirement for doctor's operation technique level.In order to improve doctor's technical merit at short notice with lower cost, be necessary the operation dummy emulation system that developing special is implanted towards the spinal column pedicle screw.
In order to reach operation virtual emulation effect true to nature; Thereby according to the different of human body vertebral body different parts physical characteristic and punching and plant the nail degree of depth, orientation, speed, the isoparametric difference of acceleration and export different feedback forces, power is felt the feedback system ingredient that is absolutely necessary.Basic power feels that feedback system comprises device for force feedback and power feel modeling.Existing power vision model involves that number of complex is calculated and theoretical property is very strong; And structure of human body vertebral body and biomechanics characteristic are very complicated; The simple true feedback force that shows in power visual information that Theoretical Calculation draws and the operation that leans on has certain difference, the fidelity of virtual emulation thereby influence is performed the operation.Compare with simple Theoretical Calculation, feel that through power harvester gathers real feedback force information in the actual pedicle screw implantation, and to carry out modeling analysis and research on this basis be a kind of more direct effective solution.
Literature search through to prior art is found; The patent No. is that the Chinese invention patent " analog scalpel unit " (notification number is CN1176448C) of ZL02118522.0 discloses a kind of analog scalpel; Application number is the force acquisition device that 200410031486.1 Chinese invention patent " a kind of force acquisition device of scalpel " (publication number is CN1677064A) then discloses this analog scalpel, and application number is that 200910308169.2 Chinese invention patent " virtual surgery haptic information acquiring device " (publication number is CN101653356A) discloses a kind of virtual surgery haptic information acquiring device.These three patents all relate to the collection of human body soft tissue force feedback information, but do not consider the clamping and positioning of operational objectives in the information gathering process (tissue), up to the present, still do not have the haptic information acquiring device of implanting virtual operation towards pedicle nail.
Summary of the invention
The object of the invention exactly in order to solve the problems referred to above that prior art exists, provides a kind of pedicle screw to implant the feedback force information collecting device.
To achieve these goals, the present invention has adopted following technical scheme: a kind of pedicle screw is implanted the feedback force information collecting device, and it comprises:
Handle is made up of pyriform afterbody that fuses and cylindrical shape head, is provided with the type groove of axial perforation in the handle;
Reverse force transmission mechanism; Be inlaid in the type groove of handle; Comprise torque sensor and twisting joint that movable cutting ferrule links to each other, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms with the cylindrical shape head and is rotatably connected;
The tension and compression force transmission mechanism; Be connected the front end that reverses force transmission mechanism; Comprise tension and compression joint and tension-compression sensor, tension and compression joint and twisting joint be nested to link to each other and forms removable the connection with twisting joint, and the rear portion of tension and compression joint is provided with die cavity; Tension-compression sensor is arranged in the die cavity of tension and compression joint and with the tension and compression joint and is fixedly connected, and the rear portion of tension-compression sensor is fixedly connected with twisting joint;
Operating head is connected the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs pulloverly to be fixedly connected with the tension and compression joint, and sickle and installation are pullover nestedly to be movably connected and to link to each other with the nested transmission of tension and compression joint;
Frame of reference is connected on the tension and compression joint.
The pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed hole and 8 screwed holes that are used to locate twisting joint of being used for fixing torsion sensor.
The main body of described torque sensor is the cylinder bodily form, and periphery is provided with axial anti-slip tank, and the cylinder tail end is connected with a lead, and this lead passes from the pyriform afterbody of handle; Described twisting joint is the multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is bigger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with the twice annular groove; Die cavity in twisting joint back segment and the handle forms matched in clearance; Through 8 attachment screws are screwed in from the screwed hole that 8 of the cylindrical shape head of handle are used to connect twisting joint; 8 attachment screws are cooperated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle.
Described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part; The head threads shaft part is fixedly connected with the tension and compression joint; The middle part is connected with lead for discoid section; It is protruding that this lead radially passes the tension and compression joint, and the rear threads shaft part is fixedly connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to the stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetrical distribution, and the chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is a thread spindle, postpones and be the V-arrangement protrusion in the top of thread spindle; Through in 4 screw holes, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides on the twisting joint, realization tension and compression joint is connected with the removable of twisting joint.
A kind of in broken bone object, circuit-closer or the screw thread screw tap of described sickle, the sickle tail end has and is used for protruding the V-arrangement link slot that nested transmission links to each other with the V-arrangement of tension and compression joint, and the sickle front end is provided with cutting edge; Described installation is pullover to be the cylindrical tube shape structure, pullover forward outer surface is installed is provided with two faces that scabble that are symmetrical distribution.
Described frame of reference comprises that pole, cross that order fuses carry ball-collecting rack and infrared external reflection ball; The pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and pole upper end is connected with the cross point that cross carries ball-collecting rack, the infrared external reflection ball totally 4 be connected to 4 angle point places that cross carries ball-collecting rack.
Pedicle screw of the present invention is implanted the feedback force information collecting device and is cooperated optical positioning system to use, and can in pedicle screw implant surgery process, directly act on human body breast, lumbar vertebra, and synchronous acquisition feedback force information; Also can act on human body breast, lumbar vertebra BIAO and BEN, gather feedback force information through special information gathering experiment.The power vision model that the power visual information of being gathered can be used in the virtual pedicle nail implant surgery system makes up.
Description of drawings
Fig. 1 implants the perspective view of feedback force information collecting device for pedicle screw of the present invention;
Fig. 2 implants the sectional structure sketch map of feedback force information collecting device for pedicle screw of the present invention;
Fig. 3 is the perspective view of the handle among the present invention;
Fig. 4 is the perspective view of reversing force transmission mechanism among the present invention;
Fig. 5 is the perspective view of the twisting joint among the present invention;
Fig. 6 is the perspective view of the tension and compression force transmission mechanism among the present invention;
Fig. 7 is the perspective view of the tension and compression joint among the present invention;
Fig. 8 is the perspective view of the tension-compression sensor among the present invention;
Fig. 9 is the perspective view of the operating head among the present invention;
Figure 10 is the pullover perspective view of installation among the present invention;
Figure 11 is the perspective view of the sickle among the present invention;
Figure 12 is the perspective view of the frame of reference among the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Referring to Fig. 1, Fig. 2, pedicle screw of the present invention is implanted the feedback force information collecting device, comprises handle 1, reverses force transmission mechanism 2, tension and compression force transmission mechanism 3, operating head 4 and frame of reference 5.
Continuation cooperates referring to Fig. 3 referring to Fig. 1, Fig. 2, and the handle 1 among the present invention is made up of pyriform afterbody that fuses 11 and cylindrical shape head 12, is provided with the type groove 13 of axial perforation in the handle.Have axial anti-slip tank 111 at pyriform afterbody 11 outer surfaces, on the barrel of cylindrical shape head 12, be provided with 6 screwed hole 121 and 8 screwed holes 122 that are used to locate twisting joint that are used for fixing torsion sensor.
Continuation is referring to Fig. 1, Fig. 2; Cooperation is referring to Fig. 4, Fig. 5; Reversing in the type groove 13 that force transmission mechanism 2 is inlaid in handle 1 among the present invention; Comprise torque sensor 21 and twisting joint 22 that movable cutting ferrule links to each other, torque sensor 21 is arranged on the rear portion of the cylindrical shape head 12 of handle, and twisting joint 22 is arranged on cylindrical shape head 12 anterior of handle and forms with cylindrical shape head 12 and is rotatably connected.The main body of torque sensor 21 is the cylinder bodily form, and periphery is provided with axial anti-slip tank 211, and the cylinder tail end is connected with a lead 23, and this lead passes from the pyriform afterbody 11 of handle.Twisting joint 22 is the multidiameter structure; Comprise bigger leading portion of diameter 221 and the less back segment 222 of diameter; The leading portion outer wall is provided with 4 even axial slides spaced apart 223, and the back segment outer wall is provided with twice annular groove 224, and twisting joint back segment 222 forms matched in clearance with the interior die cavity 13 of handle.Through 8 attachment screws are screwed in from the screwed hole 122 that 8 of the cylindrical shape head 12 of handle are used to connect twisting joint; 8 attachment screws are cooperated with the twice annular groove 224 of twisting joint 22 back segments, realize being rotatably connected of cylindrical shape head 12 of twisting joint 22 and handle.21 of above-mentioned torque sensors bear torsional moment, and twisting joint 22 bears torsional moment and pressure simultaneously.
Continuation is referring to Fig. 1, Fig. 2; Cooperation is referring to Fig. 6, Fig. 7, Fig. 8; Tension and compression force transmission mechanism 3 among the present invention is connected the front end that reverses force transmission mechanism 2, comprises tension and compression joint 31 and tension-compression sensor 32, and tension and compression joint 31 and twisting joint 22 be nested to link to each other and form removable connections with twisting joint 22; The rear portion of tension and compression joint 31 is provided with die cavity, and this die cavity is arranged on the back segment of tension and compression joint 31 and extends to the stage casing.Tension-compression sensor 32 is arranged in this die cavity and with tension and compression joint 31 and is fixedly connected, and the rear portion of tension-compression sensor 32 is fixedly connected with twisting joint 22.Tension and compression joint 31 comprises back segment 311, stage casing 312 and the leading portion 313 that diameter dwindles successively; Back segment 311 outer surfaces are provided with two faces that scabble 3111 that are symmetrical distribution, and are provided with 4 even radial screw holes 3112 spaced apart; The leading portion 313 of tension and compression joint is a thread spindle, postpones and be V-arrangement protrusion 314 in the top of thread spindle.Through in 4 screw holes 3112, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides 223 on the twisting joint 22, realization tension and compression joint 31 is connected with the removable of twisting joint 22.Tension-compression sensor 32 comprises head threads shaft part 321, middle part disk segments 322 and rear threads shaft part 323; Head threads shaft part 321 is fixedly connected with tension and compression joint 31; The middle part is connected with lead 33 for discoid section 322; It is protruding that this lead 33 radially passes tension and compression joint 31, and rear threads shaft part 323 is fixedly connected with the twisting joint that reverses force transmission mechanism 22.32 of above-mentioned tension-compression sensors bear pressure, and tension and compression joint 31 bears torsional moment and pressure simultaneously.
Continuation is referring to Fig. 1, Fig. 2; Cooperation is referring to Fig. 9, Figure 10, Figure 11; Operating head 4 among the present invention is connected the front end of tension and compression force transmission mechanism 3; Comprise install pullover 41 with sickle 42, install pullover 41 and be fixedly connected with tension and compression joint 31, sickle 42 and installation pullover 41 are nested to link to each other and links to each other with the 31 nested transmissions of tension and compression joint.Installation wherein pullover 41 is the cylindrical tube shape structure, pullover 41 forward outer surface is installed is provided with two faces that scabble 411 that are symmetrical distribution.A kind of in broken bone object, circuit-closer or the screw thread screw tap of sickle 42, sickle 42 tail ends have and are used for protruding the V-arrangement link slot 421 that 314 nested transmissions link to each other with the V-arrangement of tension and compression joint 31, and the sickle front end is provided with cutting edge 422.
Continuation cooperates referring to Figure 12 referring to Fig. 1, Fig. 2, and frame of reference 5 is connected on the tension and compression joint 31 among the present invention, comprises that pole 51, cross that order fuses carry ball-collecting rack 52 and infrared external reflection ball 53; Pole 51 lower ends are fixed on the tension and compression joint 31 of tension and compression force transmission mechanism, and the cross point that pole 51 upper ends and cross carry ball-collecting rack 52 is connected, infrared external reflection ball 53 totally 4 be connected to 4 angle point places that cross carries ball-collecting rack 52.
Claims (6)
1. a pedicle screw is implanted the feedback force information collecting device, it is characterized in that, comprising:
Handle is made up of pyriform afterbody that fuses and cylindrical shape head, is provided with the type groove of axial perforation in the handle;
Reverse force transmission mechanism; Be inlaid in the type groove of handle; Comprise torque sensor and twisting joint that movable cutting ferrule links to each other, torque sensor is arranged on the rear portion of the cylindrical shape head of handle, and twisting joint is arranged on cylindrical shape head anterior of handle and forms with the cylindrical shape head and is rotatably connected;
The tension and compression force transmission mechanism; Be connected the front end that reverses force transmission mechanism; Comprise tension and compression joint and tension-compression sensor, tension and compression joint and twisting joint be nested to link to each other and forms removable the connection with twisting joint, and the rear portion of tension and compression joint is provided with die cavity; Tension-compression sensor is arranged in the die cavity of tension and compression joint and with the tension and compression joint and is fixedly connected, and the rear portion of tension-compression sensor is fixedly connected with twisting joint;
Operating head is connected the front end of tension and compression force transmission mechanism, comprises pullover and sickle is installed, and installs pulloverly to be fixedly connected with the tension and compression joint, and sickle and installation are pullover nestedly to link to each other and link to each other with the nested transmission of tension and compression joint;
Frame of reference is connected on the tension and compression joint.
2. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device, and it is characterized in that: the pyriform afterbody outer surface of described handle has axial anti-slip tank; The barrel of the cylindrical shape head of described handle is provided with 6 screwed hole and 8 screwed holes that are used to locate twisting joint of being used for fixing torsion sensor.
3. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device; It is characterized in that: the main body of described torque sensor is the cylinder bodily form; Periphery is provided with axial anti-slip tank, and the cylinder tail end is connected with a lead, and this lead passes from the pyriform afterbody of handle; Described twisting joint is the multidiameter structure, comprises leading portion and the less back segment of diameter that diameter is bigger; Twisting joint leading portion outer wall is provided with 4 even axial slides spaced apart; Twisting joint back segment outer wall is provided with the twice annular groove; Die cavity in twisting joint back segment and the handle forms matched in clearance; Through 8 attachment screws are screwed in from the screwed hole that 8 of the cylindrical shape head of handle are used to connect twisting joint; 8 attachment screws are cooperated with the twice annular groove of twisting joint back segment, realize being rotatably connected of cylindrical shape head of twisting joint and handle.
4. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device; It is characterized in that: described tension-compression sensor comprises head threads shaft part, middle part disk segments and rear threads shaft part; The head threads shaft part is fixedly connected with the tension and compression joint; The middle part is connected with lead for discoid section, and it is protruding that this lead radially passes the tension and compression joint, and the rear threads shaft part is fixedly connected with the twisting joint that reverses force transmission mechanism; Described tension and compression joint comprises back segment, stage casing and the leading portion that diameter dwindles successively; The die cavity at described tension and compression joint rear portion is arranged on the back segment of tension and compression joint and extends to the stage casing, and back segment chamber wall outer surface is provided with two faces that scabble that are symmetrical distribution, and the chamber wall is provided with 4 even radial screw holes spaced apart; The leading portion of tension and compression joint is a thread spindle, postpones and be the V-arrangement protrusion in the top of thread spindle; Through in 4 screw holes, screwing in 4 attachment screws, the head of 4 attachment screws is cooperated with 4 axial slides on the twisting joint, realization tension and compression joint is connected with the removable of twisting joint.
5. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device; It is characterized in that: a kind of in broken bone object, circuit-closer or the screw thread screw tap of described sickle; The sickle tail end has and is used for protruding the V-arrangement link slot that nested transmission links to each other with the V-arrangement of tension and compression joint, and the sickle front end is provided with cutting edge; Described installation is pullover to be the cylindrical tube shape structure, pullover forward outer surface is installed is provided with two faces that scabble that are symmetrical distribution.
6. pedicle screw as claimed in claim 1 is implanted the feedback force information collecting device, it is characterized in that: described frame of reference comprises that pole, cross that order fuses carry ball-collecting rack and infrared external reflection ball; The pole lower end is fixed on the tension and compression joint of tension and compression force transmission mechanism, and pole upper end is connected with the cross point that cross carries ball-collecting rack, the infrared external reflection ball totally 4 be connected to 4 angle point places that cross carries ball-collecting rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110045902.3A CN102648870B (en) | 2011-02-25 | 2011-02-25 | Spinal pedicle screw implantation feedback force information collection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110045902.3A CN102648870B (en) | 2011-02-25 | 2011-02-25 | Spinal pedicle screw implantation feedback force information collection device |
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| Publication Number | Publication Date |
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| CN102648870A true CN102648870A (en) | 2012-08-29 |
| CN102648870B CN102648870B (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110045902.3A Expired - Fee Related CN102648870B (en) | 2011-02-25 | 2011-02-25 | Spinal pedicle screw implantation feedback force information collection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5807377A (en) * | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| EP0980037A2 (en) * | 1998-08-12 | 2000-02-16 | Mitsubishi Denki Kabushiki Kaisha | Haptic device |
| CN200942120Y (en) * | 2006-08-30 | 2007-09-05 | 刘一 | Resistance navigator for pedicle |
| CN101325920A (en) * | 2005-12-30 | 2008-12-17 | 直观外科手术公司 | Modular force sensor |
| CN101653356A (en) * | 2009-10-10 | 2010-02-24 | 上海交通大学 | Virtual surgery haptic information acquiring device |
| CN201519139U (en) * | 2009-10-19 | 2010-07-07 | 沈国芳 | Fixed support for surgical navigation |
-
2011
- 2011-02-25 CN CN201110045902.3A patent/CN102648870B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5807377A (en) * | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| EP0980037A2 (en) * | 1998-08-12 | 2000-02-16 | Mitsubishi Denki Kabushiki Kaisha | Haptic device |
| CN101325920A (en) * | 2005-12-30 | 2008-12-17 | 直观外科手术公司 | Modular force sensor |
| CN200942120Y (en) * | 2006-08-30 | 2007-09-05 | 刘一 | Resistance navigator for pedicle |
| CN101653356A (en) * | 2009-10-10 | 2010-02-24 | 上海交通大学 | Virtual surgery haptic information acquiring device |
| CN201519139U (en) * | 2009-10-19 | 2010-07-07 | 沈国芳 | Fixed support for surgical navigation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
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| CN102648870B (en) | 2014-03-12 |
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