CN102342857B - Surgical positioning device - Google Patents
Surgical positioning device Download PDFInfo
- Publication number
- CN102342857B CN102342857B CN2010102442253A CN201010244225A CN102342857B CN 102342857 B CN102342857 B CN 102342857B CN 2010102442253 A CN2010102442253 A CN 2010102442253A CN 201010244225 A CN201010244225 A CN 201010244225A CN 102342857 B CN102342857 B CN 102342857B
- Authority
- CN
- China
- Prior art keywords
- actuator
- correspondence
- orbital member
- revolving part
- positioning device
- 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.)
- Active
Links
Images
Abstract
The invention discloses a surgical positioning device, comprising a bearing frame, a transverse linear driving assembly, a vertical linear driving assembly, a horizontal rotation driving assembly, a vertical rotation driving assembly, a longitudinal linear driving assembly and a surgical tool end, wherein the surgical positioning device can be used in an operation for providing an operation degree of freedom in linear displacement in a three-dimensional space and providing an operation degree of freedom on vertical or horizontal rotation, so as to make a surgical tool displace to any special surgical position and angle as required to facilitate the operation proceeding; in addition, high-precision driving and controlling actuation can be performed specific to the linear displacement of the three-dimensional space and the vertical or horizontal rotation by an automatic control means, and thus, a high-precision positioning effect is achieved.
Description
Technical field
The invention relates to a kind of surgery positioning device, but refer in particular to the device that a kind of assisting operation instrument precisely is positioned fixing point.
Background technology
Along with the progress of medical knowledge, the pathological changes of many inside of human body, trauma place all can see through the mode of operation and carry out such as excision, repairing or the like medical treatment action.
Yet in medical domain now, have many operations that the certain degree requirement is arranged on degree of accuracy, for example at the width of affected part operative site opening, the degree of depth, length, angle or the like, minimum probably error just influences the success or not of operation, and only see through artificial sensation in the operation and judge in fact and be difficult for reaching high accurate free from error operation, and known to us, can't know that at a lot of naked eyes the position especially must be through doctor's experience intuitively, can be affectedly bashful the levels of precision of operation, and do not have and can assist the doctor in operation, to control the equipment of operation precision by effective percentage in the medical circle at present, real is unfortunate, consider for these reasons, the present inventor thinks then and designs a kind of surgery positioning device, improved in the hope of disappearance at prior art, and then the enforcement utilization on the enhancement industry.
Summary of the invention
Because the problem that above-mentioned prior art exists, main purpose of the present invention just provides a kind of surgery positioning device, in the hope of overcoming the difficult point of prior art.
For achieving the above object, it comprises the technical solution adopted in the present invention for a kind of surgery positioning device of design:
One bolster, it is the upright support body that an inside is provided with an accommodation space; One horizontal linear driven unit, its correspondence is located in the accommodation space of this bolster, its be one can be subjected to signal drive the control and selectivity in the electronic installation of laterally doing the straight line horizontal displacement, it has one first orbital member and one first actuator, wherein this first orbital member is laterally horizontal arrangement on this bolster, and wherein this first actuator correspondence is located on this first orbital member, and this first actuator can be driven by one first motor apparatus and then this first orbital member of postponing is made horizontal horizontal linearity and moved, and this first motor apparatus maybe can be electrically connected on the automatic control circuit; One vertical linearity driven unit, its correspondence is located on this first actuator, and be continuous action relation with this first actuator, this vertical linearity driven unit is one can be subjected to signal to drive control and selectivity vertical to the electronic installation of doing straight-line displacement in horizontal linear relatively driven unit, and it has one second orbital member and one second actuator, this second orbital member is vertically to be located on this first actuator to the ground correspondence, and wherein this second actuator correspondence is located on this second orbital member, and moved as vertical linearity by the driving of one second motor apparatus and then this second orbital member of postponing, and this second motor apparatus maybe can be electrically connected on this automatic control circuit; One horizontally rotates driven unit, its correspondence is located on this second actuator and with this second actuator and is continuous action relation, and this horizontally rotate driven unit be one can be subjected to signal to drive control and selectivity in level to the electronic installation of doing rotation, it has one first pedestal and one first revolving part, this first pedestal correspondence is fixed on this second actuator, and this first revolving part correspondence is located on this first pedestal, and this first revolving part can be driven by one the 3rd motor apparatus and make level to rotation with respect to this first pedestal, and the 3rd motor apparatus maybe can be electrically connected on this automatic control circuit; One vertical rotary drive assembly, its correspondence is located on this first revolving part and with this first revolving part and is continuous action relation, and this vertical rotary drive assembly be one can be subjected to signal to drive control and selectivity in horizontally rotate relatively driven unit vertically to the electronic installation of doing rotation, it has one second pedestal and one second revolving part, this second pedestal correspondence is fixed on this first revolving part, and this second revolving part correspondence is located on this second pedestal, and this second revolving part can be driven by one the 4th motor apparatus and do vertically to rotation with respect to this second pedestal, and the 4th motor apparatus maybe can be electrically connected on this automatic control circuit; One vertical linear driven unit, its correspondence is located on this second revolving part and with this second revolving part and is continuous action relation, and this vertical linear driven unit be one can be subjected to signal drive the control and selectivity in the electronic installation of vertically doing the horizontal linear displacement, it has one the 3rd orbital member and one the 3rd actuator, the 3rd orbital member correspondence is longitudinally horizontal arrangement on this second revolving part, and the 3rd actuator correspondence is located on the 3rd orbital member, and the 3rd actuator can be driven by one the 5th motor apparatus and postpone and make vertical horizontal linearity in the 3rd orbital member and move, and the 5th motor apparatus maybe can be electrically connected on this automatic control circuit; And an operation tool ends end, its correspondence is fixed on the 3rd actuator, can be provided with an operation instrument it on, and this operation tool or can be a drilling tool, cutter or anchor clamps is to do the instrument replacement in response to the demand of operation.
The needs of surgery positioning device visual operation of the present invention are replaced with different operation tools, and can in operation, provide the degree of freedom and the degree of freedom vertical, that horizontally rotate of three-dimensional linear displacement, this operation tool can be moved on arbitrary specific surgery location, the angle in order to the carrying out of performing the operation with demand, in addition, more can be further by the means of control automatically at three-dimensional linear displacement and vertical, level to the rotation high accurancy and precision drive the control start, and then reach the high accurate positioning degree on ad-hoc location.
Description of drawings
Fig. 1 is the outside drawing of surgery positioning device of the present invention.
Fig. 2 is the outside drawing at another visual angle of surgery positioning device of the present invention.
Fig. 3 is the local element outside drawing of surgery positioning device of the present invention.
[primary clustering symbol description]
The horizontal linear driven unit of bolster (10) (20)
First orbital member (21) first actuators (22)
First motor apparatus (23) vertical linearity driven unit (30)
Second orbital member (31) second actuators (32)
Second motor apparatus (33) horizontally rotates driven unit (40)
First pedestal (41) first revolving parts (42)
The vertical rotary drive assembly (50) of the 3rd motor apparatus (43)
Second pedestal (51) second revolving parts (52)
The 4th motor apparatus (53) vertical linear driven unit (60)
The 3rd orbital member (61) the 3rd actuator (62)
The 5th motor apparatus (63) operation tool end (70)
Operation tool (71)
The specific embodiment
The effect of understanding inventive features of the present invention, content and advantage and reaching for sharp auditor, now with conjunction with figs. of the present invention, and be described in detail as follows with the expression-form of embodiment, and it is wherein employed graphic, its purport only is the usefulness of signal and aid illustration book, may not be true ratio after the invention process and precisely configuration, thus should not limit the invention to claim in the actual enforcement with regard to appended graphic ratio and configuration relation, close chat earlier bright.
Please cooperate referring to Fig. 1 to shown in Figure 3, the present invention is a kind of surgery positioning device, and it comprises a bolster 10, one horizontal linear driven unit 20 in a preferred implementation, a vertical linearity driven unit 30 1 horizontally rotates driven unit 40, one vertical rotary drive assembly 50, a vertical linear driven unit 60 and an operation tool ends end 70.
Aforesaid horizontal linear driven unit 20 correspondences are located in the accommodation space of this bolster 10, its be one can be subjected to signal drive the control and selectivity in the electronic installation of laterally doing the straight line horizontal displacement, it can further comprise one first orbital member 21 and one first actuator 22, wherein this first orbital member 21 is laterally horizontal arrangement on this bolster 10, and wherein this first actuator 22 movably correspondence be located on this first orbital member 21, and this first actuator 22 can be driven by one first motor apparatus 23 and then this first orbital member 21 of postponing is made horizontal horizontal linearity and moved, and this first motor apparatus 23 maybe can be electrically connected on the automatic control circuit.
Aforesaid vertical linearity driven unit 30 correspondences are located on this first actuator 22, and be continuous action relation with this first actuator 22, this vertical linearity driven unit 30 is one can be subjected to signal to drive control and selectivity vertical to the electronic installation of doing straight-line displacement in horizontal linear relatively driven unit 20, and it further comprises one second orbital member 31 and one second actuator 32, this second orbital member 31 is vertically to be located on this first actuator 22 to the ground correspondence, and wherein this second actuator 32 movably correspondence be located at this second orbital member 31, and driven by one second motor apparatus 33 and then this second orbital member 31 of postponing moves as vertical linearity, and this second motor apparatus 33 maybe can be electrically connected on this automatic control circuit.
Aforesaid driven unit 40 correspondences that horizontally rotate are located on this second actuator 32 and with this second actuator 32 and are continuous action relation, and this horizontally rotate driven unit 40 be one can be subjected to signal to drive control and selectivity in level to the electronic installation of doing rotation, it has one first pedestal 41 and one first revolving part 42, these first pedestal, 41 correspondences are fixed on this second actuator 32, and these first revolving part, 42 correspondences rotatably are located on this first pedestal 41, and this first revolving part 42 can be driven by one the 3rd motor apparatus 43 and make level to rotation with respect to this first pedestal 41, and the 3rd motor apparatus 43 maybe can be electrically connected on this automatic control circuit.
Aforesaid vertical rotary drive assembly 50 correspondences are located on this first revolving part 42 and with this first revolving part 42 and are continuous action relation, and this vertical rotary drive assembly 50 be one can be subjected to signal to drive control and selectivity in horizontally rotate relatively driven unit 40 vertically to the electronic installation of doing rotation, it has one second pedestal 51 and one second revolving part 52, these second pedestal, 51 correspondences are fixed on this first revolving part 42, and these second revolving part, 2 52 correspondences rotatably are located on this second pedestal 51, and this second revolving part 52 can be subjected to one the 4th motor apparatus 53 to drive and do vertically to rotation with respect to this second pedestal 51, and the 4th motor apparatus 53 maybe can be electrically connected on this automatic control circuit.
Aforesaid vertical linear driven unit 60 correspondences are located on this second revolving part 52 and with this second revolving part 52 and are continuous action relation, and this vertical linear driven unit 60 be one can be subjected to signal drive the control and selectivity in the electronic installation of vertically doing the straight line horizontal displacement, it has one the 3rd orbital member 61 and one the 3rd actuator 62, the 3rd orbital member 61 correspondences are longitudinally horizontal arrangement on this second revolving part 52, and the 3rd actuator 62 correspondences are located on the 3rd orbital member 61 movably, and the 3rd actuator 62 can be driven by one the 5th motor apparatus 63 and postpone and do longitudinally in the 3rd orbital member 61 that horizontal linearity moves, and the 5th motor apparatus 63 maybe can be electrically connected on this automatic control circuit.
Aforesaid operation tool end 70 correspondences are fixed on the 3rd actuator 62, can be provided with an operation instrument 71 on it, and this operation tool 71 or can be a drilling tool, cutter or anchor clamps is replaced to make instrument in response to the demand of operation.
And the clever thought that sees through surgery positioning device of the present invention designs, the degree of freedom that three-dimensional linear displacement can be provided is with vertical, the degree of freedom that horizontally rotates, allow this operation tool end 70 be moved to arbitrary specific surgery location with demand, on the angle in order to the operation carrying out, and can be further by one automatically the means of control at three-dimensional linear displacement and vertical, level to the rotation high accurancy and precision drive the control start, and then reach artificial operation incomparable ad-hoc location determine a position precision, for example in the illustration of a practical operation, the healthcare givers can utilize this horizontal linear driven unit 20 earlier in operation, vertical linearity driven unit 30, horizontally rotate driven unit 40, vertical rotary drive assembly 50 is to adjust on operation tool end 70 to a position and angle to be performed the operation, then these four driven units are done the locking of displacement to reach certain localized function, drive this operation tool end 70 through this vertical linear driven unit 60 drives again and carry out moving of unidirectional linearity, with the assisted surgery operation accurately, it serves to show that the present invention is that a height is controlled degree of freedom and can be reached accurate localized design fast.
Take a broad view of above-mentioned, as seen the present invention is breaking through under the previous technology, has reached the effect that institute's desire is promoted really, and also non-be familiar with this skill person institute easily full of beard reach, moreover, open before the present patent application, and the creativeness of its tool, practicality, the application important document that has met patent shown, the whence proposes patent application in accordance with the law, earnestly ask your office and check and approve this part application for a patent for invention case, to encourage invention, to feeling moral just.
Above-described embodiment only is explanation technological thought of the present invention and characteristics; its purpose makes the personage who has the knack of this skill can understand content of the present invention and is implementing according to this; when can not with qualification claim of the present invention; promptly the equalization of doing according to disclosed spirit generally changes or modifies, and must be encompassed in protection scope of the present invention.
Claims (9)
1. surgery positioning device is characterized in that it comprises:
One bolster, it is the support body that an inside is provided with an accommodation space;
One horizontal linear driven unit, its correspondence is located in the accommodation space of this bolster, its be one can be subjected to signal drive the control and selectivity in the electronic installation of laterally doing the straight line horizontal displacement, it has one first orbital member and one first actuator, wherein this first orbital member is laterally horizontal arrangement on this bolster, and wherein this first actuator correspondence is located on this first orbital member and this first orbital member of can postponing moves;
One vertical linearity driven unit, its correspondence is located on this first actuator, and be continuous action relation with this first actuator, this vertical linearity driven unit is one can be subjected to signal to drive control and selectivity vertical to the electronic installation of doing straight-line displacement in horizontal linear relatively driven unit, and it has one second orbital member and one second actuator, this second orbital member is vertically to be located on this first actuator to the ground correspondence, and wherein this second actuator correspondence is located on this second orbital member and this second orbital member of can postponing moves;
One horizontally rotates driven unit, its correspondence is located on this second actuator and with this second actuator and is continuous action relation, and this horizontally rotate driven unit be one can be subjected to signal to drive control and selectivity in level to the electronic installation of doing rotation, it has one first pedestal and one first revolving part, this first pedestal correspondence is fixed on this second actuator, and this first revolving part correspondence rotatably is located on this first pedestal;
One vertical rotary drive assembly, its correspondence is located on this first revolving part and with this first revolving part and is continuous action relation, and this vertical rotary drive assembly be one can be subjected to signal to drive control and selectivity in horizontally rotate relatively driven unit vertically to the electronic installation of doing rotation, it has one second pedestal and one second revolving part, this second pedestal correspondence is fixed on this first revolving part, and this second revolving part correspondence rotatably is located on this second pedestal;
One vertical linear driven unit, its correspondence is located on this second revolving part and with this second revolving part and is continuous action relation, and this vertical linear driven unit be one can be subjected to signal drive the control and selectivity in the electronic installation of vertically doing the horizontal linear displacement, it has one the 3rd orbital member and one the 3rd actuator, the 3rd orbital member correspondence is longitudinally horizontal arrangement on this second revolving part, and the 3rd actuator correspondence is located on the 3rd orbital member and the 3rd orbital member of can postponing moves; And
One operation tool ends end, its correspondence is fixed on the 3rd actuator.
2. surgery positioning device as claimed in claim 1 is characterized in that, this first actuator can be driven by one first motor apparatus and then this first orbital member of postponing is done linear moving; And this second actuator can be driven by one second motor apparatus and then this second orbital member of postponing is done linear moving.
3. surgery positioning device as claimed in claim 2 is characterized in that, this first motor apparatus, this second motor apparatus are electrically connected on the automatic control circuit.
4. surgery positioning device as claimed in claim 1 is characterized in that, this first revolving part driven by one the 3rd motor apparatus and with respect to the level of doing on this first pedestal to rotation; And this second revolving part can be driven by one the 4th motor apparatus and with respect to doing vertically to rotation on this second pedestal.
5. surgery positioning device as claimed in claim 4 is characterized in that, the 3rd motor apparatus and the 4th motor apparatus are electrically connected on the automatic control circuit.
6. surgery positioning device as claimed in claim 1 is characterized in that, the 3rd actuator can be driven by one the 5th motor apparatus and then postpone to do linear moving on the 3rd orbital member.
7. surgery positioning device as claimed in claim 6 is characterized in that the 5th motor apparatus is electrically connected on the automatic control circuit.
8. surgery positioning device as claimed in claim 1 is characterized in that, this operation tool end is provided with an operation instrument.
9. surgery positioning device as claimed in claim 8 is characterized in that, this operation tool is a drilling tool, cutter or anchor clamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102442253A CN102342857B (en) | 2010-07-23 | 2010-07-23 | Surgical positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102442253A CN102342857B (en) | 2010-07-23 | 2010-07-23 | Surgical positioning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102342857A CN102342857A (en) | 2012-02-08 |
| CN102342857B true CN102342857B (en) | 2013-07-24 |
Family
ID=45542195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102442253A Active CN102342857B (en) | 2010-07-23 | 2010-07-23 | Surgical positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102342857B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109806011B (en) * | 2018-09-12 | 2024-01-12 | 苏州铸正机器人有限公司 | Auxiliary operation device |
| CN109822477B (en) * | 2019-02-28 | 2024-03-19 | 中航华东光电有限公司 | Multi-freedom-degree rotating clamp |
| CN113229939A (en) * | 2021-04-29 | 2021-08-10 | 江苏众远智能装备有限公司 | High-precision puncture cooperation robot and production method |
| CN113288441A (en) * | 2021-05-13 | 2021-08-24 | 北京铸正机器人有限公司 | Active and passive moving device for auxiliary operation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0416863A1 (en) * | 1989-09-04 | 1991-03-13 | John Ewart Alfred Wickham | Frame for medical implement |
| CN1155833A (en) * | 1995-06-20 | 1997-07-30 | 伍云升 | Articulated arm for medical procedures |
| US5817084A (en) * | 1993-05-14 | 1998-10-06 | Sri International | Remote center positioning device with flexible drive |
-
2010
- 2010-07-23 CN CN2010102442253A patent/CN102342857B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0416863A1 (en) * | 1989-09-04 | 1991-03-13 | John Ewart Alfred Wickham | Frame for medical implement |
| US5817084A (en) * | 1993-05-14 | 1998-10-06 | Sri International | Remote center positioning device with flexible drive |
| CN1155833A (en) * | 1995-06-20 | 1997-07-30 | 伍云升 | Articulated arm for medical procedures |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102342857A (en) | 2012-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102342857B (en) | Surgical positioning device | |
| JP6761420B2 (en) | Surgical drill | |
| CN102670297B (en) | Medical mechanical arm tail end device | |
| CN104398292B (en) | CT-guided automatic puncture positioning position finder convenient to control | |
| US11399902B2 (en) | Medical system | |
| CN106388939B (en) | Magnetic resonance compatible pneumatic puncture surgical robot | |
| Wang et al. | Force‐based control of a compact spinal milling robot | |
| CN103584971B (en) | A kind of operating-table | |
| CN205697952U (en) | A kind of inserting needle device | |
| CN104794949B (en) | A kind of two-dimentional dynamic sensing interexchanging apparatus for realizing bone marrow aspiration virtual operation | |
| CN107625543B (en) | Magnetic resonance compatible handheld flexible interventional needle system | |
| CN201299597Y (en) | Digital mini-invasive power arm surgery system | |
| CN205251686U (en) | Bone surgery robot based on antiwind wicresoft of bushing type decompression manipulator is dodged to collet | |
| CN113693734A (en) | From end intervention operation robot drive arrangement with fast traffic function | |
| Puangmali et al. | Sensorless stepwise breakthrough detection technique for safe surgical drilling of bone | |
| DE502004007280D1 (en) | Punching machine with electric rotary / lifting drive | |
| CN103473978B (en) | The operating forceps interface arrangement of man-machine interaction is realized for virtual operation training | |
| CN202446260U (en) | Spinal surgery location device | |
| CN106580405A (en) | Puncture surgery robot system | |
| CN207400797U (en) | Orthopedic Clinical steel plate pre-bending device | |
| CN106737748A (en) | Bio-robot | |
| TWI391124B (en) | Positioning device for surgical operation | |
| CN103654959A (en) | Method for carrying out orthopedic surgery by utilizing intelligent auxiliary equipment | |
| CN213075807U (en) | Positioning and punching device for orthopedic surgery | |
| CN201350292Y (en) | Body position adjusting device for radiation therapy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191217 Address after: 5 / F, 555 Guangfu South Road, Xinyi District, Taipei, Taiwan, China Patentee after: Insight Information Co., Ltd Address before: No. 259, Wenhua 1st Road, Guishan Township, 333 Taoyuan County, Taiwan, China Patentee before: Changgeng Univ. |