CN102342857A - Surgical positioning device - Google Patents
Surgical positioning device Download PDFInfo
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- CN102342857A CN102342857A CN2010102442253A CN201010244225A CN102342857A CN 102342857 A CN102342857 A CN 102342857A CN 2010102442253 A CN2010102442253 A CN 2010102442253A CN 201010244225 A CN201010244225 A CN 201010244225A CN 102342857 A CN102342857 A CN 102342857A
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- actuator
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- orbital member
- revolving part
- positioning device
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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 such as we knowledge; 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, improves in the hope of disappearance to 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 scheme that the present invention adopted for a kind of surgery positioning device of design:
A rack, which is an inner housing space has a vertical frame member; a transversely linear drive assembly, which corresponds to the rack provided in the accommodating space, which is a drive signal can be controlled selectively by the transverse horizontal displacement in a straight line electronic device having a first rail member and a first drive member, wherein the first rail member horizontally transversely disposed on the order of frame, and wherein the first drive member is disposed on the corresponding first rail member, and the first driving member are supported by a first motor means driving the first rail member further extended transversely of the horizontal linear movement, and the first motor means or may be electrically connected to an automatic control circuit on; a vertical linear drive unit, which corresponds to the first driving member provided on the first drive member with the present interlocking relationship of the vertical component is a linear drive can be controlled by the drive signal in a vertical direction for selectively The electronic device of linear displacement, and having a second rail member and a second drive member perpendicular to the second rail member circumferentially provided corresponding to the first drive member, which corresponds to the second drive member provided at The second rail member, and can be driven by a second motor means of the second rail member and then be extended vertically linear movement, and the second motor means or may be electrically connected to the automatic control circuit; a horizontal rotation drive component, which corresponds to the second driving member provided on the drive member with the second relationship was linked, and the horizontal rotary driving unit for the drive can be controlled by the signal to be selectively rotated in the horizontal electronic device, which having a first base and a first rotary member which is fixed to the first base corresponds to a second drive member, and the first rotary member provided corresponding to the first base, and the first rotation member may be driven by a third motor means and relative to the first base for horizontal rotation, and the third motor means or electrically connected with the automatic control circuit; a vertical rotational drive assembly disposed in the corresponding a first rotary member and the rotary member with the first relationship was linked, and the vertical rotary drive assembly is a drive signal may be selectively controlled to rotate in a vertical direction of the electronic device having a second base and a second rotary member which is fixed to the second base corresponds to the first rotating member, and the second rotating member provided corresponding to the second base, and the second rotating member can be affected by a fourth motor means relative to the second driven vertically rotating base, and the fourth motor means or electrically connected with the automatic control circuit; one longitudinal linear drive assembly, which corresponds to the second rotating member provided with the Movement of the second rotary member interlocking relationship, and the longitudinal component is a linear drive can be selectively controlled by the drive signal for the horizontal line to the longitudinal displacement electronic device having a third rail member and a third drive member, Movement of the third rail member longitudinally horizontal configuration corresponding to the second rotating member, and the third driving member provided corresponding to the third rail member, and the third driving member is driven by a fifth motor means and postponed to the third level of the longitudinal rail member for linear movement, and the fifth motor means or electrically connected with the automatic control circuit;, and a surgical tool end, which corresponds to the third drive member fixed to, and its may be provided with a surgical tool, the surgical tool or as a drill, tool or fixture to cater to the needs of the tools to do replacement surgery.
The needs replacement of surgery positioning device visual operation of the present invention is with different operation tools; And the degree of freedom and the degree of freedom vertical, that horizontally rotate of three-dimensional linear displacement can be provided in operation; 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 to 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 vertical linear driven unit of the 4th motor apparatus (53) (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 describe 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 and precisely configuration after the present invention implements, thus should not limit the invention to the 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 the horizontal linear driven unit of a bolster 10, one 20 in a preferred implementation, a vertical linearity driven unit 30, horizontally rotates driven unit 40, one vertical rotary drive assembly 50, one 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; It is 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 be one can be subjected to signal to drive control and selectivity in vertical to the electronic installation of doing straight-line displacement; 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 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, 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 to do the instrument replacement 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 further be directed against three-dimensional linear displacement and vertical by means of controlling automatically; Level to the rotation high accurancy and precision drive the control start; And then reach artificial operation incomparable ad-hoc location confirm 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 with on adjustment operation tool end 70 to a position and angle to be performed the operation; Then the locking that these four driven units are done displacement is 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; It is thus clear that the present invention is breaking through under the previous technology, has reached the effect that institute's desire is promoted really, and also non-ly be familiar with this easy full of beard of art institute and reach; Moreover; Open before the application of the present invention, 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; It is 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 be one can be subjected to signal to drive control and selectivity in vertical to the electronic installation of doing straight-line displacement; 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 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 on the 3rd orbital member, to do linear moving.
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 true CN102342857A (en) | 2012-02-08 |
| CN102342857B 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) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771060A (en) * | 2018-09-12 | 2019-05-21 | 苏州铸正机器人有限公司 | For assisting the rotating device and auxiliary operation device of operation device |
| CN109822477A (en) * | 2019-02-28 | 2019-05-31 | 中航华东光电有限公司 | Multiple degrees of freedom rotary 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 |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771060A (en) * | 2018-09-12 | 2019-05-21 | 苏州铸正机器人有限公司 | For assisting the rotating device and auxiliary operation device of operation device |
| CN109771056A (en) * | 2018-09-12 | 2019-05-21 | 苏州铸正机器人有限公司 | For assisting the mobile device and auxiliary operation device of operation device |
| CN109771060B (en) * | 2018-09-12 | 2024-01-12 | 苏州铸正机器人有限公司 | Rotary device for auxiliary operation device and auxiliary operation device |
| CN109822477A (en) * | 2019-02-28 | 2019-05-31 | 中航华东光电有限公司 | Multiple degrees of freedom rotary clamp |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102342857B (en) | 2013-07-24 |
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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. |
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