CN114732478A - Cervical vertebra vertebral body secondary total cutting system - Google Patents

Abstract

The invention provides a cervical vertebra vertebral body secondary cutting system, which comprises: a power cutting tool; the middle auxiliary die comprises a middle die body and a fixing piece, wherein a middle body left side guide groove and a middle body right side guide groove are formed in the middle die body; the positioning auxiliary die comprises a positioning die body and a fixing block, and a first positioning body guide groove and a second positioning body guide groove are formed in the positioning die body. The opening part cut by the cervical vertebra vertebral body secondary total cutting system consumes less time and is not easy to damage the vertebral body and surrounding tissues.

Description

Cervical Subtotal Body Resection System

technical field

The invention relates to the technical field of vertebral body subtotal resection instruments, in particular to a cervical vertebral body subtotal resection system.

Background technique

Subtotal vertebrectomy is the removal of part of the bone from the vertebral body. In the existing subtotal vertebral body resection, a rongeur is usually used to gradually chisel the bone to be removed on the vertebral body, and finally an opening is chiseled in the vertebral body. Subtotal vertebral body resection using existing tools generally takes 1-2 hours, and is likely to cause damage to the vertebral body and surrounding tissues. How to design a cervical subtotal corpectomy system that is less time-consuming and less likely to cause damage to the vertebral body and surrounding tissues is a problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a cervical subtotal corpectomy system that consumes less time and is less likely to cause damage to the vertebral body and surrounding tissues.

In order to achieve the above purpose and other related purposes, the present invention provides a cervical vertebral body subtotal resection system, including:

Power cutting tools;

The middle auxiliary die includes a middle body and a fixing plate connected with the rear side of the middle body, the front side of the middle body is provided with a guide groove on the left side of the middle body for inserting the power cutting tool, the middle body is The front side of the mold body is provided with a guide groove on the right side of the intermediate body for the power cutting tool to be inserted into; side; the connection between the intermediate mold body and the fixing plate is between the rear end notch of the left guide groove of the intermediate body and the rear end notch of the right guide groove of the intermediate body; the middle The distance between the rear notch of the guide groove on the left side of the body and the rear notch of the guide groove on the right side of the intermediate body is smaller than the distance between the front notch of the guide groove on the left side of the intermediate body and the guide groove on the right side of the intermediate body The distance between the front notches of ;

The positioning auxiliary mold includes a positioning mold body and a fixing block connected to the rear side of the positioning mold body. The front side of the positioning mold body is provided with a second positioning body guide groove into which the power cutting tool is inserted; the first positioning body guide groove and the second positioning body guide groove are both penetrated to the fixed block. The rear side surface; the first positioning body guide groove and the second positioning body guide groove are arranged alternately; the front end notch of the first positioning body guide groove is located to the left of the front end notch of the second positioning body guide groove side; the rear end notch of the first positioning body guide groove is on the right side of the rear end notch of the second positioning body guide groove.

Preferably, the shape of the rear side of the intermediate phantom is the same as the shape of the front side of the vertebral body, and the shape of the rear side of the positioning phantom is the same as the shape of the front side of the vertebral body.

Further, the cervical vertebral body subtotal cutting system is used to cut out a preset opening on the vertebral body, the opening part runs through the front and rear directions of the vertebral body, and the opening part runs along the vertebral body. The upper and lower directions pass through, and the opening has opposite left and right hole walls; The front left wall surface is inclined relative to the rear left wall surface; the right hole wall includes a front right wall surface and a rear right wall surface that are sequentially arranged and connected from front to rear, and the front right wall surface is opposite to The rear right wall surface is inclined; a front channel is formed between the front left wall surface and the front right wall surface, and the front channel is used for the insertion of the fixing block, and the fixing block is The front channel is a clearance fit.

Further, the anterior midline on the anterior side of the vertebral body divides the anterior side of the vertebral body into symmetrically arranged anterior left half surfaces and anterior right half surfaces, and the two endpoints of the anterior midline are the anterior upper endpoint and the anterior lower half. End point; the posterior midline on the posterior side of the vertebral body divides the posterior side of the vertebral body into symmetrically arranged posterior left half surfaces and posterior right half surfaces, and the two endpoints of the posterior midline are the posterior upper endpoint and the posterior lower endpoint; The upper end point of the anterior side of the anterior left wall surface is the preset left anterior upper cutting point on the vertebral body, and the upper end point of the anterior side edge of the anterior right wall surface is the preset right anterior upper cutting point on the vertebral body. point;

The line connecting the upper cutting point of the left front and the upper end of the rear is the upper left cutting line, and the line connecting the upper cutting point of the front right and the upper end of the rear is the upper cutting line of the right; The line connecting the upper end points of the vertebral body is the line connecting the upper midpoint of the vertebral body; the angle of the included angle between the upper left cutting line and the connecting line of the upper midpoint of the vertebral body is equal to the distance between the extension direction of the left guide groove of the intermediate body and the fixed piece. The angle of the included angle between the right upper cutting line and the upper midpoint of the vertebral body is equal to the angle between the extension direction of the right guide groove of the intermediate body and the fixed piece.

Still further, the shape of the center line of the vertical cross section of the left guide groove of the intermediate body is the same as the shape of the center line of the rear part; the shape of the center line of the vertical cross section of the right guide groove of the intermediate body Same shape as the rear midline.

Further, when the rear side of the intermediate mold body is in contact with the front side of the vertebral body, the upper end point of the middle left groove of the center line of the vertical cross-section of the front end of the left guide groove of the intermediate body The length of the line connecting the upper end points of the rear part of the vertebral body is the insertion length of the upper end of the left side of the intermediate body; The insertion length of the side upper end; the length of the connecting line between the lower end point of the middle left groove of the center line of the vertical cross section of the front end of the left guide groove of the intermediate body and the lower end point of the rear part of the vertebral body is the insertion length of the lower end of the left side of the intermediate body length; the insertion length of the upper left end of the intermediate body is equal to the insertion length of the lower end of the left side of the intermediate body;

The length of the connecting line between the upper end point of the middle right groove of the center line of the vertical cross section of the front end of the right guide groove of the intermediate body and the upper end point of the rear part of the rear side of the intermediate mold body is the insertion of the upper end of the right side of the intermediate body. Length; the depth of the upper part of the guide groove on the right side of the intermediate body plus the length of the upper cutting line on the right side is equal to the insertion length of the upper end of the right side of the intermediate body; the vertical transverse direction of the front end of the guide groove on the right side of the intermediate body The length of the connecting line between the lower end point of the middle right groove of the center line of the section and the lower end point of the rear side of the middle die body is the insertion length of the lower end of the right side of the middle body; the insertion length of the upper end of the right side of the middle body is equal to the length of the middle body Insertion length at the lower end of the right side of the body.

Further, the upper end point of the rear side of the rear left wall surface is the preset left rear upper cutting point on the vertebral body, and the upper end point of the rear side of the rear right wall surface is the upper end point of the vertebral body. Set the right rear upper cutting point;

The upper end point of the center line of the end face of the front notch of the second positioning body guide groove is the upper end point of the second front groove, and the upper end point of the center line of the end face of the rear notch of the second positioning body guide groove is the second rear end face. The upper end point of the groove, the connection line between the upper end point of the second front groove and the upper end point of the second rear groove is the connection line of the upper end of the second groove; The end point is the upper end point of the first front groove, the upper end point of the center line of the end face of the rear notch of the first positioning body guide groove is the upper end point of the first rear groove, and the upper end point of the first front groove is the same as the first rear end point. The connection line of the upper end point of the slot is the connection line of the upper end of the first slot;

The upper cutting point of the left rear part is located on the extension line of the connecting line of the upper end of the second groove; the upper cutting point of the right rear part is located on the extension line of the connecting line of the upper end of the first groove.

Still further, the shape of the rear side of the rear left wall surface is the same as the shape of the center line of the front notch end surface of the second positioning body guide groove; the shape of the rear side of the rear right wall surface is the same as The shape of the center line of the end face of the front notch of the first positioning body guide groove is the same.

Preferably, the powered cutting tool is connected to a robotic arm of a surgical robot, and the robotic arm is connected to a controller.

Further, the cervical vertebral body subtotal resection system further includes a scanning device and a data input device, both of which are connected to the controller; the scanning device records the acquired vertebral body. The image data of the vertebral body is transmitted to the controller; the data entry device transmits the acquired position data of the preset opening on the vertebral body to the controller.

As mentioned above, the cervical subtotal corpectomy system of the present invention has the following beneficial effects:

When the cervical vertebral body subtotal cutting system is used, the power cutting tool first cuts the vertebral body into left half and right half; The plate extends into the interval groove; the power cutting tool is inserted from the guide groove on the left side of the intermediate body of the intermediate body to cut out the first left triangular bone block; the power cutting tool is inserted from the guide groove on the right side of the intermediate body of the intermediate body, The first right triangular bone block can be excised; finally, the posterior side of the positioning phantom is fitted with the anterior side of the vertebral body, and the fixing block is inserted into the anterior channel; the power cutting tool is cut from the second positioning body of the positioning phantom. The second left triangular block can be cut out by inserting the guide groove; the power cutting tool can be inserted from the guide groove of the first positioning body of the positioning mold to cut out the second right triangular block, which makes the cervical vertebral body sub-full The cutting system can cut a preset opening on the vertebral body; the opening cut by the cervical vertebral body subtotal cutting system takes less time and is not easy to cause damage to the vertebral body and surrounding tissues.

Description of drawings

FIG. 1 is a schematic top view of the vertebral body of the embodiment.

FIG. 2 shows a schematic structural diagram of the front side of the vertebral body of the embodiment.

FIG. 3 is a schematic diagram showing the structure of the posterior side of the vertebral body of the embodiment.

FIG. 4 is a schematic structural diagram of the first cutting plane of the vertebral body of the embodiment.

FIG. 5 is a schematic top view of the structure of cutting the vertebral body into left and right halves by the dynamic cutting tool of the cervical vertebral body subtotal cutting system according to the embodiment.

FIG. 6 is a schematic diagram showing the three-dimensional structure of cutting the vertebral body into left and right halves by the dynamic cutting tool of the cervical vertebral body subtotal cutting system according to the embodiment.

FIG. 7 is a schematic top view of the structure of cutting the first left triangular bone fragment on the vertebral body by the dynamic cutting tool of the cervical vertebral body subtotal cutting system according to the embodiment.

FIG. 8 is a schematic top view of the structure of cutting the first right triangular bone fragment on the vertebral body by the dynamic cutting tool of the cervical vertebral body subtotal cutting system according to the embodiment.

FIG. 9 is a schematic diagram showing the structure of setting the posterior midline on the vertebral body of the embodiment.

FIG. 10 is a schematic diagram of the front three-dimensional structure when the intermediate phantom of the cervical vertebral body subtotal resection system of the embodiment is in contact with the vertebral body

FIG. 11 is a schematic diagram showing the structure of the angle between the upper left cutting line of the vertebral body and the connecting line of the upper midpoint of the vertebral body according to the embodiment.

FIG. 12 is a schematic diagram showing the structure of the angle between the upper right cutting line of the vertebral body and the connecting line of the upper midpoint of the vertebral body according to the embodiment.

FIG. 13 shows a perspective view of the middle auxiliary mold of the cervical subtotal corpectomy system of the embodiment.

FIG. 14 is a schematic cross-sectional structure diagram of the intermediate auxiliary mold of the cervical vertebral body subtotal incision system according to the embodiment.

FIG. 15 is a schematic top view of the structure of cutting the second left triangular block on the vertebral body by the dynamic cutting tool of the cervical vertebral body subtotal cutting system according to the embodiment.

FIG. 16 is a schematic top view of the structure of cutting a second right triangular block on the vertebral body by the dynamic cutting tool of the cervical vertebral body subtotal cutting system according to the embodiment.

17 is a schematic diagram showing the structure when the first left triangular bone block, the first right triangular bone block, the second left triangular block and the second right triangular block are inserted into the opening of the vertebral body of the embodiment.

FIG. 18 is a schematic top view of the structure when the first left triangular bone block, the first right triangular bone block, the second left triangular block and the second right triangular block are excised on the vertebral body according to the embodiment.

FIG. 19 is a schematic three-dimensional structural diagram of the first left triangular bone block, the first right triangular bone block, the second left triangular block and the second right triangular block on the vertebral body according to the embodiment.

FIG. 20 is a schematic three-dimensional structure diagram of the positioning aid mold of the cervical vertebral body subtotal incision system according to the embodiment.

FIG. 21 is a schematic structural diagram of the front side of the positioning aid mold of the cervical vertebral body subtotal resection system of the embodiment.

FIG. 22 is a schematic diagram showing the structure of the posterior side of the positioning aid mold of the cervical vertebral body subtotal incision system according to the embodiment.

FIG. 23 is a schematic cross-sectional structure diagram of the positioning aid mold of the cervical vertebral body subtotal incision system according to the embodiment.

FIG. 24 shows a schematic diagram of the cervical subtotal corpectomy system of the embodiment under the control of the controller.

Explanation of reference numerals

100 Power Cutting Tools

200 Intermediate auxiliary mold

210 Intermediate Motif

211 Guide groove on the left side of the intermediate body

2111 Rear notch of guide groove on left side of intermediate body

2112 Front notch of guide groove on left side of intermediate body

212 Guide groove on the right side of the intermediate body

2121 Rear notch of guide groove on right side of intermediate body

2122 Front notch of guide groove on right side of intermediate body

220 Fixing piece

300 Positioning Aid Dies

310 Positioning Phantom

311 First positioning body guide groove

3111 The front notch of the guide groove of the first positioning body

3112 The rear notch of the guide groove of the first positioning body

312 Second positioning body guide groove

3121 The front notch of the guide groove of the second positioning body

3122 The rear notch of the guide groove of the second positioning body

320 fixed block

400 cones

401 Left half

402 Right half

403 First left triangular bone block

404 First right triangular bone block

405 Second left triangular block

406 Second right triangular block

407 Spacer slot

410 Opening

411 Left hole wall

4111 Front left wall

4112 Rear left wall

412 Right hole wall

4121 Front right wall

4122 Rear right wall

421 Front left half

422 Front right half

431 Rear left half

432 rear right half

500 Controller

600 Scanning Devices

700 Data Entry Equipment

800 Robotic Arm

L1 Anterior midline

A1 front upper end point

A2 Front lower end point

L2 rear midline

B1 rear upper end point

B2 rear lower end

C Left front upper cutting point

D Right front upper cutting point

E1 Left rear upper cutting point

E2 Left rear lower cut point

F1 right rear upper cut point

F2 Right rear lower cut point

L3 Left upper cutting line

L4 right upper cutting line

Line connecting the upper midpoints of the L5 vertebral body

M The angle between the upper left cutting line and the line connecting the upper midpoint of the vertebral body

N The angle between the upper right cutting line and the line connecting the upper midpoint of the vertebral body

P The angle between the extension direction of the guide groove on the left side of the intermediate body and the fixing plate

Q The angle between the extension direction of the guide groove on the right side of the intermediate body and the fixing plate

G1 The upper end point of the middle left groove of the center line of the vertical cross section of the front end of the guide groove on the left side of the intermediate body

The lower end point of the middle left groove of the center line of the vertical cross section of the front end of the guide groove on the left side of the G2 intermediate body

H1 The upper end point of the middle right groove of the center line of the vertical cross section of the front end of the right guide groove of the intermediate body

H2 The lower end point of the middle right groove of the center line of the vertical cross section of the front end of the right guide groove of the intermediate body

J1 The upper end point of the second front slot

J2 The lower end point of the second front slot

T1 upper end point of the second rear slot

K1 The upper end point of the first front slot

K2 The lower end point of the first front groove

S1 upper end point of the first rear slot

Detailed ways

The embodiments of the present invention are described below by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

Please see attached image. It should be noted that the structures, proportions, sizes, etc. shown in the drawings in this specification are only used to cooperate with the contents disclosed in the specification, so as to be understood and read by those who are familiar with the technology, and are not used to limit the implementation of the present invention. Restricted conditions, it does not have technical substantive significance, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the present invention. The disclosed technical content must be within the scope of coverage. At the same time, the terms such as "up", "down", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and clarity, and are not used to limit this specification. The implementable scope of the invention, and the change or adjustment of the relative relationship thereof, shall also be regarded as the implementable scope of the present invention without substantially changing the technical content.

Example 1

As shown in FIGS. 5 to 8 and FIGS. 13 to 23 , the cervical vertebral body subtotal resection system of this embodiment includes:

Power cutting tool 100;

The middle auxiliary mold 200 includes a middle mold body 210 and a fixing plate 220 connected to the rear side of the middle mold body 210. The front side of the middle mold body 210 is provided with a guide groove 211 on the left side of the middle body for inserting the power cutting tool 100, The front side of the intermediate body 210 is provided with a guide groove 212 on the right side of the intermediate body for inserting the power cutting tool 100 ; ; The connection between the intermediate mold body 210 and the fixed piece 220 is between the rear end notch 2111 of the guide groove on the left side of the intermediate body and the rear end notch 2121 of the guide groove on the right side of the intermediate body; the rear end of the guide groove on the left side of the intermediate body The distance between the end notch 2111 and the rear notch 2121 of the guide groove on the right side of the intermediate body is smaller than the distance between the front notch 2112 of the guide groove on the left side of the intermediate body and the front notch 2122 of the guide groove on the right side of the intermediate body;

The positioning auxiliary mold 300 includes a positioning mold body 310 and a fixing block 320 connected to the rear side of the positioning mold body 310. The front side of the positioning mold body 310 is provided with a first positioning body guide groove 311 for inserting the power cutting tool 100, The front side of the positioning mold body 310 is provided with a second positioning body guide groove 312 into which the power cutting tool 100 is inserted; the first positioning body guide groove 311 and the second positioning body guide groove 312 both penetrate to the rear side of the fixing block 320; The first positioning body guide groove 311 and the second positioning body guide groove 312 are staggered; the front end notch 3111 of the first positioning body guide groove 311 is on the left side of the front end groove 3121 of the second positioning body guide groove 312; the first positioning body The rear end notch 3112 of the body guide groove 311 is on the right side of the rear end notch 3122 of the second positioning body guide groove 312 .

When the cervical vertebral body subtotal cutting system is used, the power cutting tool 100 first cuts the vertebral body 400 into a left half part 401 and a right half part 402; The front side is attached, and the fixing sheet 220 is inserted into the interval groove 407. The setting of the fixing sheet 220 makes the position of the middle auxiliary mold 200 stable; Cut out the first left triangular bone fragment 403; insert the power cutting tool 100 from the middle right guide groove 212 of the intermediate body 210 to cut out the first right triangular bone fragment 404; The rear side is fitted with the front side of the vertebral body 400, and the fixing block 320 is inserted into the anterior channel. The setting of the fixing block 320 makes the position of the positioning auxiliary mold 300 stable; Inserting the guide groove 312, the second left triangular block 405 can be cut out; the power cutting tool 100 can be inserted from the first positioning body guide groove 311 of the positioning mold body 310, and the second right triangular block 406 can be cut out. So that the cervical vertebral body subtotal cutting system can cut out the preset opening part 410 on the vertebral body 400;

Using the cervical vertebral body subtotal cutting system, the predetermined opening portion 410 can be cut on the vertebral body 400 through five cuts. After five cuts, four wedge-shaped bone fragments can be removed successively, and the five cuts generally only take less than half an hour to complete. The cutting depth and direction of the power cutting tool 100 are easy to control, so the cutting process is not likely to cause damage to the vertebral body 400 and surrounding tissues. The opening portion 410 cut by the cervical vertebral body subtotal cutting system takes less time and is less likely to cause damage to the vertebral body 400 and surrounding tissues. The power cutting tool 100 is a high-speed power cutting tool, and the power cutting tool 100 is preferably an ultrasonic bone knife. Ultrasound osteotome can promote postoperative wound healing.

In this embodiment, the intermediate auxiliary mold 200 and the positioning auxiliary mold 300 are both manufactured by 3D printing technology, and the intermediate auxiliary mold 200 and the positioning auxiliary mold 300 are both integrally formed structures. The shape of the rear side of the intermediate mold body 210 is the same as the shape of the front side of the vertebral body 400 , and the shape of the rear side of the positioning mold body 310 is the same as the shape of the front side of the vertebral body 400 . This structure enables the rear side surface of the intermediate mold body 210 to fit with the front side surface of the vertebral body 400. When the power cutting tool 100 is inserted into the intermediate body left guide groove 211 and the intermediate body right guide groove 212, the intermediate auxiliary mold 200 does not It is easy to move, and the position of the middle auxiliary mold 200 is stable, which is beneficial to control the cutting accuracy of the power cutting tool 100; When the first positioning body guide groove 311 and the second positioning body guide groove 312 are located, the positioning auxiliary mold 300 is not easily moved, and the position of the positioning auxiliary mold 300 is stable, which is beneficial to control the cutting accuracy of the power cutting tool 100 . In this embodiment, the shape of the rear side of the intermediate mold body 210 and the shape of the rear side of the positioning mold body 310 are both arc-shaped.

As shown in FIG. 15 , FIG. 18 and FIG. 19 , the cervical vertebral body subtotal incision system is used to cut a preset opening 410 on the vertebral body 400 . The vertebral body 400 penetrates through the upper and lower directions of the vertebral body 400, and the opening 410 has a left side hole wall 411 and a right side hole wall 412; 4111 and the rear left wall 4112, the front left wall 4111 is inclined relative to the rear left wall 4112; the right hole wall 412 includes the front right wall 4121 and the rear right wall 4121 and the rear right wall which are arranged and connected in sequence from front to rear. 4222, the front right wall surface 4121 is inclined relative to the rear right wall surface 4222; a front channel is formed between the front left wall surface 4111 and the front right wall surface 4121, and the front channel is used for the insertion of the fixing block 320, and the fixing block 320 is connected to the front The side channel is a clearance fit. With this structure, when the fixing block 320 is inserted into the anterior channel, the position of the positioning phantom 310 relative to the vertebral body 400 is stable, and the positioning phantom 310 is not easily moved.

As shown in FIGS. 1 to 3 , 7 and 14 , the anterior midline L1 on the anterior side of the vertebral body 400 divides the anterior side of the vertebral body 400 into symmetrically arranged anterior left half-surfaces 421 and anterior right half-surfaces 422 , the two endpoints of the anterior midline L1 are the anterior upper endpoint A1 and the anterior lower endpoint A2; the posterior midline L2 on the posterior side of the vertebral body 400 divides the posterior side of the vertebral body 400 into symmetrically arranged posterior left half surfaces 431 and the rear right half surface 432, the two endpoints of the rear midline L2 are the rear upper endpoint B1 and the rear lower endpoint B2; the upper endpoint of the front side of the anterior left wall surface 4111 is the preset left anterior The upper cutting point C on the front side, the upper end point of the front side of the front right wall surface 4121 is the preset right front upper cutting point D on the vertebral body 400; the structure of the opening part 410 makes the opening part 410 easy to cut;

The connection line between the left front upper cutting point C and the rear upper end point B1 is the left upper cutting line L3, and the connection line between the right front upper cutting point D and the rear upper end point B1 is the right upper cutting line L4; The line connecting the upper end point A1 of the front and the upper end point B1 of the back is the line L5 of the upper midpoint of the vertebral body; the angle M between the upper left cutting line L3 and the line L5 of the upper midpoint of the vertebral body is equal to the left of the middle body The angle of the included angle P between the extension direction of the side guide groove 211 and the fixed piece 220; the angle of the included angle N between the upper right cutting line L4 and the connecting line L5 of the upper midpoint of the vertebral body is equal to the angle of the middle right guide groove 212. The angle of the included angle Q between the extension direction and the fixing piece 220 , this structure makes the rear side of the intermediate mold body 210 fit with the front side of the vertebral body 400, and when the fixing piece 220 is inserted into the interval groove 407, the power cutting The tool 100 is inserted from the guide groove 211 on the left side of the intermediate body of the intermediate mold body 210, and then feeds from the upper cutting point C on the left front, so that the power cutting tool 100 cuts along the direction of the upper left cutting line L3. Cut out the first left triangular bone fragment 403; the power cutting tool 100 is inserted from the right guide groove 212 of the intermediate body of the intermediate mold body 210, and then feeds from the cutting point D on the front of the right side, so that the power cutting tool 100 moves along the Cutting in the direction of the right upper cutting line L4 can cut out the first right triangular bone fragment 404 .

As shown in FIGS. 1 to 3 and FIGS. 7 to 14 , the vertebral body 400 often has a complex physiological curved surface. Therefore, the anterior midline L1 of the vertebral body 400 and the posterior midline L2 of the vertebral body 400 are often not a straight line. In order to accurately control the depth of infeed and ensure the safety of the operation, the influence of the shape of the vertebral body 400 must be considered before the intermediate auxiliary mold 200 and the positioning auxiliary mold 300 are produced. Since the shape of the center line of the vertical cross section of the left guide groove 211 of the intermediate body is the same as that of the rear center line L2; the shape of the center line of the vertical cross section of the right guide groove 212 of the intermediate body is the same as that of the rear center line L2. same shape. The power cutting tool 100 can cut the vertebral body 400 along the left guide groove 211 of the intermediate body and the right guide groove 212 of the intermediate body. The shape of the left guide groove 211 of the intermediate body and the shape of the right guide groove 212 of the intermediate body The feed direction and depth of the power cutting tool 100 are precisely controlled.

When the rear side of the intermediate mold body 210 is in contact with the front side of the vertebral body 400 , the upper end point G1 of the middle left groove of the center line of the vertical cross section of the front end of the left guide groove of the intermediate body and the upper end point of the rear part of the vertebral body 400 The length of the connecting line of B1 is the insertion length of the upper left end of the intermediate body; the depth of the upper part of the left guide groove 211 of the intermediate body plus the length of the left upper cutting line L3 is equal to the insertion length of the upper left end of the intermediate body; the left side guide of the intermediate body The length of the connecting line between the lower end G2 of the middle left slot of the center line of the vertical cross section of the front end of the slot and the lower end B2 of the rear part of the vertebral body 400 is the insertion length of the lower left end of the middle body; the insertion length of the upper end of the left side of the middle body is equal to the insertion length of the middle left end The insertion length of the lower end of the left side of the body;

The length of the connecting line between the upper end point H1 of the middle right groove and the upper end point B1 of the rear part of the vertebral body 400 is the insertion length of the upper end of the right side of the middle body; The depth of the upper part of the side guide groove 212 plus the length of the right upper cutting line L4 is equal to the insertion length of the upper right end of the intermediate body; The length of the connecting line with the lower end B2 of the rear part of the vertebral body 400 is the insertion length of the lower end of the right side of the intermediate body; the insertion length of the upper end of the right side of the intermediate body is equal to the insertion length of the lower end of the right side of the intermediate body.

Since the shape of the center line of the vertical cross section of the left guide groove 211 of the intermediate body is the same as the shape of the rear center line L2, that is, the center line of the vertical cross section of the left guide groove 211 of the intermediate body has the same shape as the rear center line L2. and the insertion length of the upper left end of the intermediate body is equal to the insertion length of the lower left end of the intermediate body, the insertion length of the upper left end of the intermediate body and the insertion length of the lower left end of the intermediate body are the feed depth of the power cutting tool, which will not cause When the power cutting tool 100 extends into the guide groove 211 on the left side of the intermediate body, the cutting limit exceeds the rear side of the vertebral body 400 , which will not cause the power cutting tool 100 to feed too deep or too shallow. The corresponding principle is also applicable when the power cutting tool 100 extends into the guide groove 212 on the right side of the intermediate body.

As shown in FIGS. 15 to 23 , the upper end point of the rear side of the rear left wall surface 4112 is the preset left rear upper cutting point E1 on the vertebral body 400 , and the upper end point of the rear side of the rear right wall surface 4222 is the preset right rear upper cutting point F1 on the vertebral body 400;

The upper end point of the center line of the end face of the front notch of the second positioning body guide groove 312 is the upper end point J1 of the second front groove, and the upper end point of the center line of the end face of the rear notch of the second positioning body guide groove 312 is the second rear groove. The upper end point T1, the connection line between the upper end point J1 of the second front groove and the upper end point T1 of the second rear groove is the connection line of the upper end of the second groove; the upper end point of the center line of the front notch end face of the first positioning body guide groove 311 is the first An upper end point K1 of the front groove, the upper end point of the center line of the end face of the rear groove of the first positioning body guide groove 311 is the upper end point S1 of the first rear groove, the upper end point K1 of the first front groove and the upper end point S1 of the first rear groove. The connection line is the upper end connection line of the first slot;

The upper cutting point E1 on the left rear part is on the extension line of the line connecting the upper end of the second slot; the upper cutting point F1 on the right rear part is on the extension line connecting the upper end of the first slot.

Fit the rear side of the positioning mold body 310 with the front side of the vertebral body 400, and insert the fixing block 320 into the anterior channel; the power cutting tool 100 is inserted from the second positioning body guide groove 312 of the positioning mold body 310 to make the power cutting The tool 100 cuts along the direction of the connecting line between the upper end point J1 of the second front groove and the upper cutting point E1 on the left rear, and can cut out the second left triangular block 405 ; A positioning body guide groove 311 is inserted, so that the power cutting tool 100 cuts along the direction of the line connecting the upper end point K1 of the first front groove and the upper cutting point F1 of the right rear part, and the second right triangular block 406 can be cut out; The power cutting tool 100 can stably cut the vertebral body 400 along the first positioning body guide groove 311 and the second positioning body guide groove 312 .

The shape of the rear side of the rear left wall surface 4112 is the same as the shape of the center line of the front notch end surface of the second positioning body guide groove 312; The shape of the centerline of the front notch end face is the same. The power cutting tool 100 can cut the vertebral body 400 along the second positioning body guide groove 312 and the first positioning body guide groove 311, and the shape of the second positioning body guide groove 312 and the shape of the first positioning body guide groove 311 can match the The feed direction and depth of the power cutting tool 100 are precisely controlled.

When the rear side of the positioning mold body 310 is in contact with the front side of the vertebral body 400, the line connecting the upper end point J1 of the second anterior slot and the upper cutting point E1 of the left rear part is the insertion depth of the cutter at the upper end of the second slot, and the second The sum of the depth of the positioning body guide groove 312 and the length of the rear left wall surface 4112 in the front-rear direction is equal to the insertion depth of the tool at the upper end of the second groove; The connecting line of the cutting point E2 is the insertion depth of the tool at the lower end of the second slot, and the insertion depth of the tool at the upper end of the second slot is equal to the insertion depth of the tool at the lower end of the second slot;

The connection line between the upper end point K1 of the first front groove and the upper cutting point F1 on the right rear part is the insertion depth of the upper end of the first groove tool, the depth of the first positioning body guide groove 311 and the rear right wall surface 4222 in the front-rear direction. The sum of the lengths is equal to the insertion depth of the tool at the upper end of the first slot; the connection line between the lower end point K2 of the first front slot and the preset lower cutting point F2 at the rear right side is the insertion depth of the lower end tool of the first slot, and the first slot The insertion depth of the upper end tool is equal to the insertion depth of the lower end tool of the first groove. This will not cause the cutting limit of the power cutting tool 100 to exceed the rear side of the vertebral body 400 when the power cutting tool 100 extends into the guide groove 312 of the second positioning body, and will not cause the power cutting tool 100 to feed too deep or too shallow. The corresponding principle is also applicable when the power cutting tool 100 extends into the guide groove 311 of the first positioning body.

As shown in FIG. 6 and FIG. 24 , the power cutting tool 100 is connected to the robotic arm 800 of the surgical robot, and the robotic arm 800 is connected to the controller 500 . The controller 500 controls the power cutting tool 100 to move through the robotic arm 800 .

The cervical vertebral body subtotal incision system further includes a scanning device 600 and a data entry device 700. The scanning device 600 and the data entry device 700 are both connected to the controller 500; the scanning device 600 transmits the acquired image data of the vertebral body 400 to The controller 500 ; the data entry device 700 transmits the acquired position data of the preset opening 410 on the vertebral body 400 to the controller 500 . The scanning device 600 is a CT machine.

The cervical subtotal corpectomy system is used in orthopedic surgery for anterior subtotal corpectomy. In the preoperative planning stage, according to the surgical goals and requirements of the doctor, the controller 500 of the surgical robot is used to perform accurate calculation and simulation of the five-step cutting path, and the cutting path includes the cutting direction and cutting depth; in the intraoperative stage, The controller 500 of the surgical robot is used to control the movement of the power cutting tool 100 through the robotic arm 800 , and the controller 500 navigates the movement of the power cutting tool 100 , so as to accurately complete the cutting process.

The method of anterior subtotal vertebral resection adopts the cervical vertebral subtotal resection system, and the method includes the following steps:

As shown in FIG. 1 to FIG. 6 , in step 1), the image data of the vertebral body 400 is collected by the scanning device 600, and the scanning device 600 transmits the collected image data of the vertebral body 400 to the controller 500, and the controller 500 according to the acquired image data The image data calculates the shape information and position information of the anterior midline L1 on the anterior side of the vertebral body 400, and the shape information and position information of the posterior midline L2 on the posterior side of the vertebral body 400; the anterior midline L1 of the vertebral body 400 The two endpoints are the front upper endpoint A1 and the front lower endpoint A2; the two endpoints of the rear midline L2 are the rear upper endpoint B1 and the rear lower endpoint B2; the front upper endpoint A1, the front lower endpoint A2, the rear lower endpoint B2 and the rear upper end point B1 are connected in turn, and the enclosed plane is the first cutting plane; in this embodiment, the first cutting plane is the sagittal plane;

After removing the upper and lower intervertebral discs adjacent to the vertebral body 400, use the power cutting tool 100 to cut the vertebral body 400 along the first cutting surface, and divide the vertebral body 400 into a left half 401 and a right half 402, and the left half There is an interval groove 407 between the part 401 and the right half part 402; if the power cutting tool 100 is inserted into the upper end of the vertebral body 400 from front to back, the power cutting tool 100 will cut the vertebral body 400 from top to bottom; When the cutting tool 100 extends into the lower end of the vertebral body 400 to be cut from front to back, the power cutting tool 100 cuts the vertebral body 400 from bottom to top;

As shown in FIG. 7 to FIG. 14 , step 2), obtaining the shape information of the front side of the vertebral body 400 according to the image data of the vertebral body 400 in the controller 500;

The shape of the rear side of the intermediate mold body 210 is the same as the shape of the front side of the vertebral body 400, so that the rear side of the intermediate mold body 210 fits with the front side of the vertebral body 400;

The staff inputs the hole data of the opening 410 to be set on the vertebral body 400 through the data entry device 700 , and the data entry device 700 transmits the hole data of the opening 410 to the controller 500 , so that the controller 500 obtains the vertebral body 400 The preset upper left front upper cutting point C and the preset right front upper cutting point D on the vertebral body 400; the connection line between the left front upper cutting point C and the rear upper end point B1 is the upper left side The cutting line L3, the connection line between the upper cutting point D on the right front and the upper rear end point B1 is the upper right cutting line L4; Line L5; according to the hole data of the opening 410 obtained in the controller 500, the middle auxiliary mold 200 is designed; the angle M between the upper left cutting line L3 and the connecting line L5 of the upper midpoint of the vertebral body is equal to the middle body The angle of the included angle P between the extending direction of the left guide groove 211 and the fixed piece 220; the angle of the included angle N between the upper right cutting line L4 and the connecting line L5 of the upper midpoint of the vertebral body is equal to the middle right guide groove 212 The angle of the included angle Q between the extension direction of 220 and the fixed piece 220;

Fit the rear side of the intermediate mold body 210 with the front side of the vertebral body 400, and extend the fixing piece 220 into the spacer groove 407; The cutting point C on the left front part is advanced, so that the power cutting tool 100 cuts along the direction of the left upper cutting line L3, and the first left triangular bone fragment 403 can be cut out; the power cutting tool 100 cuts from the middle mold The right guide groove 212 of the intermediate body of 210 is inserted, and then the knife is fed from the upper cutting point D on the right front, so that the power cutting tool 100 cuts along the direction of the upper right cutting line L4, and the first right side can be cut out. Triangular bone block 404;

As shown in FIG. 15 to FIG. 23 , in step 3), the shape of the rear side of the positioning mold 310 is the same as the shape of the front side of the vertebral body 400 , so that the rear side of the positioning mold 310 fits with the front side of the vertebral body 400 ;

The data entry device 700 transmits the hole data of the opening 410 to the controller 500 , so that the controller 500 obtains the preset cutting point E1 on the left rear part on the vertebral body 400 and the preset right rear part on the vertebral body 400 The upper cutting point F1; according to the hole data of the opening part 410 obtained in the controller 500, the positioning auxiliary mold 300 is designed; the upper end point of the center line of the front notch end face of the second positioning body guide groove 312 is the second front groove The upper endpoint J1, the upper endpoint of the center line of the rear notch end face of the second positioning body guide groove 312 is the upper endpoint T1 of the second rear slot, and the connection line between the upper endpoint J1 of the second front slot and the upper endpoint T1 of the second rear slot is: The upper end of the second groove is connected; the upper end point of the center line of the end face of the front notch of the first positioning body guide groove 311 is the upper end point K1 of the first front groove, and the center line of the end face of the rear notch of the first positioning body guide groove 311 The upper end point is the upper end point S1 of the first rear slot, and the connection line between the upper end point K1 of the first front slot and the upper end point S1 of the first rear slot is the connection line of the upper end of the first slot; the upper cutting point E1 of the left rear part is located at the upper end of the second slot On the extension line of the connection line; the upper cutting point F1 on the right rear is on the extension line of the connection line at the upper end of the first groove; the structure of the fixing block 320 is the same as that of the preset front side channel, and the fixing block 320 and the front side channel are clearance fit;

Fit the rear side of the positioning mold body 310 with the front side of the vertebral body 400, and insert the fixing block 320 into the anterior channel; the power cutting tool 100 is inserted from the second positioning body guide groove 312 of the positioning mold body 310 to make the power cutting The tool 100 cuts along the direction of the connecting line between the upper end point J1 of the second front groove and the upper cutting point E1 on the left rear, and can cut out the second left triangular block 405 ; A positioning body guide slot 311 is inserted, so that the power cutting tool 100 cuts along the line connecting the upper end point K1 of the first front slot and the upper right rear upper cutting point F1 to cut out the second right triangular block 406 .

The present invention provides an accurate cervical vertebral body subtotal resection system. The anterior vertebral body subtotal resection method using the cervical vertebral vertebral body subtotal resection system can be compared with the existing anterior vertebral body subtotal resection. The anterior vertebral body is accurately resected according to the preset plan, the damage to the vertebral body and surrounding tissues is small, the operation time is greatly shortened, and a better decompression effect is achieved.

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Claims (10)

1. a cervical vertebral body subtotal resection system, is characterized in that, comprises: Power cutting tool (100); An intermediate auxiliary mold (200), comprising an intermediate mold body (210) and a fixing plate (220) connected with the rear side of the intermediate mold body (210), the front side of the intermediate mold body (210) is provided with a A guide groove (211) on the left side of the intermediate body into which the power cutting tool (100) is inserted, and a right guide groove ( 212); both the left guide groove (211) of the intermediate body and the right guide groove (212) of the intermediate body pass through to the rear side of the intermediate mold body (210); the intermediate mold body (210) and the The connection point of the fixing piece (220) is between the rear end notch (2111) of the guide groove on the left side of the intermediate body and the rear end notch (2121) of the guide groove on the right side of the intermediate body; the left side of the intermediate body The distance between the rear end notch (2111) of the guide groove and the rear end notch (2121) of the guide groove on the right side of the intermediate body is smaller than the distance between the front notch (2112) of the guide groove on the left side of the intermediate body and the The distance between the front notch (2122) of the guide groove on the right side of the intermediate body; A positioning auxiliary mold (300) includes a positioning mold body (310) and a fixing block (320) connected to the rear side of the positioning mold body (310), and a front side of the positioning mold body (310) is provided with a A first positioning body guide groove (311) into which the power cutting tool (100) is inserted, and a second positioning body guide into which the power cutting tool (100) is inserted is provided on the front side of the positioning mold body (310). a groove (312); the first positioning body guide groove (311) and the second positioning body guide groove (312) both pass through to the rear side of the fixing block (320); the first positioning body guide groove (311) and the second positioning body guide groove (312) are alternately arranged; the front end notch (3111) of the first positioning body guide groove is on the left side of the front end notch (3121) of the second positioning body guide groove; The rear end notch (3112) of a positioning body guide groove is located on the right side of the rear end notch (3122) of the second positioning body guide groove. 2. The cervical vertebral body subtotal resection system according to claim 1, wherein the shape of the posterior side of the intermediate phantom (210) is the same as the shape of the anterior side of the vertebral body (400), and the positioning The shape of the posterior side of the phantom (310) is the same as the shape of the anterior side of the vertebral body (400). 3. The cervical vertebral body subtotal cutting system according to claim 2, characterized in that: it is used to cut a preset opening part (410) on the vertebral body (400), and the opening part (410) is along the The vertebral body (400) penetrates in the front-rear direction, the opening portion (410) penetrates along the vertical direction of the vertebral body (400), and the opening portion (410) has opposite left hole walls (411) and right holes wall (412); the left hole wall (411) includes a front left wall surface (4111) and a rear left wall surface (4112) that are sequentially arranged and connected from front to back, and the front left wall surface (4111) The left wall surface (4112) is inclined relative to the rear side; the right hole wall (412) includes a front right wall surface (4121) and a rear right wall surface (4122) that are sequentially arranged and connected from front to rear. , the front right wall surface (4121) is inclined relative to the rear right wall surface (4122); a front channel is formed between the front left wall surface (4111) and the front right wall surface (4121) , the front side channel is for inserting the fixing block (320), and the fixing block (320) and the front side channel are in clearance fit. 4. The cervical vertebral body subtotal cutting system according to claim 3 is characterized in that: The anterior midline on the anterior side of the vertebral body (400) divides the anterior side of the vertebral body (400) into symmetrically arranged anterior left half-faces (421) and anterior right half-faces (422), the two endpoints of the anterior midline is the anterior upper end point and the anterior lower end point; the posterior midline on the posterior side of the vertebral body (400) divides the posterior side of the vertebral body (400) into symmetrically arranged posterior left half surfaces (431) and posterior right half surfaces ( 432), the two endpoints of the rear midline are the upper rear endpoint and the lower rear endpoint; the upper endpoint of the anterior side of the anterior left wall surface (4111) is the preset left anterior upper cut on the vertebral body (400). point, the upper end point of the front side of the front right wall surface (4121) is the preset upper cutting point on the front right side of the vertebral body (400); The line connecting the upper cutting point of the left front and the upper end of the rear is the upper left cutting line, and the line connecting the upper cutting point of the front right and the upper end of the rear is the upper cutting line of the right; The line connecting the upper end points of the vertebral body (400) is the line connecting the upper midpoints of the vertebral body (400). 211) and the angle between the fixed piece (220); the angle between the upper right cutting line and the line connecting the upper midpoint of the vertebral body (400) is equal to the right guide groove ( The angle between the extension direction of 212) and the angle between the fixing piece (220). 5. The cervical vertebral body subtotal resection system according to claim 4, characterized in that: the shape of the centerline of the vertical cross-section of the left guide groove (211) of the intermediate body and the shape of the rear centerline The same; the shape of the centerline of the vertical cross-section of the right guide groove (212) of the intermediate body is the same as that of the rear centerline. 6. The cervical vertebral body subtotal cutting system according to claim 5, is characterized in that: When the rear side of the intermediate mold body (210) is in contact with the front side of the vertebral body (400), the middle left groove of the center line of the vertical cross-section of the front end of the left guide groove (211) of the intermediate body The length of the connecting line between the upper end point and the upper end point of the rear part of the vertebral body (400) is the insertion length of the upper end of the left side of the intermediate body; the depth of the upper part of the left guide groove (211) of the intermediate body plus the left side The length of the upper cutting line is equal to the insertion length of the upper left end of the intermediate body; ) The length of the connecting line of the lower end of the rear part is the insertion length of the lower end of the left side of the intermediate body; the insertion length of the upper end of the left side of the intermediate body is equal to the insertion length of the lower end of the left side of the intermediate body; The length of the line connecting the upper end point of the middle right groove and the upper end point of the rear part of the vertebral body (400) is the right side of the middle body the insertion length of the upper end; the depth of the upper part of the right side guide groove (212) of the intermediate body plus the length of the upper cutting line on the right side is equal to the insertion length of the upper end of the right side of the intermediate body; the guide groove (212) on the right side of the intermediate body 212) The length of the connecting line between the lower end point of the middle right groove of the center line of the vertical cross section of the front end and the lower end point of the rear part of the middle vertebral body (400) is the insertion length of the lower end of the right side of the middle body; The insertion length of the upper end of the side is equal to the insertion length of the lower end of the right side of the intermediate body. 7. The cervical vertebral body subtotal cutting system according to claim 3 is characterized in that: The upper end point of the rear side edge of the rear left wall surface (4112) is a preset left rear upper cutting point on the vertebral body (400), and the upper end point of the rear side edge of the rear right wall surface (4122) is the preset right rear upper cutting point on the vertebral body (400); the upper end point of the center line of the end face of the front notch of the second positioning body guide groove (312) is the upper end point of the second front groove, and the The upper end point of the center line of the end face of the rear notch of the second positioning body guide groove (312) is the upper end point of the second rear groove, and the connection line between the upper end point of the second front groove and the upper end point of the second rear groove is the first The upper end of the two grooves is connected; the upper end point of the center line of the end face of the front notch of the first positioning body guide groove (311) is the upper end point of the first front groove, and the rear groove of the first positioning body guide groove (311) The upper end point of the center line of the mouth end face is the upper end point of the first rear groove, and the connection line between the upper end point of the first front groove and the upper end point of the first rear groove is the connection line of the upper end of the first groove; The upper cutting point of the left rear part is located on the extension line of the connecting line of the upper end of the second groove; the upper cutting point of the right rear part is located on the extension line of the connecting line of the upper end of the first groove. 8 . The cervical vertebral body subtotal cutting system according to claim 7 , wherein the shape of the rear side of the rear left wall surface ( 4112 ) is the same as the shape of the front side of the second positioning body guide groove ( 312 ). 9 . The shape of the center line of the notch end surface is the same; the shape of the rear side of the rear right wall surface (4122) is the same as the shape of the center line of the front notch end surface of the first positioning body guide groove (311). 9 . The cervical vertebral body subtotal cutting system according to claim 1 , wherein the power cutting tool ( 100 ) is connected to a mechanical arm ( 800 ) of a surgical robot, and the mechanical arm is connected to a controller ( 500 ). 10 . connect. 10. The cervical vertebral body subtotal resection system according to claim 9, characterized in that: further comprising a scanning device (600) and a data entry device (700), the scan device (600) and the data entry device ( 700) are connected to the controller (500); the scanning device (600) transmits the acquired image data of the vertebral body (400) to the controller (500); the data entry device (700) ) transmits the acquired position data of the preset opening (410) on the vertebral body (400) to the controller (500).

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