The Study Of The Mini-invasively Posterior-route Robot For Lumbar Disc Disease

Lumbar disc protrusion is common disease in Orthopaedics , it is the main reason of the low back pain . There are many methods for its treatment . Generally , they can be categorized into two types : conservative and operative methods . The former includes traditional chirapsia and drug , etc ; the latter also can be divided into two types : traditional open operation and some minimally invasive techniques , for example : pertaneously chemical dissolve nucleus , resect and attract nucleus , nucleus gasification and decompression by laser , lateral-route MED (Micro-Endoscopic Discectomy) and posterior-route MED technique , etc .The remedial principle is that when the conservative treatment is proved to be inefficient then take operation . Although each type of operative method has its advantages , they also have insufficiencies : the conservative open operation may cause more trauma , blood loss , time for recovery , and the risk of complications like vessel or nerve injury , the patient would not accept it. Those minimally invasivetechniques , like pertaneously chemical dissolve nucleus , resect and attract nucleus , nucleus gasification and decompression by laser , lateral-route MED (Micro-Endoscopic Discectomy) etc , can make minimal trauma , but the range of the applications of these techniques are very narrow . They only suit for the pure protrusion of the disc , when combined with disc ossification , stricture of the spinal tube or lareral crypt , they are proved to be inefficient . Lumbar posterior-route MED system have a comparatively wide application scope , but it also has the risk of vessel and nerve injury ; furthermore , it's not easy to cultivate a young surgeon to master the technique , which makes it hard to spread to great extent . Therefore , exploring a new method with wide applications , more safety , efficiency , and easily to be extended has become one of the most important tasks in the field of the spinal surgery . In recent years , the remote manipulation operative robot has become a hot spot and been paid close attention . Its has many advantages : higher degree of accuracy , good duplication , stable motion , etc ; and through senior man-machine interface,it can not only collect and analyze the surgeon's operative information on line , and offers important means to realize the operative procedure "from technique to science" , but match the human's capability with operative tasks by the utilization of the augmented reality technique , help the operator restore the flexibility of the operative procedure and offer more plentiful ,direct informations onthe spot and of the telepresence . Then increase the security and efficiency of the operation , eases the apprehensiveness and pain of the patients , and lessons the work intensity ; furthermore , resolve the cultivation problem of proficient surgeons . However , there has no operative robot applied for the treatment of the lumbar disc protrusion .Our series of researchs are to develop the mini-invasively posterior route robot for lumbar disc disease . It acts as the subordinate arms of the remote-manipulation robot, and was of great importance . The blade and the working channel will decide the manner and function the robot will possess . So , we make the following research from two aspects in limited times.1 . The experimental and clinical contrast and research of the four species of two sorts blades for the mini-invasively posterior-route robot.Purpose : To select suitable blade for the mini-invasively posterior route robot , then determine the working manner of the robot according to the effect of the bone and soft tissue removal.Method : Design the two sorts of reamer head , including continuous manipulation reamer head and discontinuous manipulation one . The former contains the occluding reamer head of inner and outer blade ,and cutting reamer head of inner blade . The latter is the blade of conservative laminal forceps . Thro...