Navigation type scalpel for surgical robot

Abstract

The invention discloses a navigation type scalpel for a surgical robot, and relates to the technical field of medical instruments, the navigation type scalpel comprises a guider, one end of the guider is provided with a through guide channel, and the other end of the guider is used for being detachably connected with external navigation equipment; the navigation scalpel comprises a navigation scalpel handle and a cutting blade, the cutting blade is detachably connected with one end of the navigation scalpel handle, the other end of the navigation scalpel handle is provided with a tracer, and the tracer is used for identification and positioning of external navigation equipment; the outer wall of the navigation knife handle is in circumferential limiting connection with the inner wall of the guide channel, the navigation knife handle is used for being inserted into the guide channel, and the guide channel is used for axially and circumferentially guiding the advancing path of the cutting blade. According to the arrangement, through the arrangement of the guider and the navigation scalpel, positioning of the scalpel and monitoring of the cutting path and the cutting depth of the scalpel by external navigation equipment can be achieved, meanwhile, the scalpel is limited in the axial direction and the circumferential direction through the guide channel, and it is guaranteed that the cutting position and direction of the scalpel are accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a navigation-type scalpel for a surgical robot. Background Art

[0002] A scalpel is a commonly used surgical tool, usually a blade with a sharp edge, mainly used for cutting skin and tissue to expose lesions and open the surgical operation area.

[0003] At present, in the field of minimally invasive surgery, there is no scalpel that can accurately complete the incision for surgical robots. When the scalpel is making soft tissue incisions in the surgical channel, its cutting path and depth cannot be monitored in real time under the navigation system, and it cannot ensure that it cuts accurately along the specified axis and channel. As a result, the surgical channel made at the soft tissue level deviates from the planned surgical channel, resulting in a larger wound size, affecting the accurate advancement of the subsequent surgical cannula and puncture needle. At the same time, excessive muscle traction can also cause the surgical cannula and puncture needle advancement channel to completely deviate from the surgical plan, leading to serious clinical accidents. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a navigation-type scalpel for a surgical robot.

[0005] To achieve the above-mentioned object, the present invention provides a navigation-type scalpel for a surgical robot, comprising: A guide, one end of which is provided with a through guide channel and the other end is used for detachable connection with an external navigation device; A navigation scalpel comprises a navigation handle and a cutting blade, wherein the cutting blade is detachably connected to one end of the navigation handle and a tracer is provided at the other end of the navigation handle for identification and positioning by external navigation equipment; The outer wall of the navigation handle is circumferentially limitedly connected to the inner wall of the guide channel. The navigation handle is used to be inserted into the guide channel, and the guide channel is used to axially and circumferentially guide the forward path of the cutting blade.

[0006] Preferably, the guide comprises a first guide member, a second guide member and a locking member, wherein the first guide member and the second guide member are detachably connected, and the locking member is used to lock the connection between the first guide member and the second guide member; A quick connector is provided on one of the side walls of the first guide member, and the quick connector is used to connect to an external navigation device. A first groove is provided on the other side wall of the first guide member, a second groove is provided on the side wall of the second guide member, and a third groove is provided on the side wall of the second groove away from the first guide member. Both ends of the first groove, the second groove and the third groove are connected to the outside world, the second groove is used for inserting the first guide member, and the guide channel is formed in the space surrounded by the first groove and the third groove.

[0007] Preferably, the locking member includes a first pressing block, a first pin and an elastic member. A first through hole is provided on the first guide member, the elastic member is provided in the first through hole, and the first pressing block is used to be inserted into the first through hole and abut against the elastic member. A second through hole is provided on the first pressing block, and a first sliding groove is provided on the first guide member. The first sliding groove is axially arranged along the first through hole and passes through the first through hole. A second sliding groove is provided on the side wall of the second groove, one end of the second sliding groove extends to the edge of the second groove close to one end of the first guide member and is in communication with the outside world, and the second sliding groove is gradually inclined towards the center of the second groove from one end away from the first guide member to the other end; The top of the first slide groove is set to correspond to the height of the second slide groove away from the end of the first guide member. The first pin shaft is used to pass through the second slide groove and the first slide groove in sequence and be inserted into the second through hole. When the first pin shaft is located at the end of the second slide groove away from the first guide member, the elastic member is compressed.

[0008] Preferably, the locking member further includes a second pressing block and a second pin shaft, a third through hole is provided on the second pressing block, the first through hole passes through the first guide member, and the first pressing block and the second pressing block are used to be respectively inserted into the first through hole from both ends of the first through hole to squeeze the elastic member; A third sliding groove is further provided on the first guide member, and is symmetrically arranged with the first sliding groove about the center of the first guide member along the axial direction of the first through hole. A fourth sliding groove is further provided on the second groove, and is symmetrically arranged with the second sliding groove about the center of the second guide member along the axial direction of the first through hole. The second pin shaft is used to be inserted into the fourth slide groove, the third slide groove and the third through hole in sequence. When the first pin shaft is located at the end of the second slide groove away from the first guide member, and the second pin shaft is located at the end of the fourth slide groove away from the first guide member, the elastic member is compressed.

[0009] Preferably, a first limiting protrusion is provided on the side wall of the navigation handle, wherein the first limiting protrusion protrudes from the setting surface and extends along the axial direction of the navigation handle; A first limiting groove is provided on the inner wall of the guide channel, the first limiting groove is recessed in the setting surface and extends along the axial direction of the guide channel; The first limiting protrusion and the first limiting groove are equal in shape and size, and the first limiting protrusion and the first limiting groove are used to limit the cutting direction of the navigation scalpel.

[0010] Preferably, at least one of the first limiting protrusion and the first limiting groove is provided.

[0011] Preferably, the cutting blade comprises a mounting end and a cutting end, and the mounting end is used for mounting with the navigation handle; The cutting end and the mounting end are configured to be conical and are symmetrically arranged about the axis of the cutting blade. Cutting edges are respectively provided on both sides of the cutting end, and the cutting edges are used for cutting.

[0012] Preferably, anti-slip serrations are provided on the cutting edge of the blade.

[0013] Preferably, a second limiting groove and a second limiting protrusion are provided at one end of the navigation tool handle, the second limiting protrusion is fixedly connected to the second limiting groove and is located at the end of the second limiting groove away from the navigation tool handle, and the second limiting groove and the second limiting protrusion are respectively symmetrically arranged about the axis of the navigation tool handle; A third limiting groove is provided on the cutting blade, and the third limiting groove is equal to the shape and size of the second limiting protrusion. The second limiting groove is equal to the shape and size of the mounting end. The second limiting groove is used for mounting the mounting end to center the cutting blade, and the second limiting protrusion is used to be inserted into the third limiting groove to position the cutting blade in the axial direction.

[0014] Preferably, fourth limiting grooves are provided on both sides of the second limiting protrusion in the axial direction, one end of the fourth limiting groove extends to the edge of the second limiting protrusion away from the end of the navigation handle and is in communication with the outside world; A third limiting protrusion is provided on the inner wall of the third limiting groove. When the cutting blade is mounted on the navigation handle, the third limiting protrusion is inserted into the fourth limiting groove to limit the circumferential rotation of the cutting blade.

[0015] Based on this, the beneficial effects of the present invention are: Through the solution of the present invention, a navigation scalpel that can be used in conjunction with a surgical robot is provided. The navigation scalpel is provided with a tracer that can be identified by an external navigation device to indicate the cutting path and cutting depth of the blade tip. At the same time, a guide channel is provided on the guide. When the navigation scalpel is inserted into the guide channel, the guide channel can constrain the cutting range of the navigation scalpel, so that the scalpel can cut accurately and can directly and accurately penetrate the desired position along the desired path, opening up a dedicated surgical channel and reducing unnecessary wounds. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram schematically illustrates the structure of a navigation-type scalpel according to an embodiment of the present invention; Figure 2 A schematic diagram of the disassembly of a guide according to an embodiment of the present invention is shown; Figure 3 A schematic structural diagram of a first guide member according to an embodiment of the present invention is shown; Figure 4 A schematic structural diagram of a second guide member according to an embodiment of the present invention is shown; Figure 5 A schematic diagram schematically illustrates the structure of a navigation tool handle according to an embodiment of the present invention; Figure 6 A schematic diagram schematically illustrates the structure of a cutting blade according to an embodiment of the present invention; Description of the accompanying drawings: 10-guide, 101-guide channel, 1011-first limiting groove, 102-first guide member, 1021-first groove, 1022-first through hole, 1023-first slide groove, 1024-third slide groove, 103-second guide member, 1031-second groove, 10311-second slide groove, 10312-fourth slide groove, 1032-third groove, 104-locking member, 1041-first pressure block, 10411-second through hole, 1042-first pin shaft, 1043-elastic member, 1044-second pressure block, 10441-third through hole, 1045-second pin shaft, 105-quick connector; 20-navigation scalpel, 201-navigation handle, 2011-first limiting protrusion, 2012-second limiting groove, 2013-second limiting protrusion, 2014-fourth limiting groove, 202-cutting blade, 2021-mounting end, 2022-cutting end, 20221-blade, 20222-anti-slip serrations, 2023-third limiting groove, 2024-third limiting protrusion, 203-tracer. DETAILED DESCRIPTION

[0017] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0018] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "the" and "the" used in the embodiments of the present application are also intended to include plural forms unless the context clearly indicates otherwise.

[0019] It should be understood that although the terms first, second, third, etc. may be used to describe related structures in the embodiments of the present application, these related structures should not be limited to these terms. These terms are only used to distinguish related structures from each other.

[0020] Depending on the context, the word "if" as used herein may be interpreted as "when" or "when..." Similarly, depending on the context, the phrase "if it is determined" may be interpreted as "when it is determined" or "when (stated condition or event) is detected."

[0021] It should be noted that the directional terms such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described based on the perspectives shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should be understood that when it is mentioned that an element is formed "on" or "under" another element, it can not only be formed directly "on" or "under" another element, but can also be formed indirectly "on" or "under" another element through an intermediate element.

[0022] Figure 1 A schematic diagram of the structure of a navigation scalpel according to an embodiment of the present invention is shown as follows: Figure 1 As shown, the present invention provides a navigation-type scalpel for a surgical robot, comprising: The guide 10 has a guide channel 101 extending therethrough at one end and is detachably connected to an external navigation device at the other end; The navigation scalpel 20 includes a navigation handle 201 and a cutting blade 202. The cutting blade 202 is detachably connected to one end of the navigation handle 201. The other end of the navigation handle 201 is provided with a tracer 203. The tracer 203 is used for identification and positioning by external navigation equipment. The outer wall of the navigation handle 201 is circumferentially limitedly connected to the inner wall of the guide channel 101 . The navigation handle 201 is used to be inserted into the guide channel 101 . The guide channel 101 is used to guide the forward path of the cutting blade 202 axially and circumferentially.

[0023] Specifically, the tracer 203 is an identification ball, and the number can be set to 4, located at different positions of the navigation handle 201. When the guide 10 is connected to an external navigation device, by inserting the navigation scalpel 20 into the guide channel 101, the external guide device can identify the tracer 203 and then position the navigation scalpel 20. When the navigation scalpel 20 is controlled to move downward for cutting, the external navigation device can monitor its cutting path and depth in real time to ensure that the surgical channel made by the navigation scalpel 20 at the soft tissue level matches the planned surgical channel, thereby improving the safety of the operation.

[0024] At the same time, by providing a guide channel 101 on the guide 10, when the navigation scalpel 20 is inserted into the guide channel 101, the axial channel of the guide channel 101 can constrain the cutting path of the navigation scalpel 20, so that it can accurately penetrate the position to be cut without being skewed and causing the incision to be too large, so that subsequent surgical operations can be carried out.

[0025] In addition, the guide channel 101 is connected to the navigation scalpel 20 in a circumferential limiter manner. By limiting the circumferential rotation of the navigation scalpel 20, a fixed cutting angle can be provided to prevent the cutting blade 202 from being oriented in the wrong direction due to the rotation of the navigation scalpel 20, thereby avoiding damage caused by different cutting depths and wound sizes.

[0026] Figure 2 A schematic diagram of the disassembly of a guide according to an embodiment of the present invention is shown. Figure 3 A schematic structural diagram of a first guide member according to an embodiment of the present invention is shown. Figure 4 A schematic diagram schematically shows the structure of the second guide member of an embodiment of the present invention, as shown in FIG. Figure 2-4 As shown: The guide 10 includes a first guide member 102, a second guide member 103 and a locking member 104. The first guide member 102 and the second guide member 103 are detachably connected. The locking member 104 is used to lock the connection between the first guide member 102 and the second guide member 103. A quick connector 105 is provided on one side wall of the first guide member 102, and the quick connector 105 is used to connect with an external navigation device. A first groove 1021 is provided on the other side wall of the first guide member 102, a second groove 1031 is provided on the side wall of the second guide member 103, and a third groove 1032 is provided on the side wall of the second groove 1031 away from the first guide member 102. Both ends of the first groove 1021, the second groove 1031 and the third groove 1032 are connected to the outside world, the second groove 1031 is used for inserting the first guide member 102, and the guide channel 101 is formed in the space surrounded by the first groove 1021 and the third groove 1032.

[0027] Specifically, the present device splits the guide 10 into a first guide member 102 and a second guide member 103, which are detachably connected. When installed, the first guide member 102 is inserted into the second groove 1031 of the second guide member 103 and locked by the locking member 104. When the first guide member 102 is connected to the second guide member 103, the first groove 1021 corresponds to the third groove 1032 and is spliced together, so that a guide channel 101 is formed in the space surrounded by the two.

[0028] With such arrangement, when the navigation scalpel 20 is inserted into the guide channel 101, the navigation scalpel 20 can be controlled to be vertically inserted into the guide channel 101 on the basis of the connection between the first guide member 102 and the second guide member 103. At the same time, in order to facilitate installation, the navigation scalpel 20 can be controlled to move horizontally when the first guide member 102 and the second guide member 103 are not installed, so that it abuts against the first groove 1021, and the second guide member 103 can be controlled to move toward the direction close to the first guide member 102, so that the third groove 1032 and the first groove 1021 jointly clamp the navigation scalpel 20 to achieve axial limitation.

[0029] Furthermore, the quick connector 105 is used to connect to an external navigation device, and different external navigation devices have different quick interfaces, so its style and structure need to match the quick interface of the external navigation device.

[0030] The quick connector 105 can be set to be fixedly connected to the first guide member 102. When a quick connector 105 with a different structure is needed, the entire first guide member 102 can be replaced simultaneously. At the same time, the quick connector 105 can also be set to be detachably connected to the first guide member 102. By disassembling and replacing the quick connector 105 with different structural types, adaptation to different external navigation devices can be achieved.

[0031] Furthermore, in the first embodiment of the present invention, the locking member 104 can be set as a locking pin (not shown in the figure), and locking through holes (not shown in the figure) can be provided on the first guide member 102 and the second guide member 103. When the first guide member 102 is inserted into the second guide member 103, the two locking through holes correspond to each other. At this time, by inserting the locking pin into the locking through holes, the first guide member 102 and the second guide member 103 can be fixedly connected.

[0032] In the second embodiment of the present invention, the locking member 104 includes a first pressing block 1041, a first pin 1042, and an elastic member 1043. A first through hole 1022 is provided on the first guide member 102. The elastic member 1043 is disposed in the first through hole 1022. The first pressing block 1041 is configured to be inserted into the first through hole 1022 and abut against the elastic member 1043. A second through hole 10411 is provided on the first pressing block 1041 , and a first sliding groove 1023 is provided on the first guide member 102 . The first sliding groove 1023 is axially arranged along the first through hole 1022 and passes through the first through hole 1022 . A second sliding groove 10311 is provided on the side wall of the second groove 1031. One end of the second sliding groove 10311 extends to the edge of the second groove 1031 near the end of the first guide member 102 and is in communication with the outside. The second sliding groove 10311 gradually tilts from the end away from the first guide member 102 toward the other end toward the center of the second groove 1031. The top of the first slide groove 1023 is set to correspond to the height of the second slide groove 10311 away from the end of the first guide member 102, and the first pin shaft 1042 is used to pass through the second slide groove 10311 and the first slide groove 1023 in sequence and be inserted into the second through hole 10411. When the first pin shaft 1042 is located at the end of the second slide groove 10311 away from the first guide member 102, the elastic member 1043 is compressed.

[0033] Specifically, in the first embodiment, the locking through holes on the first guide member 102 and the second guide member 103 need to correspond to each other, and then the two can be fixed by inserting the locking pin. This method is more difficult to install.

[0034] In the second embodiment, a first through hole 1022 is provided on the first guide member 102, and an elastic member 1043 is provided therein. The elastic member 1043 can be provided as a spring or other parts with elastic function. The first pressing block 1041 is inserted into the first through hole 1022 and abuts against the elastic member 1043. At the same time, a first sliding groove 1023 is provided on the first guide member 102. The first sliding groove 1023 is communicated with the first through hole 1022. The first pin shaft 1042 can be inserted into the first sliding groove 1023 so as to be inserted into the first through hole 1022. When the first pressing block 1041 is pressed, the first pin shaft 1042 can move vertically along the first sliding groove 1023. At the same time, a second slide groove 10311 is provided on the second guide member 103, and the second slide groove 10311 passes through the second groove 1031. When the first guide member 102 is inserted into the second groove 1031 of the second guide member 103, the first pressing block 1041 is pressed to make the first pin shaft 1042 move downward along the first slide groove 1023, corresponding to the notch position of the second slide groove 10311. At this time, the second guide member 103 is continued to be pushed in, and the first pin shaft 1042 is synchronously inserted into the second slide groove 10311. When the first pressing block is no longer pressed, 1041, the first pressure block 1041 moves upward under the elastic force of the elastic member 1043, thereby driving the first pin shaft 1042 to move upward. At this time, the second guide member 103 is gradually pushed forward, so that the first pin shaft 1042 moves upward along the second slide groove 10311 until it is located at the end of the second slide groove 10311 away from the first guide member 102. At this time, the first pin shaft 1042 is restricted in displacement by the second slide groove 10311 and the top of the first slide groove 1023, completing the installation and locking of the first guide member 102 and the second guide member 103.

[0035] In this way, by pressing the first pressure block 1041, the first pin shaft 1042 can be located at the position of the groove of the second slide groove 10311. By loosening the first pressure block 1041, the first pin shaft 1042 can move along the second slide groove 10311, thereby realizing the limited connection between the first guide member 102 and the second guide member 103. There is no need for alignment operation of the holes, and the overall use is convenient and simple to operate.

[0036] It should be noted that the elastic force of the elastic member 1043 is set to: when the first pin shaft 1042 is located at the end of the second slide groove 10311 away from the first guide member 102, it is in a fully extended state or still compressed state. In both methods, it can be ensured that the first pin shaft 1042 reaches the end of the second slide groove 10311 away from the first guide member 102 under the elastic force of the elastic member 1043, ensuring that the first groove 1021 is in contact with the third groove 1032. A more preferred solution is that the elastic member 1043 is still in a compressed state, so that the elastic member 1043 can continuously provide elastic force to push the first pin shaft 1042 to move upward, thereby achieving a more secure connection between the first guide member 102 and the second guide member 103.

[0037] Furthermore, in a third embodiment of the present invention, the locking member 104 further includes a second pressing block 1044 and a second pin 1045. A third through hole 10441 is provided on the second pressing block 1044. The first through hole 1022 passes through the first guide member 102. The first pressing block 1041 and the second pressing block 1044 are respectively inserted into the first through hole 1022 from both ends thereof to compress the elastic member 1043. A third sliding groove 1024 is further provided on the first guide member 102. Along the axial direction of the first through hole 1022, the third sliding groove 1024 and the first sliding groove 1023 are symmetrically arranged about the center of the first guide member 102. A fourth sliding groove 10312 is further provided on the second groove 1031. Along the axial direction of the first through hole 1022, the fourth sliding groove 10312 and the second sliding groove 10311 are symmetrically arranged about the center of the second guide member 103. The second pin shaft 1045 is used to be inserted into the fourth slide groove 10312, the third slide groove 1024 and the third through hole 10441 in sequence. When the first pin shaft 1042 is located at the end of the second slide groove 10311 away from the first guide member 102, and the second pin shaft 1045 is located at the end of the fourth slide groove 10312 away from the first guide member 102, the elastic member 1043 is compressed.

[0038] In this way, the connection between the first guide member 102 and the second guide member 103 is fixed and limited by the first pin 1042 and the second pin 1045 at the upper and lower points in the axial direction respectively, which can ensure that the diameter of the guide channel 101 formed by the first groove 1021 and the third groove 1032 always remains consistent, so that the navigation scalpel 20 can move straight along the axial direction of the guide channel 101, ensuring that the cutting position of the navigation scalpel 20 is accurate.

[0039] Furthermore, Figure 5 A schematic diagram schematically shows the structure of a navigation tool handle according to an embodiment of the present invention. Figure 6 A schematic diagram of the structure of a cutting blade according to an embodiment of the present invention is shown as follows: Figure 5 、 6 As shown: A first limiting protrusion 2011 is provided on the side wall of the navigation handle 201. The first limiting protrusion 2011 protrudes from the setting surface and extends along the axial direction of the navigation handle 201. A first limiting groove 1011 is provided on the inner wall of the guide channel 101. The first limiting groove 1011 is recessed in the setting surface and extends along the axial direction of the guide channel 101. The first limiting protrusion 2011 and the first limiting groove 1011 are equal in shape and size, and the first limiting protrusion 2011 and the first limiting groove 1011 are used to limit the cutting direction of the navigation scalpel 20 .

[0040] Specifically, the first limiting groove 1011 is respectively on the inner wall of the first groove 1021 and the third groove 1032, and can be used in conjunction with the first limiting protrusion 2011 to limit the circumferential rotation of the navigation scalpel 20, thereby preventing the navigation scalpel 20 from deviating from the rotation indicating cutting direction after being inserted into the guide channel 101. At the same time, the limiting of the two can make the navigation scalpel 20 require a specific insertion angle when being inserted into the guide channel 101, thereby realizing the use of the navigation scalpel 20 with a specific cutting direction.

[0041] At the same time, at least one first limiting protrusion 2011 and first limiting groove 1011 are set. When multiple first limiting protrusions 2011 are set at intervals, and multiple first limiting grooves 1011 are set at intervals, which can provide different cutting angles for the navigation scalpel 20.

[0042] Furthermore, the cutting blade 202 includes a mounting end 2021 and a cutting end 2022 , wherein the mounting end 2021 is used for mounting with the navigation handle 201 ; The cutting end 2022 and the mounting end 2021 are configured to be conical and are symmetrically arranged about the axis of the cutting blade 202 . A blade 20221 is provided on both sides of the cutting end 2022 , and the blade 20221 is used for cutting.

[0043] In this way, by setting blades 20221 on both sides of the cutting end 2022 and symmetrically arranging them, the tip of the blade and the navigation handle 201 are axially aligned, ensuring that the center of the surgical area opening coincides with the axis of the navigation handle 201, and ensuring that the surgical area opening is consistent with the actual required channel without deviation.

[0044] Furthermore, the blade 20221 is provided with anti-slip serrations 20222, which can increase the sharpness of the cutting blade 20221 when it penetrates, and can also prevent the incision from sliding to one side, thereby avoiding unnecessary trauma.

[0045] Furthermore, a second limiting groove 2012 and a second limiting protrusion 2013 are provided at one end of the navigation handle 201. The second limiting protrusion 2013 is fixedly connected to the second limiting groove 2012 and is located at the end of the second limiting groove 2012 away from the navigation handle 201. The second limiting groove 2012 and the second limiting protrusion 2013 are symmetrically arranged about the axis of the navigation handle 201. A third limiting groove 2023 is provided on the cutting blade 202. The third limiting groove 2023 is equal to the shape and size of the second limiting protrusion 2013. The second limiting groove 2012 is equal to the shape and size of the mounting end 2021. The second limiting groove 2012 is used for installing the mounting end 2021 to center the cutting blade 202. The second limiting protrusion 2013 is used to be inserted into the third limiting groove 2023 to position the cutting blade 202 in the axial direction, ensuring that the cutting blade 202 does not deviate after the cutting blade 202 is installed, thereby ensuring that the position of the incision is accurate.

[0046] Specifically, the second limiting groove 2012 is set to be conical, matching the shape and size of the mounting end 2021, and the angle of the cone tip is 90°. Such a setting can achieve rapid centering of the cutting blade 202 during installation, and avoid the navigation handle 201 and the cutting blade 202 from being skewed in the axial direction after installation.

[0047] Furthermore, fourth limiting grooves 2014 are provided on both sides of the second limiting protrusion 2013 in the axial direction. One end of the fourth limiting groove 2014 extends to the edge of the second limiting protrusion 2013 away from the end of the navigation handle 201 and is in communication with the outside world. A third limiting protrusion 2024 is provided on the inner wall of the third limiting groove 2023. When the cutting blade 202 is installed on the navigation handle 201, the third limiting protrusion 2024 is inserted into the fourth limiting groove 2014 to limit the circumferential rotation of the cutting blade 202 and realize the fixed connection of the cutting blade 202.

[0048] In summary, the navigation scalpel 20 provided by the present invention has a tracer 203 thereon and has a navigation function. It can be identified by an external navigation device to realize real-time monitoring of the cutting path and cutting depth of the navigation scalpel 20, thereby achieving more precise control. Through the setting of the guide channel 101 on the guide 10, the axial and circumferential cutting directions of the navigation scalpel 20 can be limited to ensure the accuracy of the incision position and reduce unnecessary trauma.

[0049] The above description is merely a preferred embodiment of the present application. Those skilled in the art should understand that the scope of the disclosure herein is not limited to technical solutions formed by a specific combination of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the aforementioned disclosed concepts. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A navigation scalpel for a surgical robot, characterized in that: include: A guide, one end of which is provided with a through guide channel and the other end is used for detachable connection with an external navigation device; A navigation scalpel comprises a navigation handle and a cutting blade, wherein the cutting blade is detachably connected to one end of the navigation handle and a tracer is provided at the other end of the navigation handle for identification and positioning by external navigation equipment; The outer wall of the navigation handle is circumferentially limitedly connected to the inner wall of the guide channel. The navigation handle is used to be inserted into the guide channel, and the guide channel is used to axially and circumferentially guide the forward path of the cutting blade.

2. The navigation-type scalpel for a surgical robot according to claim 1, characterized in that: The guide comprises a first guide member, a second guide member and a locking member, wherein the first guide member and the second guide member are detachably connected, and the locking member is used to lock the connection between the first guide member and the second guide member; A quick connector is provided on one of the side walls of the first guide member, and the quick connector is used to connect to an external navigation device. A first groove is provided on the other side wall of the first guide member, a second groove is provided on the side wall of the second guide member, and a third groove is provided on the side wall of the second groove away from the first guide member. Both ends of the first groove, the second groove and the third groove are connected to the outside world, the second groove is used for inserting the first guide member, and the guide channel is formed in the space surrounded by the first groove and the third groove.

3. The navigation-type scalpel for a surgical robot according to claim 2, characterized in that: The locking member includes a first pressing block, a first pin and an elastic member. A first through hole is provided on the first guide member, the elastic member is provided in the first through hole, and the first pressing block is used to be inserted into the first through hole and abut against the elastic member. A second through hole is provided on the first pressing block, and a first sliding groove is provided on the first guide member. The first sliding groove is axially arranged along the first through hole and passes through the first through hole. A second sliding groove is provided on the side wall of the second groove, one end of the second sliding groove extends to the edge of the second groove close to one end of the first guide member and is in communication with the outside world, and the second sliding groove is gradually inclined towards the center of the second groove from one end away from the first guide member to the other end; The top of the first slide groove is set to correspond to the height of the second slide groove away from the end of the first guide member. The first pin shaft is used to pass through the second slide groove and the first slide groove in sequence and be inserted into the second through hole. When the first pin shaft is located at the end of the second slide groove away from the first guide member, the elastic member is compressed.

4. The navigation-type scalpel for a surgical robot according to claim 3, characterized in that: The locking member further includes a second pressing block and a second pin shaft, the second pressing block is provided with a third through hole, the first through hole passes through the first guide member, and the first pressing block and the second pressing block are used to be respectively inserted into the first through hole from both ends of the first through hole to squeeze the elastic member; A third sliding groove is further provided on the first guide member, and is symmetrically arranged with the first sliding groove about the center of the first guide member along the axial direction of the first through hole. A fourth sliding groove is further provided on the second groove, and is symmetrically arranged with the second sliding groove about the center of the second guide member along the axial direction of the first through hole. The second pin shaft is used to be inserted into the fourth slide groove, the third slide groove and the third through hole in sequence. When the first pin shaft is located at the end of the second slide groove away from the first guide member, and the second pin shaft is located at the end of the fourth slide groove away from the first guide member, the elastic member is compressed.

5. The navigation-type scalpel for a surgical robot according to claim 1, characterized in that: A first limiting protrusion is provided on the side wall of the navigation handle, wherein the first limiting protrusion protrudes from the setting surface and extends along the axial direction of the navigation handle; A first limiting groove is provided on the inner wall of the guide channel, the first limiting groove is recessed in the setting surface and extends along the axial direction of the guide channel; The first limiting protrusion and the first limiting groove are equal in shape and size, and the first limiting protrusion and the first limiting groove are used to limit the cutting direction of the navigation scalpel.

6. The navigation-type scalpel for a surgical robot according to claim 5, characterized in that: At least one of the first limiting protrusion and the first limiting groove is provided.

7. The navigation-type scalpel for a surgical robot according to claim 1, characterized in that: The cutting blade includes a mounting end and a cutting end, wherein the mounting end is used for mounting with the navigation handle; The cutting end and the mounting end are configured to be conical and are symmetrically arranged about the axis of the cutting blade. Cutting edges are respectively provided on both sides of the cutting end, and the cutting edges are used for cutting.

8. The navigation-type scalpel for a surgical robot according to claim 7, characterized in that: Anti-slip serrations are provided on the cutting edge of the blade.

9. The navigation-type scalpel for a surgical robot according to claim 7, characterized in that: A second limiting groove and a second limiting protrusion are provided at one end of the navigation tool handle, the second limiting protrusion is fixedly connected to the second limiting groove and is located at an end of the second limiting groove away from the navigation tool handle, and the second limiting groove and the second limiting protrusion are respectively symmetrically arranged about the axis of the navigation tool handle; A third limiting groove is provided on the cutting blade, and the third limiting groove is equal to the shape and size of the second limiting protrusion. The second limiting groove is equal to the shape and size of the mounting end. The second limiting groove is used for mounting the mounting end to center the cutting blade, and the second limiting protrusion is used to be inserted into the third limiting groove to position the cutting blade in the axial direction.

10. The navigation-type scalpel for a surgical robot according to claim 9, characterized in that: Fourth limiting grooves are provided on both sides of the second limiting protrusion in the axial direction, one end of the fourth limiting groove extends to the edge of the second limiting protrusion away from the end of the navigation handle and is in communication with the outside world; A third limiting protrusion is provided on the inner wall of the third limiting groove. When the cutting blade is mounted on the navigation handle, the third limiting protrusion is inserted into the fourth limiting groove to limit the circumferential rotation of the cutting blade.

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