Bone rongeur

Abstract

The invention relates to a rongeur, which comprises a fixed handle, fixing the forceps handles; a movable handle; a movable clamp handle; the rongeur further comprises a navigation terminal, and the navigation terminal comprises an optical positioning system which comprises an optical reference frame; the electromagnetic positioning system comprises a first electromagnetic sensor and a second electromagnetic sensor; the navigation system is used for re-establishing the first coordinate position and the second coordinate position in the electrical space coordinate system in the optical space coordinate system, and calculating and displaying the adjusting angles of the movable clamp mouth and the fixed clamp mouth according to the reference coordinate position and the re-established first coordinate position; and the occlusion depth of the movable jaw and the fixed jaw is calculated and displayed according to the re-established second coordinate position. The problem that the adjusting angles of the movable jaw and the fixed jaw of the rongeur are difficult to obtain can be solved, and the problem that the occlusion depth of the movable jaw and the fixed jaw is difficult to accurately obtain can be effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, in particular to a rongeur. BACKGROUND

[0002] A rongeur is a medical instrument that can be used in spinal surgery. It can clamp lamina through movable and fixed jaws to fix the spine, so as to keep it in the correct position and promote the healing and repair of the vertebra. In the prior art, the angle of the movable and fixed jaws of the rongeur can be adjusted to achieve more convenient use. Meanwhile, the depth of the movable and fixed jaws of the rongeur when they are in occlusion can also be adjusted to achieve clamping with different occlusal forces. However, the angle of the movable and fixed jaws of the rongeur in the prior art is usually difficult to adjust, and the depth of the movable and fixed jaws of the rongeur when they are in occlusion is usually difficult to accurately obtain. SUMMARY

[0003] Therefore, the present application provides a rongeur to solve the problem that the angle of the movable and fixed jaws of the rongeur in the prior art is usually difficult to adjust, and the depth of the movable and fixed jaws of the rongeur when they are in occlusion is usually difficult to accurately obtain.

[0004] The present application provides a rongeur, which comprises:

[0005] a fixed handle;

[0006] a fixed jaw handle, the proximal end of which is connected with an adjusting cylinder, and the distal end of which is provided with a fixed jaw, the fixed jaw handle being rotatably arranged on the fixed handle through the adjusting cylinder;

[0007] a movable handle, which is rotatably connected with the fixed handle;

[0008] a movable jaw handle, the proximal end of which is rotatably arranged on the movable handle, and the distal end of which is provided with a movable jaw, the movable jaw handle being slidably arranged on the fixed jaw handle, the movable jaw handle and the fixed jaw handle being rotationally limited in the circumferential direction;

[0009] wherein the rongeur further comprises a navigation terminal, the navigation terminal comprising:

[0010] an optical positioning system, which comprises an optical reference frame for marking the reference coordinate position in the optical space coordinate system, the optical reference frame being arranged on the fixed handle;

[0011] An electromagnetic positioning system comprising a first electromagnetic sensor for marking a first coordinate position in an electrical spatial coordinate system, and a second electromagnetic sensor for marking a second coordinate position in the electrical spatial coordinate system, the first electromagnetic sensor being arranged on the adjusting cylinder and rotating synchronously with the adjusting cylinder, the second electromagnetic sensor being arranged on the movable jaw and moving synchronously with the movable jaw;

[0012] A navigation system for reestablishing the first coordinate position and the second coordinate position in the electrical spatial coordinate system in the optical spatial coordinate system, and calculating and displaying the adjusting angle of the movable jaw and the fixed jaw according to the reference coordinate position and the reestablished first coordinate position, and calculating and displaying the depth of the movable jaw and the fixed jaw when occluded according to the reestablished second coordinate position.

[0013] In one of the embodiments, the navigation system comprises:

[0014] A processing unit being in signal connection with the optical positioning system and the electromagnetic positioning system, and being configured to receive the reference coordinate position in the optical spatial coordinate system, and the first coordinate position and the second coordinate position in the electrical spatial coordinate system, and reestablish the first coordinate position and the second coordinate position in the electrical spatial coordinate system in the optical spatial coordinate system, and calculate the adjusting angle of the movable jaw and the fixed jaw according to the reference coordinate position and the reestablished first coordinate position, and calculate the depth of the movable jaw and the fixed jaw when occluded according to the reestablished second coordinate position;

[0015] A display unit being in signal connection with the processing unit, and being configured to display the calculated adjusting angle of the movable jaw and the fixed jaw, and the depth of the movable jaw and the fixed jaw when occluded.

[0016] In one of the embodiments, the processing unit comprises:

[0017] A reconstruction module being configured to receive the reference coordinate position in the optical spatial coordinate system, and the first coordinate position and the second coordinate position in the electrical spatial coordinate system, and reestablish the first coordinate position and the second coordinate position in the electrical spatial coordinate system in the optical spatial coordinate system;

[0018] A calculation module being in signal connection with the reconstruction module, and being configured to calculate the adjusting angle of the movable jaw and the fixed jaw according to the reference coordinate position and the reestablished first coordinate position, and calculate the depth of the movable jaw and the fixed jaw when occluded according to the reestablished second coordinate position.

[0019] In one of the embodiments, the rongeur further comprises a sliding seat and a connecting rod, the sliding seat is slidably arranged on the fixed handle and connected with the movable handle at the proximal end, the distal end of the sliding seat extends into the adjusting cylinder, the proximal end of the movable handle is connected with the distal end of the connecting rod, the proximal end of the connecting rod slidably extends into the adjusting cylinder and is rotatably arranged on the distal end of the sliding seat, an elastic reset member is sleeved on the proximal end of the connecting rod, the proximal end of the elastic reset member abuts against the inner wall of the adjusting cylinder and the distal end abuts against the distal end of the sliding seat, the first electromagnetic sensor is arranged on the side wall of the adjusting cylinder, and the second electromagnetic sensor is arranged on the sliding seat.

[0020] In one of the embodiments, the proximal end of the connecting rod is provided with a first limiting ring and a second limiting ring, the distal end of the sliding seat is provided with a clamping ring and a clamping groove, the first limiting ring is arranged in the clamping groove, and the clamping ring is arranged between the first limiting ring and the second limiting ring.

[0021] In one of the embodiments, the proximal end of the movable handle is detachably connected with the distal end of the connecting rod.

[0022] In one of the embodiments, the proximal end of the movable handle is threadedly connected with the distal end of the connecting rod.

[0023] In one of the embodiments, the optical reference frame is detachably connected with the fixed handle.

[0024] In one of the embodiments, the optical reference frame comprises a bottom sleeve, the bottom sleeve is sleeved outside the fixed handle and is fixed by a locking member.

[0025] In one of the embodiments, the movable handle is mortise and tenon connected with the fixed handle.

[0026] This application addresses the problem of difficulty in obtaining the adjustment angles of the movable and fixed jaws in bone-biting forceps by setting an optical reference frame for marking reference coordinate positions in an optical spatial coordinate system on a fixed handle, and setting a first electromagnetic sensor for marking a first coordinate position in an electrical spatial coordinate system on an adjusting cylinder that rotates synchronously with the adjusting cylinder, while setting a second electromagnetic sensor for marking a second coordinate position in an electrical spatial coordinate system on a movable jaw that moves synchronously with the movable jaw. Furthermore, this application can calculate the engagement depth of the movable and fixed jaws based on the re-established second coordinate position; and since the re-established second coordinate position can use the reference coordinate position as a reference when its position changes, this application effectively improves the problem of difficulty in accurately obtaining the engagement depth of the movable and fixed jaws. Attached Figure Description

[0027] Figure 1 This is a front view of a bone-biting forceps provided in an embodiment of this application;

[0028] Figure 2 A circuit connection diagram of the navigation terminal of a bone-biting forceps provided in an embodiment of this application;

[0029] Figure 3 This is a right view of a bone-biting forceps provided in an embodiment of this application;

[0030] Figure 4 for Figure 3 A cross-sectional view along the AA direction;

[0031] Figure 5 for Figure 4 Enlarged view of section B;

[0032] Figure 6 for Figure 4 Enlarged view of section C.

[0033] 100, fixed handle; 200, fixed forceps handle; 210, fixed forceps mouth; 220, adjusting cylinder; 300, movable handle; 400, movable forceps handle; 410, movable forceps mouth; 500, optical positioning system; 510, optical reference frame; 511, bottom sleeve; 512, locking piece; 513, limiting boss; 600, electromagnetic positioning system; 610, first electromagnetic sensor; 620, second electromagnetic sensor; 700, navigation system; 710, processing unit; 711, reconstruction module; 712, calculation module; 720, display unit; 800, sliding seat; 810, snap ring; 820, clamping groove; 900, connecting rod; 910, elastic reset piece; 920, first limiting ring; 930, second limiting ring. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0035] It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concept of the present application.

[0036] The structures, proportions, sizes, etc. shown in the drawings attached to the present specification are only used to cooperate with the content disclosed in the present specification, so that those skilled in the art can understand and read, and are not used to limit the defined conditions under which the present application can be implemented. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effects that can be produced by the present application and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present application.

[0037] The orientations or positional relationships indicated by the terms such as "upper", "lower", "left", "right", "intermediate", "longitudinal", "transverse", "horizontal", "inner", "outer", "radial", "circumferential", etc. in the present specification are based on the orientations or positional relationships shown in the drawings, and are only used to facilitate the description, and cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0038] The angle of the movable jaw 410 and the fixed jaw 210 of the rongeur can be set to be adjustable, for example, by rotating the wave wheel, so that the stud screw is rotated from one angle positioning groove to another angle positioning groove, and the movable jaw 410 and the fixed jaw 210 are synchronously rotated by a certain angle. The adjustable design of the angle of the movable jaw 410 and the fixed jaw 210 of the rongeur can make the use of the rongeur more convenient during the operation. However, the applicant finds that it is usually inconvenient to measure the angle when the movable jaw 410 and the fixed jaw 210 of the rongeur adjust the angle, and the angle can only adopt a preset fixed value, and the accuracy of the angle is also difficult to guarantee due to the misalignment of the stud screw and the angle positioning groove; that is, the applicant finds that the adjustable angle of the movable jaw 410 and the fixed jaw 210 of the rongeur is difficult to obtain.

[0039] The depth of the movable jaw 410 and the fixed jaw 210 of the rongeur when they are engaged can also be set to be adjustable, for example, by pressing the movable handle 400 and the fixed handle 200 to different positions, so that the movable handle 400 is moved to different positions on the fixed handle 200, thereby adjusting the depth of the engagement of the movable jaw 410 and the fixed jaw 210 by changing the distance between the movable jaw 410 and the fixed jaw 210. The adjustable design of the depth of the movable jaw 410 and the fixed jaw 210 of the rongeur when they are engaged can achieve clamping with different engagement forces. The rongeur can detect the pressure when the movable handle 400 and the fixed handle 200 are pressed by a pressure sensor, and the detection of the change of the pressure can indirectly achieve the detection of the depth of the engagement of the movable jaw 410 and the fixed jaw 210. However, the applicant also finds that during use, if the movable handle 400 is blocked or moves slowly due to other reasons, for example, the frictional resistance when the movable handle 400 moves on the fixed handle 200 increases, it is easy to interfere with the detection of the pressure sensor, and it is difficult to accurately obtain the depth of the engagement of the movable jaw 410 and the fixed jaw 210 of the rongeur.

[0040] Based on the foregoing reasons, the embodiments of the present application provide a rongeur, as shown in the accompanying drawings, Figures 1 to 6 The rongeur comprises:

[0041] a fixed handle 100;

[0042] a fixed handle 100;

[0043] a movable handle 300 rotatably connected with the fixed handle 100;

[0044] The movable forceps handle 400 is rotatably arranged at the proximal end of the movable forceps handle 400 on the movable handle 300, and the distal end of the movable forceps handle 400 is provided with a movable forceps mouth 410. The movable forceps handle 400 is slidably arranged on the fixed forceps handle 200, and the movable forceps handle 400 and the fixed forceps handle 200 are rotationally limited in the circumferential direction.

[0045] The rongeur further comprises a navigation terminal, and the navigation terminal comprises:

[0046] The optical positioning system 500 comprises an optical reference frame 510 for marking a reference coordinate position in an optical space coordinate system, and the optical reference frame 510 is arranged on the fixed handle 100.

[0047] The electromagnetic positioning system 600 comprises a first electromagnetic sensor 610 for marking a first coordinate position in an electrical space coordinate system, and a second electromagnetic sensor 620 for marking a second coordinate position in the electrical space coordinate system. The first electromagnetic sensor 610 is arranged on the adjusting cylinder 220 and rotates synchronously with the adjusting cylinder 220. The second electromagnetic sensor 620 is arranged on the movable forceps handle 400 and moves synchronously with the movable forceps handle 400.

[0048] The navigation system 700 is used to re-establish the first coordinate position and the second coordinate position in the electrical space coordinate system in the optical space coordinate system, and calculate and display the adjusting angle of the movable forceps mouth 410 and the fixed forceps mouth 210 according to the reference coordinate position and the re-established first coordinate position. The depth of the movable forceps mouth 410 and the fixed forceps mouth 210 when they are in occlusion is calculated and displayed according to the re-established second coordinate position.

[0049] As shown in the drawings, Figure 1 In the embodiment, the movable handle 300 of the rongeur is rotatably connected with the fixed handle 100, for example, the movable handle 300 is hingedly connected with the fixed handle 100, and has a hinge shaft. The movable handle 300 can rotate relative to the fixed handle 100 with the hinge shaft as the center. The fixed forceps handle 200 can comprise a proximal end and a distal end. The proximal end of the fixed forceps handle 200 can be connected with the adjusting cylinder 220. The proximal end of the fixed forceps handle 200 can be rotatably arranged on the fixed handle 100 through the adjusting cylinder 220, and the distal end of the fixed forceps handle 200 can be provided with the fixed forceps mouth 210. The movable forceps handle 400 can also comprise a proximal end and a distal end. The proximal end of the movable forceps handle 400 is rotatably arranged on the movable handle 300, and the distal end of the movable forceps handle 400 is provided with the movable forceps mouth 410. The movable forceps handle 400 is slidably arranged on the fixed forceps handle 200, and the movable forceps handle 400 and the fixed forceps handle 200 are rotationally limited in the circumferential direction.

[0050] In the present embodiment, the operator can hold the movable handle 300 and the fixed handle 100 during the operation, and apply a driving force to make the movable handle 300 rotate relative to the fixed handle 100. When the movable handle 300 rotates, the movable forceps handle 400 can be driven to move on the fixed forceps handle 200, so as to make the movable forceps jaw 410 move close to the fixed forceps jaw 210, thereby realizing the clamping function of the rongeur. By applying different driving forces to the movable handle 300, the movable handle 300 can be rotated to different positions, so as to adjust the depth of the movable forceps jaw 410 and the fixed forceps jaw 210 when they are clamped. By rotating the adjusting cylinder 220, the fixed forceps handle 200 and the movable forceps handle 400 can be synchronously rotated, so as to rotate the fixed forceps jaw 210 and the movable forceps jaw 410 to different positions, thereby adjusting the angle of the movable forceps jaw 410 and the fixed forceps jaw 210.

[0051] As shown in Figure 1 and Figure 2 In the present embodiment, the navigation terminal can be used to measure the angle of the movable forceps jaw 410 and the fixed forceps jaw 210, and the depth of the movable forceps jaw 410 and the fixed forceps jaw 210 when they are clamped.

[0052] The optical positioning system 500 can include an optical reference frame 510, which can be arranged on the fixed handle 100, and can be used to mark a reference coordinate position in the optical space coordinate system.

[0053] The electromagnetic positioning system 600 can include a first electromagnetic sensor 610 and a second electromagnetic sensor 620. The first electromagnetic sensor 610 can be arranged on the adjusting cylinder 220, and can be used to mark a first coordinate position in the electrical space coordinate system. When the adjusting cylinder 220 rotates, the adjusting cylinder 220 can synchronously rotate the first electromagnetic sensor 610; and when the first electromagnetic sensor 610 rotates, the first coordinate position in the electrical space coordinate system marked by the first electromagnetic sensor 610 changes. The second electromagnetic sensor 620 can be arranged on the movable forceps handle 400, and can be used to mark a second coordinate position in the electrical space coordinate system. When the movable forceps handle 400 moves on the fixed forceps handle 200, the movable forceps handle 400 can synchronously move the second electromagnetic sensor 620; and when the second electromagnetic sensor 620 moves, the second coordinate position in the electrical space coordinate system marked by the second electromagnetic sensor 620 changes.

[0054] The navigation system 700 can be configured to receive the reference coordinate position in the optical coordinate system marked by the optical reference frame 510, and the first coordinate position in the electrical coordinate system marked by the first electromagnetic sensor 610 and the second coordinate position in the electrical coordinate system marked by the second electromagnetic sensor 620. Meanwhile, the navigation system 700 can reestablish the first coordinate position and the second coordinate position in the electrical coordinate system in the optical coordinate system. The conversion can be based on the conversion matrix between the electrical coordinate system and the optical coordinate system. The conversion matrix can be set according to actual needs, which is not limited or described herein.

[0055] As shown in FIGS. 1, 2 and 3, the navigation system 700 can be configured to receive the reference coordinate position in the optical coordinate system marked by the optical reference frame 510, and the first coordinate position in the electrical coordinate system marked by the first electromagnetic sensor 610 and the second coordinate position in the electrical coordinate system marked by the second electromagnetic sensor 620. Meanwhile, the navigation system 700 can reestablish the first coordinate position and the second coordinate position in the electrical coordinate system in the optical coordinate system. The conversion can be based on the conversion matrix between the electrical coordinate system and the optical coordinate system. The conversion matrix can be set according to actual needs, which is not limited or described herein. Figure 1 Figure 2 As shown in FIGS. 1, 2 and 3, the navigation system 700 can be configured to receive the reference coordinate position in the optical coordinate system marked by the optical reference frame 510, and the first coordinate position in the electrical coordinate system marked by the first electromagnetic sensor 610 and the second coordinate position in the electrical coordinate system marked by the second electromagnetic sensor 620. Meanwhile, the navigation system 700 can reestablish the first coordinate position and the second coordinate position in the electrical coordinate system in the optical coordinate system. The conversion can be based on the conversion matrix between the electrical coordinate system and the optical coordinate system. The conversion matrix can be set according to actual needs, which is not limited or described herein.

[0056] As shown in FIGS. 1, 2 and 3, the navigation system 700 can be configured to receive the reference coordinate position in the optical coordinate system marked by the optical reference frame 510, and the first coordinate position in the electrical coordinate system marked by the first electromagnetic sensor 610 and the second coordinate position in the electrical coordinate system marked by the second electromagnetic sensor 620. Meanwhile, the navigation system 700 can reestablish the first coordinate position and the second coordinate position in the electrical coordinate system in the optical coordinate system. The conversion can be based on the conversion matrix between the electrical coordinate system and the optical coordinate system. The conversion matrix can be set according to actual needs, which is not limited or described herein.

[0057] As shown in FIGS. 1, 2 and 3, the navigation system 700 can be configured to receive the reference coordinate position in the optical coordinate system marked by the optical reference frame 510, and the first coordinate position in the electrical coordinate system marked by the first electromagnetic sensor 610 and the second coordinate position in the electrical coordinate system marked by the second electromagnetic sensor 620. Meanwhile, the navigation system 700 can reestablish the first coordinate position and the second coordinate position in the electrical coordinate system in the optical coordinate system. The conversion can be based on the conversion matrix between the electrical coordinate system and the optical coordinate system. The conversion matrix can be set according to actual needs, which is not limited or described herein. Figure 1 Figure 2 ​​As shown, in the present embodiment, when the navigation system 700 calculates the adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion, the navigation system 700 can also display the same.

[0058] It can be understood that, by setting the optical reference frame 510 for marking the reference coordinate position in the optical space coordinate system on the fixed handle 100, and setting the first electromagnetic sensor 610 for marking the first coordinate position in the electrical space coordinate system on the adjustment cylinder 220 and synchronously rotating with the adjustment cylinder 220, and setting the second electromagnetic sensor 620 for marking the second coordinate position in the electrical space coordinate system on the movable jaw handle 400 and synchronously moving with the movable jaw handle 400, the present application can reestablish the first coordinate position and the second coordinate position in the electrical space coordinate system in the optical space coordinate system, and calculate the adjustment angle of the movable jaw 410 and the fixed jaw 210 according to the reference coordinate position and the reestablished first coordinate position, so as to improve the problem that the adjustment angle of the movable jaw 410 and the fixed jaw 210 of the rongeur is difficult to obtain. Meanwhile, the present application can calculate the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion according to the reestablished second coordinate position; and since the reestablished second coordinate position can take the reference coordinate position as the reference object when the position changes, the present application can effectively improve the problem that the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion is difficult to accurately obtain.

[0059] Specifically, the navigation system 700 comprises:

[0060] a processing unit 710, which is signal connected with the optical positioning system 500 and the electromagnetic positioning system 600, and is used for receiving the reference coordinate position in the optical space coordinate system and the first coordinate position and the second coordinate position in the electrical space coordinate system, reestablishing the first coordinate position and the second coordinate position in the electrical space coordinate system in the optical space coordinate system, calculating the adjustment angle of the movable jaw 410 and the fixed jaw 210 according to the reference coordinate position and the reestablished first coordinate position, and calculating the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion according to the reestablished second coordinate position;

[0061] a display unit 720, which is signal connected with the processing unit 710, and is used for displaying the calculated adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion.

[0062] As Figure 1 and Figure 2As shown in the embodiment, the navigation system 700 can include a processing unit 710 and a display unit 720, wherein the processing unit 710 is mainly used for reconstruction of coordinate positions and calculation of angles and depths, and can be in signal connection with the optical reference frame 510, the first electromagnetic sensor 610 and the second electromagnetic sensor 620. The optical reference frame 510 can send the reference coordinate position marked in the optical space coordinate system to the processing unit 710, the first electromagnetic sensor 610 can send the first coordinate position marked in the electrical space coordinate system to the processing unit 710, and the second electromagnetic sensor 620 can send the second coordinate position marked in the electrical space coordinate system to the processing unit 710. After receiving the reference coordinate position in the optical space coordinate system and the first coordinate position and the second coordinate position in the electrical space coordinate system, the processing unit 710 can reconstruct the first coordinate position and the second coordinate position in the electrical space coordinate system into the optical space coordinate system according to the conversion matrix between the electromagnetic space coordinate system and the optical space coordinate system, and then calculate the adjustment angle of the movable jaw 410 and the fixed jaw 210 according to the reference coordinate position and the reconstructed first coordinate position, and calculate the depth when the movable jaw 410 and the fixed jaw 210 are in occlusion according to the reconstructed second coordinate position.

[0063] As shown in the embodiment, the display unit 720 is mainly used for display of angles and depths, and can be in signal connection with the processing unit 710. The display unit 720 can display the calculated adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth when the movable jaw 410 and the fixed jaw 210 are in occlusion. Figure 1 Figure 2 As shown in the embodiment, the display unit 720 is mainly used for display of angles and depths, and can be in signal connection with the processing unit 710. The display unit 720 can display the calculated adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth when the movable jaw 410 and the fixed jaw 210 are in occlusion.

[0064] It can be understood that, by reasonably setting the components of the navigation system 700, the reconstruction of the first coordinate position and the second coordinate position in the electrical space coordinate system into the optical space coordinate system is facilitated, so as to further calculate the adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth when the movable jaw 410 and the fixed jaw 210 are in occlusion, and facilitate display of the calculated adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth when the movable jaw 410 and the fixed jaw 210 are in occlusion.

[0065] More specifically, the processing unit 710 includes:

[0066] a reconstruction module 711, configured to receive the reference coordinate position in the optical space coordinate system and the first coordinate position and the second coordinate position in the electrical space coordinate system, and reconstruct the first coordinate position and the second coordinate position in the electrical space coordinate system into the optical space coordinate system;

[0067] ​The computing module 712 is in signal connection with the reconstructing module 711, and is used for calculating the adjusting angle of the movable jaw 410 and the fixed jaw 210 according to the reference coordinate position and the reconstructed first coordinate position, and calculating the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion according to the reconstructed second coordinate position.

[0068] As shown in Figure 1 and Figure 2 In the embodiment, the processing unit 710 can exemplarily include the reconstructing module 711 and the computing module 712. The reconstructing module 711 is mainly used for the reconstruction of coordinate positions, and can be in signal connection with the optical reference frame 510, the first electromagnetic sensor 610 and the second electromagnetic sensor 620, and receive the reference coordinate position in the optical spatial coordinate system and the first coordinate position and the second coordinate position in the electrical spatial coordinate system. After receiving, the reconstructing module 711 can reconstruct the first coordinate position and the second coordinate position in the electrical spatial coordinate system into the optical spatial coordinate system according to the conversion matrix between the electromagnetic spatial coordinate system and the optical spatial coordinate system.

[0069] As shown in Figure 1 and Figure 2 In the embodiment, the computing module 712 is mainly used for the calculation of angle and depth, and can be in signal connection with the reconstructing module 711, and is used for receiving the reference coordinate position in the optical spatial coordinate system and the reconstructed first coordinate position and second coordinate position in the optical spatial coordinate system, and then calculating the adjusting angle of the movable jaw 410 and the fixed jaw 210 according to the reference coordinate position and the reconstructed first coordinate position, and calculating the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion according to the reconstructed second coordinate position.

[0070] It can be understood that, by reasonably setting the components of the processing unit 710, the embodiment facilitates the reconstruction of the first coordinate position and the second coordinate position in the electrical spatial coordinate system into the optical spatial coordinate system, and facilitates the calculation of the adjusting angle of the movable jaw 410 and the fixed jaw 210 and the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion.

[0071] Specifically, the rongeur further comprises a sliding seat 800 and a connecting rod 900, the sliding seat 800 is slidably arranged on the fixed handle 100 and connected with the movable handle 300 at the proximal end, the distal end of the sliding seat 800 extends into the adjusting cylinder 220, the proximal end of the movable forceps handle 400 is connected with the distal end of the connecting rod 900, the proximal end of the connecting rod 900 slidably extends into the adjusting cylinder 220 and is rotatably arranged on the distal end of the sliding seat 800, the proximal end of the connecting rod 900 is sleeved with an elastic reset member 910, the proximal end of the elastic reset member 910 abuts against the inner wall of the adjusting cylinder 220 and the distal end abuts against the distal end of the sliding seat 800, the first electromagnetic sensor 610 is arranged on the side wall of the adjusting cylinder 220, and the second electromagnetic sensor 620 is arranged on the sliding seat 800.

[0072] As shown in Figure 1 , Figure 3 and Figure 4 illustrate that in the embodiment, the movable forceps handle 400 is connected with the movable handle 300 through the connecting rod 900 and the sliding seat 800 in sequence, the distal end of the connecting rod 900 is connected with the proximal end of the movable forceps handle 400, and the proximal end of the connecting rod 900 slidably extends into the adjusting cylinder 220, the proximal end of the sliding seat 800 is connected with the movable handle 300, and the distal end of the sliding seat 800 is connected with the proximal end of the connecting rod 900.

[0073] In the embodiment, the proximal end of the connecting rod 900 is rotatably arranged on the distal end of the sliding seat 800, when the adjusting cylinder 220 rotates and drives the fixed forceps handle 200 to rotate, the fixed forceps handle 200 drives the movable forceps handle 400 and the connecting rod 900 to synchronously rotate, so as to adjust the angle between the movable forceps jaw 410 and the fixed forceps jaw 210, the first electromagnetic sensor 610 is arranged on the side wall of the adjusting cylinder 220, which is arranged between the inner wall and the outer wall of the adjusting cylinder 220 in an embedded manner.

[0074] As shown in Figure 1 , Figure 3 and Figure 4The sliding seat 800 is slidably arranged on the fixed handle 100. When the movable handle 300 is rotated and pushes the sliding seat 800 to move in the direction of the connecting rod 900, the sliding seat 800 can drive the movable handle 400 to move synchronously through the connecting rod 900. At this time, the movable jaw 410 can move close to the fixed jaw 210 to adjust the depth of the movable jaw 410 and the fixed jaw 210 when they are clamped. The proximal end of the connecting rod 900 can further be sleeved with an elastic reset member 910, which can be a compression spring. The elastic reset member 910 can be arranged in the adjusting cylinder 220, and the proximal end thereof can abut against the inner wall of the adjusting cylinder 220 and the distal end thereof can abut against the distal end of the sliding seat 800. When the movable handle 300 is held to make the sliding seat 800 move in the direction of the connecting rod 900, the sliding seat 800 can compress the elastic reset member 910. The elastic reset member 910 can buffer the sliding seat 800, and the sliding seat 800 drives the connecting rod 900 and the movable handle 400 to move more stably. When the movable handle 300 is released, the elastic reset member 910 can drive the sliding seat 800 to reset through the elasticity thereof. Due to the follow-up relationship between the sliding seat 800 and the movable handle 400, the second electromagnetic sensor 620 can be arranged on the sliding seat 800.

[0075] It can be understood that, in the embodiment, the movable handle 400 is connected with the movable handle 300 through the sliding seat 800 and the connecting rod 900, the proximal end of the connecting rod 900 is rotatably arranged at the distal end of the sliding seat 800, and the sliding seat 800 is slidably arranged on the fixed handle 100. In combination with the elastic reset member 910, the angle of the movable jaw 410 and the fixed jaw 210 can be adjusted, and the depth of the movable jaw 410 and the fixed jaw 210 when they are clamped can also be adjusted. In the embodiment, the arrangement positions of the first electromagnetic sensor 610 and the second electromagnetic sensor 620 are reasonably arranged, so that the angle of the movable jaw 410 and the fixed jaw 210 and the depth of the movable jaw 410 and the fixed jaw 210 when they are clamped can be accurately measured.

[0076] Specifically, the proximal end of the connecting rod 900 is provided with a first limiting ring 920 and a second limiting ring 930, the distal end of the sliding seat 800 is provided with a clamping ring 810 and a clamping groove 820, the first limiting ring 920 is arranged in the clamping groove 820, and the clamping ring 810 is arranged between the first limiting ring 920 and the second limiting ring 930.

[0077] As Figure 4 and Figure 5As shown in this embodiment, by way of example, the first limiting ring 920 and the second limiting ring 930 can both be formed by extending the outer wall of the near end of the connecting rod 900 in a direction away from the axis of the connecting rod 900. They can both be configured as annular structures, and the first limiting ring 920 and the second limiting ring can be spaced apart along the axial direction of the connecting rod 900. The retaining ring 810 and the retaining groove 820 can be formed by slotting the outer wall of the far end of the sliding seat 800, wherein the retaining groove 820 can be an open slot, and its opening direction can be radial; while the retaining ring 810 can be configured as an open ring, and its opening direction can also be radial, and the same as the opening direction of the retaining groove 820. The retaining ring 810 and the retaining groove 820 can also be spaced apart axially, and the first limiting ring 920 can extend radially into the retaining groove 820, while the retaining ring 810 can also extend radially between the first limiting ring 920 and the second limiting ring 930.

[0078] In this embodiment, when the connecting rod 900 rotates, the first limiting ring 920 can rotate within the slot 820, and the retaining ring 810 can also rotate relative to the first limiting ring 920 and the second limiting ring 930. Therefore, the connecting rod 900 can be rotatably mounted on the sliding seat 800. When the sliding seat 800 is in motion, since there are axial limits between the first limiting ring 920 and the slot 820, and between the retaining ring 810 and the first limiting ring 920 and the second limiting ring 930, the sliding seat 800 can drive the connecting rod 900 to move.

[0079] It is understood that in this embodiment, by setting a first limiting ring 920 and a second limiting ring 930 at the proximal end of the connecting rod 900, and setting a retaining ring 810 and a retaining groove 820 at the distal end of the sliding seat 800, the first limiting ring 920 and the second limiting ring 930, together with the retaining ring 810 and the retaining groove 820, can achieve both adjustable angles of the movable jaw 410 and the fixed jaw 210 and adjustable engagement depth of the movable jaw 410 and the fixed jaw 210.

[0080] Specifically, the proximal end of the movable clamp handle 400 is detachably connected to the distal end of the connecting rod 900.

[0081] like Figure 4 As shown in this embodiment, by way of example, the proximal end of the movable clamp handle 400 and the distal end of the connecting rod 900 can be detachably connected so that the movable clamp handle 400 and the connecting rod 900 can be connected and separated, thereby facilitating the installation and arrangement of the movable clamp handle 400 and the connecting rod 900; and at the same time facilitating the maintenance or replacement of the movable clamp handle 400 when necessary.

[0082] More specifically, the proximal end of the movable pliers 400 is threadedly connected to the distal end of the connecting rod 900.

[0083] likeFigure 4 As shown in the drawings, in the embodiment, the detachable connection between the proximal end of the movable pliers handle 400 and the distal end of the connecting rod 900 can preferably be a threaded connection, for example, the proximal end of the movable pliers handle 400 is provided with a threaded hole, and the distal end of the connecting rod 900 is provided with a threaded segment matched with the threaded hole. The threaded connection not only makes the connection between the movable pliers handle 400 and the connecting rod 900 stable, but also makes the disassembly and assembly of the movable pliers handle 400 and the connecting rod 900 more convenient.

[0084] Specifically, the optical reference frame 510 is detachably connected with the fixed handle 100.

[0085] As shown in the drawings, Figure 4 In the embodiment, the detachable connection between the optical reference frame 510 and the fixed handle 100 is exemplarily illustrated. Before the operation, the operator fixes the optical reference frame 510 at a specified position of the fixed handle 100 and then performs corresponding debugging, so that the optical reference frame 510 can be used. After the operation, the operator can detach the optical reference frame 510 from the fixed handle 100, so that the optical reference frame 510 can be stored.

[0086] More specifically, the optical reference frame 510 comprises a bottom sleeve 511, which is sleeved on the fixed handle 100 and is fixed by a locking member 512.

[0087] As shown in the drawings, Figure 4 and Figure 6 In the embodiment, the bottom sleeve 511 can be provided in a circular tube shape, which can be axially sleeved on the fixed handle 100, and the body of the optical reference frame 510 can be connected with the bottom sleeve 511. The proximal end of the bottom sleeve 511 can be provided with a limiting boss 513, which can be formed by the inner wall of the bottom sleeve 511 extending in the direction close to the axis of the bottom sleeve 511. When the bottom sleeve 511 is sleeved on the fixed handle 100, the limiting boss 513 can abut against the fixed handle 100, and the locking member 512 can be threadedly connected on the fixed handle 100 through the limiting boss 513, and the locking member 512 can lock and fix the bottom sleeve 511.

[0088] It can be understood that, by providing the bottom sleeve 511 and fixing the bottom sleeve 511 on the fixed handle 100 and the movable handle 300 by the locking member 512, the detachable setting of the optical reference frame 510 can be facilitated.

[0089] Specifically, the movable pliers handle 400 is tenon-and-mortise connected with the fixed pliers handle 200.

[0090] As shown in the drawings, Figure 4As shown, in the embodiment, the connection between the movable jaw handle 400 and the fixed jaw handle 200 can be a mortise and tenon joint, for example, the fixed jaw handle 200 is provided with a mortise, and the movable jaw handle 400 is provided with a tenon matched with the mortise. When the fixed jaw handle 200 is rotated by the adjusting cylinder 220, the movable jaw handle 400 can be rotated synchronously by the fixed jaw handle 200 due to the matching between the tenon and the mortise. When the movable jaw handle 400 moves on the fixed jaw handle 200, the tenon can move in the mortise, and the matching between the tenon and the mortise can guide the movable jaw handle 400 to move more smoothly.

[0091] The embodiment of the present application provides an implementation principle of the rongeur.

[0092] The operator can hold the movable handle 300 and the fixed handle 100 during the operation, and apply a driving force to rotate the movable handle 300 relative to the fixed handle 100. When the movable handle 300 is rotated, the sliding seat 800 can be driven to move on the fixed handle 100 towards the connecting rod 900, the sliding seat 800 is compressed when moving, and the connecting rod 900 and the movable jaw handle 400 are synchronously moved on the fixed jaw handle 200. When the movable jaw handle 400 is moved, the movable jaw 410 can be moved to be close to the fixed jaw 210, so as to realize the clamping function of the rongeur. By applying different driving forces to the movable handle 300, the movable handle 300 can be rotated to different positions, so as to adjust the depth of the movable jaw 410 and the fixed jaw 210 when they are clamped. By rotating the adjusting cylinder 220, the fixed jaw handle 200 and the movable jaw handle 400 can be synchronously rotated, so as to rotate the fixed jaw 210 and the movable jaw 410 to different positions, and then adjust the angle between the movable jaw 410 and the fixed jaw 210.

[0093] The first electromagnetic sensor can mark the change of the first coordinate position in the electrical space coordinate system, the second electromagnetic sensor 620 can mark the change of the second coordinate position in the electrical space coordinate system, and the optical reference frame 510 can always mark the reference coordinate position in the optical space coordinate system. After the above-mentioned coordinate positions are marked, the reconstruction module 711 can receive the reference coordinate position in the optical space coordinate system marked by the optical reference frame 510, the first coordinate position in the electrical space coordinate system marked by the first electromagnetic sensor 610, and the second coordinate position in the electrical space coordinate system marked by the second electromagnetic sensor 620, and can reestablish the first coordinate position and the second coordinate position in the electrical space coordinate system in the optical space coordinate system. The calculation module 712 can calculate the adjustment angle of the movable jaw 410 and the fixed jaw 210 according to the reference coordinate position and the reestablished first coordinate position, and can calculate the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion according to the reestablished second coordinate position. The display unit 720 can display the calculated adjustment angle of the movable jaw 410 and the fixed jaw 210 and the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion.

[0094] It can be understood that, by arranging the optical reference frame 510 for marking the reference coordinate position in the optical space coordinate system on the fixed handle 100, arranging the first electromagnetic sensor 610 for marking the first coordinate position in the electrical space coordinate system on the adjustment cylinder 220 and synchronously rotating with the adjustment cylinder 220, and arranging the second electromagnetic sensor 620 for marking the second coordinate position in the electrical space coordinate system on the movable jaw handle 400 and synchronously moving with the movable jaw handle 400, the first coordinate position and the second coordinate position in the electrical space coordinate system can be reestablished in the optical space coordinate system, and the adjustment angle of the movable jaw 410 and the fixed jaw 210 can be calculated according to the reference coordinate position and the reestablished first coordinate position, so as to improve the problem that the adjustment angle of the movable jaw 410 and the fixed jaw 210 of the rongeur is difficult to obtain. Meanwhile, the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion can be calculated according to the reestablished second coordinate position. Since the reestablished second coordinate position can take the reference coordinate position as the reference object when the position changes, the problem that the depth of the movable jaw 410 and the fixed jaw 210 when they are in occlusion is difficult to accurately obtain can be effectively improved.

[0095] The technical features of the above-mentioned embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0096] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A rongeur, comprising: The rongeur comprises: a fixed handle (100); a fixed forceps handle (200) having a proximal end connected with an adjusting cylinder (220) and a distal end provided with a fixed forceps mouth (210), the fixed forceps handle being rotatably arranged on the fixed handle through the adjusting cylinder; a movable handle (300) rotatably connected with the fixed handle; a movable forceps handle (400) having a proximal end rotatably arranged on the movable handle and a distal end provided with a movable forceps mouth (410), the movable forceps handle being slidably arranged on the fixed forceps handle, the movable forceps handle and the fixed forceps handle being rotationally limited in the circumferential direction; wherein the rongeur further comprises a navigation terminal, the navigation terminal comprising: an optical positioning system (500) comprising an optical reference frame (510) for marking a reference coordinate position in an optical space coordinate system, the optical reference frame being arranged on the fixed handle; an electromagnetic positioning system (600) comprising a first electromagnetic sensor (610) for marking a first coordinate position in an electromagnetic space coordinate system and a second electromagnetic sensor (620) for marking a second coordinate position in the electromagnetic space coordinate system, the first electromagnetic sensor being arranged on the adjusting cylinder and synchronously rotating with the adjusting cylinder, the second electromagnetic sensor being arranged on the movable forceps handle and synchronously moving with the movable forceps handle; a navigation system (700) for reestablishing the first coordinate position and the second coordinate position in the electromagnetic space coordinate system in the optical space coordinate system, and calculating and displaying an adjusting angle of the movable forceps mouth and the fixed forceps mouth according to the reference coordinate position and the reestablished first coordinate position, and calculating and displaying a depth when the movable forceps mouth and the fixed forceps mouth are in occlusion according to the reestablished second coordinate position.

2. The rongeur according to claim 1, wherein, The navigation system (700) comprises: a processing unit (710) signal-connected with the optical positioning system (500) and the electromagnetic positioning system (600), and used for receiving the reference coordinate position in the optical space coordinate system and the first coordinate position and the second coordinate position in the electromagnetic space coordinate system, reestablishing the first coordinate position and the second coordinate position in the electromagnetic space coordinate system in the optical space coordinate system, and calculating the adjusting angle of the movable forceps mouth and the fixed forceps mouth according to the reference coordinate position and the reestablished first coordinate position, and calculating the depth when the movable forceps mouth and the fixed forceps mouth are in occlusion according to the reestablished second coordinate position; a display unit (720) signal-connected with the processing unit (710), and used for displaying the calculated adjusting angle of the movable forceps mouth and the fixed forceps mouth and the depth when the movable forceps mouth and the fixed forceps mouth are in occlusion.

3. The rongeur according to claim 2, wherein, The processing unit (710) comprises: a reconstruction module (711) configured to receive the reference coordinate position in the optical spatial coordinate system and the first coordinate position and the second coordinate position in the electrical spatial coordinate system, and to reconstruct the first coordinate position and the second coordinate position in the electrical spatial coordinate system into the optical spatial coordinate system; a calculation module (712) in signal connection with the reconstruction module (711) and configured to calculate the adjustment angle of the movable jaw and the fixed jaw according to the reference coordinate position and the reconstructed first coordinate position, and to calculate the depth of the movable jaw and the fixed jaw when in occlusion according to the reconstructed second coordinate position.

4. The rongeur according to claim 1, wherein, The rongeur further comprises a sliding seat (800) and a connecting rod (900), the sliding seat (800) is slidably arranged on the fixed handle and connected with the movable handle at the proximal end, the distal end of the sliding seat (800) extends into the adjusting cylinder, the proximal end of the movable jaw handle is connected with the distal end of the connecting rod (900), the proximal end of the connecting rod (900) slidably extends into the adjusting cylinder and is rotatably arranged on the distal end of the sliding seat (800), an elastic reset member (910) is sleeved on the proximal end of the connecting rod (900), the proximal end of the elastic reset member (910) abuts against the inner wall of the adjusting cylinder and the distal end abuts against the distal end of the sliding seat (800), the first electromagnetic sensor is arranged on the side wall of the adjusting cylinder, and the second electromagnetic sensor is arranged on the sliding seat (800).

5. The rongeur according to claim 4, wherein, The proximal end of the connecting rod (900) is provided with a first limiting ring (920) and a second limiting ring (930), the distal end of the sliding seat (800) is provided with a clamping ring (810) and a clamping groove (820), the first limiting ring (920) is arranged in the clamping groove (820), and the clamping ring (810) is arranged between the first limiting ring (920) and the second limiting ring (930).

6. The rongeur according to claim 4, wherein, The proximal end of the movable jaw handle is detachably connected with the distal end of the connecting rod (900).

7. The rongeur according to claim 6, wherein, The proximal end of the movable jaw handle is threadedly connected with the distal end of the connecting rod (900).

8. The rongeur according to claim 1, wherein, The optical reference frame is detachably connected with the fixed handle.

9. The rongeur according to claim 8, wherein, The optical reference frame comprises a bottom sleeve (511), the bottom sleeve (511) is sleeved outside the fixed handle and is fixed by a locking member (512).

10. The rongeur according to claim 1, wherein, The movable jaw handle is mortise and tenon connected with the fixed jaw handle. The rongeur further comprises a sliding seat (800) and a connecting rod (900), the sliding seat (800) is slidably arranged on the fixed handle and connected with the movable handle at the proximal end, the distal end of the sliding seat (800) extends into the adjusting cylinder, the proximal end of the movable jaw handle is connected with the distal end of the connecting rod (900), the proximal end of the connecting rod (900) slidably extends into the adjusting cylinder and is rotatably arranged on the distal end of the sliding seat (800), an elastic reset member (910) is sleeved on the proximal end of the connecting rod (900), the proximal end of the elastic reset member (910) abuts against the inner wall of the adjusting cylinder and the distal end abuts against the distal end of the sliding seat (800), the first electromagnetic sensor is arranged on the side wall of the adjusting cylinder, and the second electromagnetic sensor is arranged on the sliding seat (800). The proximal end of the connecting rod (900) is provided with a first limiting ring (920) and a second limiting ring (930), the distal end of the sliding seat (800) is provided with a clamping ring (810) and a clamping groove (820), the first limiting ring (920) is arranged in the clamping groove (820), and the clamping ring (810) is arranged between the first limiting ring (920) and the second limiting ring (930). The proximal end of the movable jaw handle is detachably connected with the distal end of the connecting rod (900). The proximal end of the movable jaw handle is threadedly connected with the distal end of the connecting rod (900). The optical reference frame is detachably connected with the fixed handle. The optical reference frame comprises a bottom sleeve (511), the bottom sleeve (511) is sleeved outside the fixed handle and is fixed by a locking member (512). The movable jaw handle is mortise and tenon connected with the fixed jaw handle.

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