Ball head steering bone needle fixing device and orthopedic surgery robot

Abstract

The utility model relates to a ball head steering bone needle fixing device and an orthopedic surgery robot, and the ball head steering bone needle fixing device comprises a bone needle fixer which is provided with a bone needle hole; the ball head connecting joint comprises a ball head and a ball head fixing seat matched with the ball head, one of the ball head and the ball head fixing seat is connected with the spicule fixator through a connecting rod, and the other one of the ball head and the ball head fixing seat is connected with the optical tracker through the other connecting rod, so that the optical tracker can adjust the position in all directions around the ball head; the optical tracker can solve the technical problems that in the prior art, the position of the optical tracker is fixed, the optical tracker cannot be flexibly adjusted to any position expected by a doctor according to operation requirements, operation space is limited, and operation flexibility is affected.

Description

Technical Field

[0001] This utility model belongs to the field of medical equipment technology, specifically relating to a ball-head steering bone pin fixation device and an orthopedic surgical robot. Background Technology

[0002] In orthopedic surgery, the application of surgical robots is becoming increasingly widespread. When using an orthopedic surgical robot, an optical tracker needs to be fixed to the patient so that the robot can identify the surgical site in real time. Typically, the optical tracker is fixed to the patient using bone pins and pin fixators. However, the direct, rigid connection between the optical tracker and the pin fixator severely limits the tracker's position, significantly restricting the surgical operating space. This means that in practical applications, the optical tracker cannot be flexibly adjusted to any position desired by the surgeon, greatly affecting the flexibility of the surgical procedure. Utility Model Content

[0003] To address the shortcomings of existing technologies, a ball-head steering bone pin fixation device and an orthopedic surgical robot are proposed to solve the technical problems of fixed position of optical trackers in existing technologies, which cannot be flexibly adjusted to any position desired by the surgeon according to surgical needs, resulting in limited surgical operating space and affecting the flexibility of surgical operations.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] In a first aspect, this utility model provides a ball-head steering bone pin fixation device, comprising:

[0006] Bone pin fixator, which is provided with bone pin holes;

[0007] The ball joint includes a ball head and a ball head fixation seat adapted to the ball head. One of the ball head and the ball head fixation seat is connected to the bone pin fixator via a connecting rod, and the other is connected to the optical tracker via another connecting rod, so that the optical tracker can adjust its position around the ball head in all directions.

[0008] And a locking element, which is used to fix the relative position of the ball head and the ball head fixing seat.

[0009] The technical solution is further configured such that a cavity is provided inside the ball head fixing seat, and the cavity wall is configured as a first concave curved surface adapted to the ball head.

[0010] The technical solution is further configured such that the ball head fixing seat is provided with a slot, and the end of the connecting rod passes through the slot and is connected to the ball head.

[0011] The technical solution is further configured such that the end diameter of the connecting rod connected to the ball head gradually decreases, providing redundant space for the connecting rod to swing within the slot.

[0012] The technical solution is further configured such that a pressure block is provided in the cavity of the ball head fixing seat, and a second concave surface adapted to the ball head is provided on the pressure block, the second concave surface being disposed opposite to the first concave surface.

[0013] The technical solution is further configured such that the pressure block is in clearance fit with the cavity of the ball head fixing seat, and the pressure block can move along the cavity of the ball head fixing seat.

[0014] The technical solution is further configured such that an end cap is provided on the ball head fixing seat, the locking member is threadedly engaged with the end cap, and the end of the locking member passes through the end cap and abuts against the pressure block.

[0015] The technical solution is further configured such that one end of the end cap is embedded inside the ball head fixing seat, and the minimum distance between the end and the ball head is greater than the thickness of the pressure block.

[0016] Secondly, this utility model provides an orthopedic surgical robot, comprising:

[0017] Bone needles are used to implant into the bone surface of a patient;

[0018] The ball-head steering bone pin fixing device, wherein the bone pin hole clamps the bone pin;

[0019] And an optical tracker, which is connected to the ball joint via a connecting rod.

[0020] The technical solution is further configured such that a connector is provided between the optical tracker and the connecting rod, the middle part of the connector is a multi-faceted cylindrical segment, and the optical tracker is provided with an interface adapted to the multi-faceted cylindrical segment.

[0021] The beneficial effects of this utility model are:

[0022] By adding a ball-head connecting joint between the optical tracker and the bone pin fixator, the optical tracker can be adjusted to any position within the ball head's turning space, providing a high degree of freedom and offering doctors a sufficiently large surgical space, thus improving the flexibility of surgical operations. The relative position of the ball head and the ball head fixation seat is fixed by a locking device, thereby fixing the relative position of the optical tracker and the bone pin fixator and improving the positioning accuracy of the optical tracker. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the ball-head steering bone pin fixing device in an embodiment of this utility model;

[0024] Figure 2 This is a schematic diagram of the ball-head steering bone pin fixing device from another perspective in an embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram of the ball-head steering bone pin fixing device from another perspective in an embodiment of this utility model;

[0026] Figure 4 yes Figure 3 Sectional view of AA;

[0027] Figure 5 This is an assembly diagram of the ball joint and locking component in an embodiment of this utility model;

[0028] Figure 6 yes Figure 5 Exploded view;

[0029] Figure 7 This is a schematic diagram of the orthopedic surgical robot in an embodiment of this utility model;

[0030] Figure 8 This is a schematic diagram of the orthopedic surgical robot after the optical tracker has moved into place in this embodiment of the present invention.

[0031] In the attached diagram: 100, bone pin fixator; 101, bone pin hole; 200, ball-head connecting joint; 201, ball-head fixing seat; 202, pressure block; 203, end cap; 204, ball head; 205, first concave surface; 300, locking element; 400, first connecting rod; 500, second connecting rod; 600, connector; 601, multifaceted cylindrical segment; 700, optical tracker; 800, bone pin. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of this utility model, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0033] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0034] According to an embodiment of this utility model, a ball-head steering bone pin fixation device is provided. Please refer to [link / reference]. Figures 1 to 7 ,include:

[0035] Bone pin fixator 100, which is provided with bone pin holes 101;

[0036] The ball joint 200 includes a ball head 204 and a ball head fixation seat 201 adapted to the ball head 204. One of the ball head 204 and the ball head fixation seat 201 is connected to the bone pin fixator 100 through a connecting rod, and the other is connected to the optical tracker 700 through another connecting rod, so that the optical tracker 700 can adjust its position in all directions around the ball head 204.

[0037] And a locking element 300, which is used to fix the relative position of the ball head 204 and the ball head fixing seat 201.

[0038] Furthermore, the bone pin fixator 100 can adopt a double-pin fixator or a triple-pin fixator as used in the prior art, which will not be elaborated here. Correspondingly, the number of bone pin holes 101 is 2 or 3. For example, CN213430522U discloses a double-pin fixator; CN212490141U discloses a triple-pin fixator.

[0039] Furthermore, in order to make the relative position of the optical tracker 700 and the bone pin fixator 100 adjustable, the ball head 204 and the ball head fixation seat 201 are connected to the bone pin fixator 100 and the optical tracker 700 respectively via connecting rods. Since the ball head 204 and the ball head fixation seat 201 can rotate relative to each other, the optical tracker 700 can rotate 360° around the center of the ball head.

[0040] Specifically, the ball head 204 is connected to the bone pin fixator 100 via the first connecting rod 400, and the ball head fixation base 201 is connected to the optical tracker 700 via the second connecting rod 500. Alternatively, the ball head fixation base 201 can be connected to the bone pin fixator 100 via the first connecting rod 400, and the ball head 204 can be connected to the optical tracker 700 via the second connecting rod 500.

[0041] It should be noted that by adding a ball joint 200 between the optical tracker 700 and the bone pin fixator 100, the optical tracker 700 can be adjusted to any position within the turning space of the ball head 204, which has a high degree of freedom, providing doctors with a sufficiently large surgical space and improving the flexibility of surgical operations; the relative position of the ball head 204 and the ball head fixation seat 201 is fixed by the locking member 300, thereby fixing the relative position of the optical tracker 700 and the bone pin fixator 100 and improving the positioning accuracy of the optical tracker 700.

[0042] In the ball-head steering bone pin fixation device of this embodiment, please refer to... Figures 1 to 7 The ball head fixing seat 201 has a cavity inside, and the cavity wall is configured as a first concave curved surface 205 that is adapted to the ball head 204.

[0043] Furthermore, in order to assemble the ball head 204 into the ball head fixing seat 201, one end of the ball head fixing seat 201 is closed, and the other end has an opening.

[0044] Furthermore, to improve the fit between the cavity and the ball head 204, the cavity is cylindrical with curved sides. Therefore, it is sufficient to set the end face wall of the cavity as a first concave curved surface 205. In some other embodiments, the cavity may also be configured with other shapes, as long as the shape does not interfere with the rotation of the ball head 204.

[0045] In the ball-head steering bone pin fixation device of this embodiment, please refer to... Figures 1 to 7 The ball head fixing seat 201 is provided with a slot, and the end of the connecting rod passes through the slot and is connected to the ball head 204.

[0046] Furthermore, the slot extends along the length of the ball head holder 201 to the opening of the ball head holder 201, and the end of the connecting rod moves along the slot to assemble the ball head 204 into the ball head holder 201.

[0047] Furthermore, while ensuring smooth assembly of the ball head 204 and preventing it from detaching, the groove width is greater than the diameter of the connecting rod connected to the ball head 204, but smaller than the diameter of the ball head. The difference between the groove width and the diameter of the connecting rod provides redundancy for the connecting rod to swing within the groove. Correspondingly, the optical tracker 700 can swing within the groove width range.

[0048] In the ball-head steering bone pin fixation device of this embodiment, please refer to... Figures 1 to 7 The diameter of the end of the connecting rod connected to the ball head 204 gradually decreases, further providing redundant space for the connecting rod to swing within the slot.

[0049] In the ball-head steering bone pin fixation device of this embodiment, please refer to... Figures 1 to 7 The cavity of the ball head fixing seat 201 is also provided with a pressure block 202. The pressure block 202 is provided with a second concave surface adapted to the ball head 204. The second concave surface is disposed opposite to the first concave surface 205.

[0050] Furthermore, the longitudinal cross-sectional shape of the pressure block 202 is adapted to the cavity shape of the ball head fixing seat 201, and the second concave surface and the first concave surface 205 are located on opposite sides of the ball head 204; at the same time, the pressure block 202 and the cavity of the ball head fixing seat 201 are in clearance fit, so the pressure block 202 can move along the cavity of the ball head fixing seat 201.

[0051] In use, the ball head 204 rotates relative to the ball head fixing seat 201, causing the optical tracker 700 to be adjusted to the ideal position. Then, the pressure block 202 moves along the axial direction of the cavity of the ball head fixing seat 201 towards the ball head 204. The second concave surface and the first concave surface 205 work together to press the ball head 204, preventing relative rotation between the ball head 204 and the ball head fixing seat 201, thus forming a single unit and fixing the position of the optical tracker 700. In other words, the ball head connecting joint 200 can support 360° rotation of the optical tracker 700 around the center of the ball head and can be locked at any angle. After the pressure block 202 moves in the opposite direction, the clamping force applied to the ball head 204 disappears. At this time, the ball head 204 and the ball head fixing seat 201 can continue to rotate relative to each other, adjusting the position of the optical tracker 700.

[0052] In the ball-head steering bone pin fixation device of this embodiment, please refer to... Figures 1 to 7 The ball head fixing seat 201 is provided with an end cap 203, and the locking member 300 is threadedly engaged with the end cap 203. The end of the locking member 300 passes through the end cap 203 and abuts against the pressure block 202.

[0053] When in use, turning the locking member 300 can push the pressure block 202 toward the ball head 204 and apply a clamping force to the ball head 204; when the locking member 300 is turned in the opposite direction, the end of the locking member 300 separates from the pressure block 202, and the clamping force applied to the ball head 204 disappears.

[0054] In the ball-head steering bone pin fixation device of this embodiment, please refer to... Figures 1 to 7 In order to improve the connection stability between the end cap 203 and the ball head fixing seat 201, one end of the end cap 203 is embedded inside the ball head fixing seat 201, and the other end is located outside the ball head fixing seat 201 and abuts against the edge of the ball head fixing seat 201.

[0055] Furthermore, in order to avoid increasing the frictional force between the ball head 204 and the ball head fixing seat 201 when they rotate relative to each other due to the ball head 204 always being in contact with the second concave surface, the minimum distance between the end of the end cap 203 embedded in the ball head fixing seat 201 and the ball head 204 is greater than the thickness of the pressure block 202, so as to provide space for the pressure block 202 to move away from the ball head 204.

[0056] According to an embodiment of this utility model, an orthopedic surgical robot is provided. Please refer to [link / reference needed]. Figures 1 to 7 ,include:

[0057] Bone needle 800, which is used to implant into the patient's bone surface;

[0058] The ball-head steering bone pin fixing device, wherein the bone pin hole 101 clamps the bone pin 800;

[0059] And an optical tracker 700, which is connected to the ball joint 200 via a connecting rod.

[0060] Furthermore, the end of the bone needle 800 facing the human skeleton is conical, which makes it easier to drill into holes in the bone; the other end of the bone needle 800 is cylindrical. In some other embodiments, a pyramidal shape may be used instead of a conical shape, and a block shape may be used instead of a cylindrical shape, without affecting the use.

[0061] In use, a bone pin 800 is implanted into the bone surface at the location where the optical tracker 700 needs to be installed, and the bone pin fixator 100 is inserted and fixed to the bone pin 800; the optical tracker 700 is moved into place and its orientation is adjusted, compared to Figure 7 , Figure 8 The optical tracker 700 rotates 180° around the center of the ball head; the locking member 300 is tightened, and the locking force applied by the locking member 300 acts on the pressure block 202. The second concave surface and the first concave surface 205 work together to press the ball head 204, so that the ball head 204 and the ball head fixing seat 201 no longer rotate relative to each other and thus form an integral unit. The optical tracker 700 is installed in place, and the doctor can perform surgery. The whole adjustment process is convenient, quick and simple.

[0062] In the orthopedic surgical robot of this embodiment, please refer to Figures 1 to 7 A connector 600 is provided between the optical tracker 700 and the connecting rod. The middle part of the connector 600 is a multifaceted cylindrical segment 601. The optical tracker 700 is provided with an interface adapted to the multifaceted cylindrical segment 601. By using the multifaceted cylindrical segment 601 and its adapted interface, multiple alignment methods or locking positions can be provided for the optical tracker 700 and the connector 600, increasing flexibility and improving the connection stability and reliability between the connector 600 and the optical tracker 700.

[0063] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of this application should still fall within the scope of the present invention.

Claims

1. A ball-head steering bone pin fixation device, characterized in that, include: Bone pin fixator, which is provided with bone pin holes; The ball joint includes a ball head and a ball head fixation seat adapted to the ball head. One of the ball head and the ball head fixation seat is connected to the bone pin fixator via a connecting rod, and the other is connected to the optical tracker via another connecting rod, so that the optical tracker can adjust its position around the ball head in all directions. And a locking element, which is used to fix the relative position of the ball head and the ball head fixing seat.

2. The ball-head steering bone pin fixation device according to claim 1, characterized in that, The ball head fixing seat has an internal cavity, and the cavity wall is configured as a first concave curved surface adapted to the ball head.

3. The ball-head steering bone pin fixation device according to claim 1, characterized in that, The ball head fixing seat is provided with a slot, and the end of the connecting rod passes through the slot and connects to the ball head.

4. The ball-head steering bone pin fixation device according to claim 3, characterized in that, The diameter of the end of the connecting rod connected to the ball head gradually decreases, providing redundant space for the connecting rod to swing within the slot.

5. The ball-head steering bone pin fixation device according to claim 2, characterized in that, A pressure block is also provided in the cavity of the ball head fixing seat. The pressure block is provided with a second concave surface adapted to the ball head. The second concave surface is arranged opposite to the first concave surface.

6. The ball-head steering bone pin fixation device according to claim 5, characterized in that, The pressure block is fitted with the cavity of the ball head fixing seat with a clearance, and the pressure block can move along the cavity of the ball head fixing seat.

7. The ball-head steering bone pin fixation device according to claim 5 or 6, characterized in that, The ball head fixing seat is provided with an end cap, the locking member is threadedly engaged with the end cap, and the end of the locking member passes through the end cap and abuts against the pressure block.

8. The ball-head steering bone pin fixation device according to claim 7, characterized in that, One end of the end cap is embedded inside the ball head fixing seat, and the minimum distance between the end and the ball head is greater than the thickness of the pressure block.

9. An orthopedic surgical robot, characterized in that, include: Bone needles are used to implant into the bone surface of a patient; The ball-head steering bone pin fixing device according to any one of claims 1-8, wherein the bone pin hole secures the bone pin; And an optical tracker, which is connected to the ball joint via a connecting rod.

10. The orthopedic surgical robot according to claim 9, characterized in that, A connector is provided between the optical tracker and the connecting rod. The middle part of the connector is a multi-faceted cylindrical segment, and the optical tracker is provided with an interface adapted to the multi-faceted cylindrical segment.

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