A rotatably adjustable surgical positioning device

Abstract

The application discloses a rotatable adjustable surgical positioning device, and relates to the field of medical devices.The technical scheme points of the application include a double-layer calibration plate, a plurality of metal pieces are arranged on the double-layer calibration plate, and the plurality of metal pieces can form three-dimensional coordinates in an X-ray image;the double-layer calibration plate comprises a first double-layer calibration plate and a second double-layer calibration plate, and a positioning support is arranged between the first double-layer calibration plate and the second double-layer calibration plate;the first double-layer calibration plate can be adjusted in rotation, or the first double-layer calibration plate can be adjusted in revolution, or the first double-layer calibration plate can be adjusted in both rotation and revolution.The application can directly obtain three-dimensional information, improve positioning accuracy, and can be adjusted in rotation, so that the convenience and the application range of use are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, more particularly, it relates to a rotatable adjustable surgical positioning device. BACKGROUND

[0002] In orthopedic robotic surgery, the positioning scale (also known as tracer, marker, positioning plate, etc.) is an important positioning device for spatial positioning, which directly affects the positioning accuracy of the mechanical arm. There are basically two forms in the existing positioning scale design, one is installed on the human skeleton, which is convenient for intraoperative positioning, and the other is installed on the shelf outside the human body, which will not cause secondary harm to the human body.

[0003] The existing patent with the authorization announcement number CN206026446U discloses a surgical positioning device, which comprises a first positioning plate and a second positioning plate perpendicular to each other, a plurality of metal pieces are embedded in the base bodies of the first positioning plate and the second positioning plate respectively, and at least three icons not in a straight line are printed on the base bodies of the first positioning plate and the second positioning plate respectively.

[0004] However, the surgical positioning device in the above-mentioned patent still has the following problems: (1) the mark points on the first positioning plate or the second positioning plate are planar in the X-ray image, lacking the third dimension information, which is not conducive to the acquisition of spatial information and affects the positioning accuracy; (2) the first positioning plate and the second positioning plate are rigidly connected, which makes the flexibility of the positioning device insufficient, and the adaptive adjustment cannot be made according to different body types of patients or different surgical conditions. SUMMARY

[0005] In view of the deficiencies in the prior art, the purpose of the present application is to provide a rotatable adjustable surgical positioning device which can directly acquire three-dimensional information and improve positioning accuracy, and can be rotated and adjusted, thereby improving the convenience of use and the scope of application.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] A rotatable adjustable surgical positioning device comprises a double-layer calibration plate, a plurality of metal pieces are arranged on the double-layer calibration plate, and the plurality of metal pieces can form a three-dimensional coordinate in an X-ray image;

[0008] The double-layer calibration plate comprises a first double-layer calibration plate and a second double-layer calibration plate, and a positioning support is arranged between the first double-layer calibration plate and the second double-layer calibration plate;

[0009] The first double-layer calibration plate can be adjusted in rotation, or the first double-layer calibration plate can be adjusted in revolution, or the first double-layer calibration plate can be adjusted in both rotation and revolution.

[0010] Further, a rotation axis is arranged between the first double-layer calibration plate and the positioning support, and a rotation locking assembly is arranged between the first double-layer calibration plate and the positioning support.

[0011] Further, an orbit axis is arranged between the positioning support and the second double-layer calibration plate, and an orbit locking assembly is arranged between the second double-layer calibration plate and the positioning support.

[0012] Further, an orbit axis is arranged between the positioning support and the second double-layer calibration plate, and an orbit locking assembly is arranged between the second double-layer calibration plate and the positioning support.

[0013] Further, the positioning support comprises a first support plate and a second support plate connected to each other, the rotation axis is fixedly arranged on the first support plate, and a rotation hole matched with the rotation axis is arranged on the side wall of the first double-layer calibration plate; the orbit axis is fixedly arranged on the top end of the second double-layer calibration plate, and an orbit hole matched with the orbit axis is arranged on the second support plate.

[0014] Further, the rotation locking assembly comprises a first locking screw arranged through the first double-layer calibration plate, and the end of the first locking screw can contact the side wall of the rotation axis.

[0015] The second support plate is provided with a positioning sleeve matched with the orbit axis, and the orbit locking assembly comprises a second locking screw arranged through the side wall of the positioning sleeve, and the end of the second locking screw can contact the side wall of the orbit axis.

[0016] Further, the first support plate is perpendicular to the second support plate.

[0017] Further, the double-layer calibration plate comprises two positioning plates, the metal pieces are arranged on the two positioning plates, and the metal pieces on at least one of the positioning plates can form a plane.

[0018] Further, four metal pieces on one of the positioning plates are arranged in a square, and the metal piece on the other positioning plate is arranged opposite to the center point of the square, and the center point of the square comprises a side center point or a diagonal center point.

[0019] Further, the first double-layer calibration plate and / or the second double-layer calibration plate is provided with a visual mark.

[0020] In summary, the present application has the following advantages:

[0021] 1. The metal pieces on the double-layer calibration plate can form three-dimensional coordinates in the X-ray image, so that three-dimensional information can be directly obtained, and the positioning accuracy is improved;

[0022] 2. The three-dimensional coordinates formed by the first double-layer calibration plate and the three-dimensional coordinates formed by the second double-layer calibration plate can be used alone for different surgical positions, or can be used in combination to improve the positioning accuracy;

[0023] 3. The first double-layer calibration plate can be adjusted in rotation and revolution, thereby improving the convenience and scope of use;

[0024] 4. Simple structure, easy to operate, convenient to install, disassemble, transport and store. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structure schematic view of a rotatable adjustable surgical positioning device in the embodiment;

[0026] Figure 2 It is a structure schematic view of a first positioning plate in the embodiment;

[0027] Figure 3 It is a structure schematic view of a second positioning plate in the embodiment;

[0028] Figure 4 It is a structure schematic view of a third positioning plate in the embodiment;

[0029] Figure 5 It is a structure schematic view of a fourth positioning plate in the embodiment.

[0030] In the figure: 11, first positioning plate; 111, first clamping groove; 12, second positioning plate; 121, second clamping groove; 13, first connecting plate; 14, second connecting plate; 21, third positioning plate; 211, third clamping groove; 22, fourth positioning plate; 221, fourth clamping groove; 23, third connecting plate; 24, fourth connecting plate; 241, revolution axis; 31, first supporting plate; 32, second supporting plate; 33, positioning sleeve; 34, rotation axis; 4, first locking screw; 5, second locking screw; 6, visual identification. DETAILED DESCRIPTION

[0031] The application will be further described in detail below with reference to the accompanying drawings.

[0032] The specific embodiment is only an explanation of the application, and is not a limitation of the application. Those skilled in the art can make modifications to the embodiment without creative contribution after reading the specification, but as long as the modifications are within the scope of the claims of the application, they are protected by the patent law.

[0033] Embodiment:

[0034] A rotatable adjustable surgical positioning device, referring to Figure 1 , comprising a double-layer calibration plate, a plurality of metal pieces are arranged on the double-layer calibration plate, and the plurality of metal pieces can form three-dimensional coordinates in an X-ray image; the double-layer calibration plate comprises a first double-layer calibration plate and a second double-layer calibration plate, and a positioning support is arranged between the first double-layer calibration plate and the second double-layer calibration plate; the first double-layer calibration plate can be adjusted in rotation, or the first double-layer calibration plate can be adjusted in revolution, or the first double-layer calibration plate can be adjusted in both rotation and revolution; in the embodiment, the metal pieces on the double-layer calibration plate can form three-dimensional coordinates in the X-ray image, so that three-dimensional information can be directly obtained, and the positioning accuracy is improved; the three-dimensional coordinates formed by the first double-layer calibration plate and the three-dimensional coordinates formed by the second double-layer calibration plate can be used alone to be applicable to different surgical positions, or can be used in combination to improve the positioning accuracy; in the embodiment, the first double-layer calibration plate can be adjusted in both rotation and revolution, so that the convenience of use and the application range can be improved; of course, in other optional embodiments, the first double-layer calibration plate can be adjusted only in rotation or only in revolution, which is not limited herein.

[0035] Refer to Figure 1 , specifically, a rotation shaft 34 is arranged between the first double-layer calibration plate and the positioning support, and a rotation locking assembly is arranged between the first double-layer calibration plate and the positioning support; a revolution shaft 241 is arranged between the positioning support and the second double-layer calibration plate, and a revolution locking assembly is arranged between the second double-layer calibration plate and the positioning support; the first double-layer calibration plate rotates around the rotation shaft 34, that is, the rotation adjustment is performed; the first double-layer calibration plate and the positioning support rotate around the revolution shaft 241, that is, the revolution adjustment is performed; the rotation locking assembly and the revolution locking assembly can ensure the stability of the positioning device after adjustment, thereby improving the positioning accuracy.

[0036] Refer to Figure 1 , specifically, the positioning support comprises a first support plate 31 and a second support plate 32 connected to each other, the rotation shaft 34 is fixedly arranged on the first support plate 31, and a rotation hole is formed in the side wall of the first double-layer calibration plate and matched with the rotation shaft 34; the revolution shaft 241 is fixedly arranged at the top end of the second double-layer calibration plate, and a revolution hole is formed in the second support plate 32 and matched with the revolution shaft 241; the rotation locking assembly comprises a first locking screw 4 penetrating the first double-layer calibration plate, and the end of the first locking screw 4 can contact the side wall of the rotation shaft 34; the positioning support 33 matched with the revolution shaft 241 is arranged on the second support plate 32, and the revolution locking assembly comprises a second locking screw 5 penetrating the side wall of the positioning support 33, and the end of the second locking screw 5 can contact the side wall of the revolution shaft 241.

[0037] With reference to Figure 1 , the arrangement of the rotation axis 34 and the revolution axis 241 in the embodiment can avoid the interference between the rotation axis 34 and the revolution axis 241, simplify the overall structure and size, and facilitate the operation of the holding portions of the first locking screw 4 and the second locking screw 5 by arranging the holding portions on the outside. The positioning sleeve 33 can improve the stability of the connection and provide operation space for the holding portion of the second locking screw 5. Of course, in other optional embodiments, the installation positions of the rotation axis 34 and the revolution axis 241 can be adjusted as needed, and the rotation axis 34 and the first support plate 31 can be integrally formed or connected by bolts or other fasteners, and the revolution axis 241 and the second double calibration plate can be integrally formed or connected by bolts or other fasteners, which are not limited herein. In the embodiment, the end of the first locking screw 4 is in contact with the side wall of the rotation axis 34 to achieve rotation locking, and the end of the second locking screw 5 is in contact with the side wall of the revolution axis 241 to achieve revolution locking. The first double calibration plate can be adjusted by 360° rotation or 360° revolution, has a wide adjustment range, can improve the application range, has a simple structure, is easy to operate, has good stability, and can facilitate the disassembly of the first double calibration plate and the positioning support and the disassembly of the positioning support and the second double calibration plate, thereby facilitating storage and transportation. Of course, in other optional embodiments, the rotation locking assembly and the revolution locking assembly can also use other locking structures, such as elastic structures to achieve automatic locking, which are not limited herein.

[0038] With reference to Figure 1 , specifically, the first support plate 31 is perpendicular to the second support plate 32 in the embodiment, wherein the side wall of the first support plate 31 is in contact with the outer side wall of the first double calibration plate, and the bottom wall of the second support plate 32 is in contact with the outer top wall of the second double calibration plate. In use, the bottom end of the second double calibration plate is connected with an external support, so that the second double calibration plate is arranged vertically, and the first double calibration plate is arranged horizontally, thereby improving the convenience of use. Of course, in other optional embodiments, a positioning support can be arranged between the second double calibration plate and the external support, so that the second double calibration plate can also be adjusted by rotation or revolution, thereby further improving the convenience and application range of the positioning device.

[0039] With reference to Figures 1 to 5Specifically, the double-layer calibration plate in the embodiment comprises two positioning plates, and metal pieces (not shown in the drawings) are arranged on the two positioning plates, and the metal pieces on at least one of the positioning plates can form a plane, so that the positioning accuracy can be improved; preferably, four metal pieces on one of the positioning plates are arranged in a square, and a metal piece on the other positioning plate is arranged opposite to the midpoint of the square, the midpoint of the square including a side midpoint or a diagonal midpoint, so that three-dimensional coordinates can be formed in the X-ray image, and the positioning accuracy can be improved; of course, in other optional embodiments, the arrangement of the metal pieces on the double-layer calibration plate can be adjusted, as long as three-dimensional coordinates can be formed in the X-ray image, which is not limited herein; in the embodiment, the metal pieces are lead beads, so that three-dimensional coordinates can be formed in the X-ray image.

[0040] With reference to Figure 1 Specifically, the first double-layer calibration plate in the embodiment comprises two mutually parallel first and second positioning plates 11 and 12, and first and second connecting plates 13 and 14 are arranged at two ends between the first and second positioning plates 11 and 12; the first and second positioning plates 11 and 12, the first and second connecting plates 13 and 14 are connected to form a square frame, which has simple structure and good stability; wherein the second connecting plate 14 is provided with a rotation hole matched with the rotation shaft 34, and the first locking screw 4 is in contact with the side wall of the rotation shaft 34 after passing through the first and second connecting plates 11 and 14; preferably, the positioning plates and the connecting plates in the embodiment are connected by bolts, so that the installation, disassembly, storage and transportation are facilitated, and the stability of the connection is good, which is conducive to improving the positioning accuracy.

[0041] With reference to Figure 1 Specifically, the second double-layer calibration plate in the embodiment comprises two mutually parallel third and fourth positioning plates 21 and 22, and third and fourth connecting plates 23 and 24 are arranged at two ends between the third and fourth positioning plates 21 and 22; the third and fourth positioning plates 21 and 22, the third and fourth connecting plates 23 and 24 are connected to form a square frame, which has simple structure and good stability; wherein the revolution shaft 241 is arranged on the outer top wall of the fourth connecting plate 24, and the third connecting plate 23 is provided with a mounting hole for connecting with an external support; preferably, the positioning plates and the connecting plates in the embodiment are connected by bolts, so that the installation, disassembly, storage and transportation are facilitated, and the stability of the connection is good, which is conducive to improving the positioning accuracy.

[0042] With reference to Figures 1 to 5, specifically, four metal pieces arranged in a square are embedded on the first positioning plate 11, one metal piece is embedded on the second positioning plate 12, and the metal piece on the second positioning plate 12 is opposite to the midpoint of the diagonal of the square; preferably, the first positioning plate 11 is provided with five first clamping grooves 111, and the second positioning plate 12 is provided with five second clamping grooves 121 respectively opposite to the first clamping grooves 111, so as to facilitate processing and installation and improve installation accuracy; four metal pieces arranged in a square are embedded on the third positioning plate 21, and one metal piece is embedded on the fourth positioning plate 22, and the metal piece on the fourth positioning plate 22 is opposite to the midpoint of the top edge of the square; preferably, the third positioning plate 21 is provided with five third clamping grooves 211, and the fourth positioning plate 22 is provided with five fourth clamping grooves 221 respectively opposite to the third clamping grooves 211, so as to facilitate processing and installation and improve installation accuracy.

[0043] With reference to Figure 1 , the first double-layer calibration plate and / or the second double-layer calibration plate is provided with a visual mark 6, specifically, the first positioning plate 11 is provided with a visual mark 6 on the outer top wall; the visual mark 6 is used for binocular camera recognition on the mechanical arm to establish the mapping relationship between the robot coordinate system and the calibration plate coordinate system, and lay a foundation for positioning the surgical area of the patient by the mechanical arm (with surgical instruments at the tail end); in other optional embodiments, the pattern, number and position of the visual mark 6 can be adjusted as needed, which is not limited herein.

Claims

1. A rotatably adjustable surgical positioning device, characterized in that: A double-layer calibration plate is provided with a plurality of metal parts, and the plurality of metal parts can form three-dimensional coordinates in an X-ray image; The double-layer calibration plate includes a first double-layer calibration plate and a second double-layer calibration plate, and a positioning bracket is provided between the first double-layer calibration plate and the second double-layer calibration plate; The first double-layer calibration plate can be adjusted for both rotation and revolution; A rotation axis is provided between the first double-layer calibration plate and the positioning bracket, and a revolution axis is provided between the positioning bracket and the second double-layer calibration plate; The positioning bracket includes a first support plate and a second support plate connected to each other, the rotation axis is fixedly arranged on the first support plate, and a rotation hole is opened on the side wall of the first double-layer calibration plate to cooperate with the rotation axis; the revolution axis is fixedly arranged on the top of the second double-layer calibration plate, and a revolution hole is opened on the second support plate to cooperate with the revolution axis; The first support plate is perpendicular to the second support plate; When in use, the bottom end of the second double-layer calibration plate is connected to the external bracket, so that the second double-layer calibration plate is arranged vertically, and the first double-layer calibration plate is arranged horizontally.

2. The rotatably adjustable surgical positioning device according to claim 1, characterized in that: A rotation locking assembly is provided between the first double-layer calibration plate and the positioning bracket.

3. The rotatably adjustable surgical positioning device according to claim 1, characterized in that: A revolution locking assembly is provided between the second double-layer calibration plate and the positioning bracket.

4. The rotatably adjustable surgical positioning device according to claim 2, wherein: A revolution locking assembly is provided between the second double-layer calibration plate and the positioning bracket.

5. The rotatably adjustable surgical positioning device according to claim 4, characterized in that: The rotation locking assembly includes a first locking screw passing through the first double-layer calibration plate, and the end of the first locking screw can contact the side wall of the rotation shaft; The second support plate is provided with a positioning sleeve that cooperates with the revolution shaft, and the revolution locking assembly includes a second locking screw that passes through the side wall of the positioning sleeve, and the end of the second locking screw can contact the side wall of the revolution shaft.

6. The rotatably adjustable surgical positioning device according to any one of claims 1 to 5, characterized in that: The double-layer calibration plate includes two positioning plates, both positioning plates are provided with the metal parts, and the metal parts on at least one of the positioning plates can form a plane.

7. The rotatably adjustable surgical positioning device according to claim 6, characterized in that: One of the positioning plates is provided with four metal parts located in the same plane, and the four metal parts are arranged in a square; the other positioning plate is provided with a metal part that is opposite to the midpoint of the square, and the midpoint of the square includes the midpoint of the side or the midpoint of the diagonal.

8. The rotatably adjustable surgical positioning device according to any one of claims 1 to 5, characterized in that: The first double-layer calibration plate and / or the second double-layer calibration plate are provided with a visual mark.

Images