Bone knife positioning device and method based on binocular vision recognition technology

Abstract

The present invention proposes a bone knife positioning device based on binocular vision recognition technology, comprising a bone knife, a clamp, a connector connected to the clamp, a positioning bracket connected to the connector, and a binocular vision positioning device. The clamp is detachably mounted on the handle of the bone knife; a plurality of positioning reflective balls are mounted on the positioning bracket, and the binocular vision positioning device is used to identify the position information of the plurality of positioning reflective balls and obtain the position information of the bone knife based on the position information of the plurality of positioning reflective balls. The present invention detachably mounts the plurality of positioning reflective balls on the handle via the positioning bracket, the connector, and the clamp, making it convenient to identify the plurality of positioning reflective balls via the binocular vision positioning device during precision surgery, thereby obtaining accurate position information of the bone knife, providing precise positioning data for surgical navigation, and improving the accuracy and stability of handheld bone knife surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a bone knife positioning device and method based on binocular vision recognition technology. Background Art

[0002] The ultrasonic osteotome is a medical device that utilizes high-intensity focused ultrasound technology for bone surgery. As a novel bone surgical device, it converts electrical energy into mechanical energy through a special converter, which then oscillates through high-frequency ultrasound to cut the desired bone tissue. The scalpel utilizes high-intensity focused ultrasound technology, using a transducer to convert electrical energy into mechanical energy. The high-frequency ultrasound oscillation vaporizes water within the tissue cells it contacts, breaking protein hydrogen bonds and thus completely destroying the bone tissue to be cut.

[0003] Clinical surgical results have demonstrated that, compared to conventional spinal surgical instruments such as traditional bone cutters, high-speed drills, and rongeurs, ultrasonic bone cutters can efficiently and precisely cut bone while reducing the risk of damage to soft tissues such as nerves and blood vessels, improving surgical safety and patient recovery. Consequently, they have been widely used in spinal surgery. However, the current method of operation still requires the surgeon to hand-hold the ultrasonic bone cutter to complete the cutting process, which requires a high level of operator experience and operational stability, and accuracy and stability cannot be guaranteed. Summary of the Invention

[0004] The present invention proposes a bone knife positioning device and method based on binocular vision recognition technology, which solves the problem in the prior art that the accuracy and stability of ultrasonic bone knife surgery cannot be guaranteed.

[0005] The technical solution of the present invention is achieved as follows:

[0006] As one aspect of the present invention, a bone knife positioning device based on binocular vision recognition technology is disclosed, including a bone knife, a clamp, a connector connected to the clamp, a positioning bracket connected to the connector, and a binocular vision positioning device. The clamp can be detachably mounted on the handle of the bone knife; a plurality of positioning reflective balls are mounted on the positioning bracket, and the binocular vision positioning device is used to identify the position information of the plurality of positioning reflective balls, and obtain the posture information of the bone knife based on the position information of the plurality of positioning reflective balls.

[0007] The present invention detachably mounts multiple positioning reflective balls on the handle of the bone knife through a positioning bracket, a connector and a clamp, which facilitates the identification of multiple positioning reflective balls by a binocular vision positioning device during precision surgery, thereby obtaining accurate position information of the bone knife, providing precise positioning data for surgical navigation, and improving the accuracy and stability of handheld bone knife surgery.

[0008] As a preferred solution of the present invention, the clamp includes an upper clamp and a lower clamp that are detachably connected. The internal contours of the upper clamp and the lower clamp after being locked match the external contours of the handle of the bone knife, which can ensure that the clamping surface of the clamp is in close contact with the outer surface of the handle of the bone knife, making the clamping more secure.

[0009] As a preferred solution of the present invention, the top surface of the upper clamp is provided with a plurality of first through holes, and a first positioning ring is provided at the position of each first through hole. The bottom of the connecting piece close to the upper clamp is provided with a plurality of first mounting holes corresponding to the first through holes, and a first positioning groove matching the first positioning ring is provided at the position of each first mounting hole, and the connecting piece is connected to the upper clamp by bolts; by providing the first positioning ring on the top surface of the upper clamp and providing the first positioning groove matching the first positioning ring at the bottom of the connecting piece, it is convenient to align the upper clamp and the connecting piece when they are connected, and the first through hole can be quickly aligned with the first mounting hole, thereby improving the installation efficiency of the connecting piece.

[0010] As a preferred solution of the present invention, the hinged ends of the upper clamp and the lower clamp are hinged by a pin, and the opening and closing ends of the upper clamp and the lower clamp are detachably connected by a locking piece, which facilitates the disassembly and installation of the clamp.

[0011] As a preferred solution of the present invention, the locking member includes a movable bolt, a fixing pin, a flat washer and a butterfly nut. The opening and closing end of the upper clamp is provided with a mounting groove and a pin hole. The bolt head of the movable bolt is embedded in the mounting groove of the upper clamp, and the fixing pin passes through the through hole on the bolt head and is embedded in the pin hole of the upper clamp; the opening and closing end of the lower clamp is provided with a locking groove corresponding to the mounting groove, and the screw rod of the movable bolt is detachably connected to the locking groove through the flat washer and the butterfly nut; the movable bolt can rotate around the fixing pin When the clamp needs to be removed, the locking piece can be unlocked by loosening the butterfly nut and screwing the screw of the swing bolt out of the locking groove, and then the clamp can be directly opened; when the clamp needs to be installed, the clamp is first put on the outside of the handle of the bone knife, and then the screw of the swing bolt is screwed into the locking groove, and finally the butterfly nut is tightened; when the locking piece of the present invention is disassembled and assembled, there is no need to remove the butterfly nut, only need to tighten or loosen it, which can realize quick disassembly and assembly of the clamp and the bone knife, thereby improving the disassembly and assembly efficiency of the clamp.

[0012] As a preferred solution of the present invention, the opening and closing end of the lower clamp is provided with a back plate. When the upper clamp and the lower clamp are locked, the opening and closing end of the upper clamp abuts against the inner side surface of the back plate, and the flat gasket abuts against the outer side surface of the back plate; the locking groove is provided on the side of the back plate, and the side of the back plate corresponding to the position of the locking groove end is also provided with a limit strip. The purpose of setting the limit strip is to prevent the flat gasket from sliding out of the locking groove along the outer side surface of the back plate after the butterfly nut is tightened, which can play an anti-slip effect and make the locking of the clamp more secure.

[0013] As a preferred solution of the present invention, the outer wall of the handle of the bone knife is provided with a plurality of anti-slip grooves at equal intervals along the axial direction; the clamp includes a clamping ring, which is sleeved on the handle, and the inner wall of the clamp is provided with a plurality of anti-slip teeth matching the anti-slip grooves along the axial direction; by providing anti-slip teeth matching the anti-slip grooves of the outer wall of the handle on the inner wall of the clamp, a tight connection between the inner wall of the clamp and the outer wall of the handle can be achieved, preventing the inner wall of the clamp and the outer wall of the handle of the bone knife from moving back and forth after the clamp is locked, thereby improving the stability of the connection between the clamp and the handle.

[0014] As a preferred solution of the present invention, the radial upper side and lower side of the handle are respectively provided with planes along the axial direction, the anti-slip grooves are arranged on the radial front and rear sides of the handle, the anti-slip teeth are arranged on the front side wall and the rear side wall of the clamping ring, and the upper side wall and the lower side wall of the clamping ring are respectively provided with abutting surfaces; the clamp is axially positioned and connected to the anti-slip grooves through the anti-slip teeth, and radially positioned and connected to the planes through the abutting surfaces. This positioning connection method can prevent circumferential rotation or axial movement between the clamp and the handle, thereby improving the firmness of the installation of the clamp and the bone knife.

[0015] As a preferred solution of the present invention, scale lines are provided axially on the plane of the handle for measuring the axial installation position of the clamp relative to the handle; since the position of the clamp installed on the handle of the bone knife is not fixed each time, and the change of the installation position of the clamp will cause the relative position of the positioning reflective ball and the blade end of the bone knife to change, the present invention provides scale lines on the handle. When the clamp is installed on the handle, the installation position of the clamp can be read through the scale lines, thereby obtaining the relative position of the positioning reflective ball and the blade end, thereby obtaining the position information of the positioning reflective ball through the binocular vision positioning device, and then accurately obtaining the posture information of the blade end.

[0016] As a preferred solution of the present invention, the connecting member is provided with a plurality of second mounting holes at one end close to the positioning bracket, and a second positioning ring is provided at the position of each second mounting hole; the positioning bracket is provided with a plurality of second through holes corresponding to the second mounting holes, and a second positioning groove corresponding to the second positioning ring is provided at the position of each second through hole, and the connecting member is connected to the positioning bracket by bolts; by providing a second positioning ring at a position corresponding to the second mounting hole on the connecting member, and providing a second positioning groove matching the second positioning ring on the positioning bracket, it is convenient to align the connecting member with the positioning bracket when connecting, and the second mounting hole can be quickly aligned with the second through hole, thereby improving the installation efficiency of the positioning bracket.

[0017] As a preferred solution of the present invention, at least one second positioning ring is a square positioning ring. By designing at least one of the multiple second positioning rings to be square (i.e., square outside and circle inside when viewed from above), the alignment efficiency of the second mounting hole and the second through hole can be further improved.

[0018] As another aspect of the present invention, a method for positioning a bone knife based on binocular vision recognition technology is disclosed, comprising the following steps:

[0019] Fixing a positioning bracket equipped with a plurality of positioning reflective balls to the handle of the osteotome through a connector and a clamp;

[0020] Obtain real-time position information of multiple positioning reflective balls through binocular vision positioning equipment;

[0021] According to the design parameters of the osteotome, the fixture, the connector, the positioning bracket and the installation position information of the fixture on the osteotome, the relative position information between the plurality of positioning reflective balls and the osteotome is obtained;

[0022] The real-time position information of the bone knife is calculated by combining the relative position information between the multiple positioning reflective balls and the bone knife and the real-time position information of the multiple positioning reflective balls.

[0023] Beneficial effects

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) The present invention detachably mounts multiple positioning reflective balls on the handle through a positioning bracket, a connector, and a clamp, which facilitates the identification of multiple positioning reflective balls by a binocular vision positioning device during precision surgery, thereby obtaining accurate position information of the bone knife, providing precise positioning data for surgical navigation, and improving the accuracy and stability of handheld bone knife surgery;

[0026] (2) The present invention provides anti-slip teeth on the inner wall of the clamp that match the anti-slip grooves on the outer wall of the handle, thereby achieving a tight connection between the inner wall of the clamp and the outer wall of the handle, preventing the inner wall of the clamp and the outer wall of the handle of the bone knife from moving back and forth after the clamp is locked, thereby improving the stability of the connection between the clamp and the handle;

[0027] (3) When disassembling and assembling the locking member of the present invention, there is no need to remove the butterfly nut, and it only needs to be tightened or loosened, which can realize the rapid disassembly and assembly of the clamp and the bone knife, thereby improving the disassembly and assembly efficiency of the clamp;

[0028] (4) The present invention provides planes along the axial direction on the radial upper and lower sides of the handle, and the upper and lower side walls of the clamping ring are provided with abutting surfaces. The clamp is radially positioned and connected to the planes through the abutting surfaces, which can effectively prevent the clamp and the handle from rotating.

[0029] (5) The present invention provides a scale line on the handle. When the clamp is installed on the handle, the installation position of the clamp can be read through the scale line, thereby obtaining the relative position of the positioning reflective ball and the end of the blade, and then obtaining the position information of the positioning reflective ball through the binocular vision positioning device, and then accurately obtaining the posture information of the end of the blade, thereby improving the accuracy of bone knife positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 Schematic diagram of the structure of the osteotome positioning device of the present invention;

[0032] Figure 2 Schematic diagram of the exploded structure of the clamp in the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the clamp after being locked in the present invention;

[0034] Figure 4 A schematic diagram of the state of reading the fixture installation position through the scale line in the present invention;

[0035] Figure 5 Schematic diagram of the connection structure of the connecting plate, the upper fixture and the positioning bracket in the present invention;

[0036] Figure 6 This is a schematic structural diagram of the bottom surface of one end of the connecting member in the present invention;

[0037] Figure 7 It is a structural schematic diagram of the bottom surface of the positioning bracket in the present invention;

[0038] In the figure: 1. bone knife; 2. clamp; 3. connector; 4. positioning bracket; 5. binocular vision positioning device; 6. handle; 7. blade; 8. positioning reflective ball; 9. upper clamp; 10. lower clamp; 11. locking piece; 12. movable bolt; 13. fixing pin; 14. flat washer; 15. butterfly nut; 16. mounting slot; 17. pin hole; 18. locking slot; 19. back plate; 20. limit strip; 21. anti-slip slot; 22. anti-slip teeth; 23. scale line; 24. first through hole; 25. first positioning ring; 26. first mounting hole; 27. first positioning slot; 28. second mounting hole; 29. ​​second positioning ring; 30. second through hole; 31. second positioning slot; 32. clamping ring; 33. plane; 34. opposing surface. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] Reference Figure 1 As shown, as one aspect of this embodiment, a bone knife positioning device based on binocular vision recognition technology is provided, including a bone knife 1, a clamp 2, a connector 3 connected to the clamp 2, a positioning bracket 4 connected to the connector 3, and a binocular vision positioning device 5. The clamp 2 can be detachably mounted on the handle 6 of the bone knife 1; a plurality of positioning reflective balls 8 are mounted on the positioning bracket 4, and the binocular vision positioning device 5 is used to identify the position information of the plurality of positioning reflective balls 8, and obtain the posture information of the bone knife 1 according to the position information of the plurality of positioning reflective balls 8.

[0041] As a preferred solution of this embodiment, the clamp 2 includes an upper clamp 9 and a lower clamp 10 that are detachably connected. The internal contour of the upper clamp 9 and the lower clamp 10 after being locked matches the external contour of the handle 6, which can ensure that the clamping surface of the clamp 2 is in close contact with the outer surface of the handle 6, making the clamping more secure.

[0042] As a preferred solution of this embodiment, the hinged ends of the upper clamp 9 and the lower clamp 10 are hinged by a pin, and the opening and closing ends of the upper clamp 9 and the lower clamp 10 are detachably connected by a locking piece 11, which facilitates the disassembly and installation of the clamp 2.

[0043] Reference Figure 2 As shown, as a preferred solution of this embodiment, the locking member 11 includes a swing bolt 12, a fixing pin 13, a flat washer 14 and a butterfly nut 15. The opening and closing end of the upper clamp 9 is provided with a mounting groove 16 and a pin hole 17. The bolt head of the swing bolt 12 is embedded in the mounting groove 16 of the upper clamp 9, and the fixing pin 13 passes through the through hole on the bolt head and is embedded in the pin hole 17 of the upper clamp 9; the opening and closing end of the lower clamp 10 is provided with a locking groove 18 corresponding to the mounting groove 16, and the screw rod of the swing bolt 12 is detachably connected to the locking groove 18 through the flat washer 14 and the butterfly nut 15; the swing bolt 12 can rotate around the fixing pin 13. When the clamp 10 needs to be removed, the locking member 11 can be unlocked by loosening the butterfly nut 15 and screwing the screw of the movable bolt 12 out of the locking groove 18, and then the clamp 2 can be directly opened; when the clamp 2 needs to be installed, the clamp 2 is first sleeved on the outside of the handle 6, and then the screw of the movable bolt 12 is screwed into the locking groove 18, and finally the butterfly nut 15 is tightened. When disassembling the locking member 11 of this embodiment, there is no need to remove the butterfly nut 15, only need to tighten or loosen it, which can realize quick disassembly and assembly of the clamp 2 and the bone knife 1, thereby improving the disassembly and assembly efficiency of the clamp 2.

[0044] Reference Figure 3 As shown, as a preferred solution of this embodiment, the opening and closing ends of the lower clamp 10 are provided with a back plate 19. When the upper clamp 9 and the lower clamp 10 are locked, the opening and closing ends of the upper clamp 9 abut against the inner side of the back plate 19, and the flat gasket 14 abuts against the outer side of the back plate 19; the locking groove 18 is opened on the side of the back plate 19, and the side of the back plate 19 is corresponding to the position of the end of the locking groove 18. The purpose of setting the limit bar 20 is to prevent the flat gasket 14 from sliding out of the locking groove 18 along the outer side of the back plate 19 after the butterfly nut 15 is tightened, which can play an anti-slip effect, making the locking of the clamp 2 more secure.

[0045] As a preferred solution of this embodiment, the outer wall of the handle 6 of the bone knife 1 is provided with a plurality of anti-slip grooves 21 at equal intervals along the axial direction; the clamp 2 includes a clamping ring 32, which is sleeved on the handle 6, and the inner wall of the clamp 2 is provided with a plurality of anti-slip teeth 22 matching the anti-slip grooves 21 along the axial direction; the tooth pitch, shape and size of the anti-slip teeth 22 are all matched with the anti-slip grooves 21; by providing anti-slip teeth 22 matching the anti-slip grooves 21 on the inner wall of the clamp 2, a tight connection between the inner wall of the clamp 2 and the outer wall of the handle 6 can be achieved, preventing the inner wall of the clamp 2 and the outer wall of the handle 6 from moving back and forth after the clamp 2 is locked, thereby improving the stability of the connection between the clamp 2 and the handle 6.

[0046] As a preferred solution of this embodiment, the radial upper and lower sides of the handle 6 are respectively provided with planes 33 along the axial direction, the anti-slip grooves 21 are arranged on the radial front and rear sides of the handle 6, and the anti-slip teeth 22 are arranged on the front and rear side walls of the clamping ring 32, and the upper and lower side walls of the clamping ring 32 are respectively provided with abutment surfaces 34; the clamp 2 is axially positioned and connected to the anti-slip grooves 21 through the anti-slip teeth 22, and radially positioned and connected to the plane 33 through the abutment surfaces 43. This positioning connection method can prevent circumferential rotation or axial movement between the clamp 2 and the handle 6, thereby improving the firmness of the installation of the clamp 2 and the bone knife 1.

[0047] Reference Figure 4As shown, as a preferred solution of this embodiment, scale lines 23 are axially provided on the plane 33 of the handle 6, which are used to measure the axial installation position of the clamp 2 relative to the handle 6; since the position of the clamp 2 on the handle 6 is not fixed each time it is installed, and the change in the installation position of the clamp 2 will cause the relative position of the positioning reflective ball 8 and the end of the blade 7 of the bone knife 1 to change (if the scale lines 23 are not set, then after each installation of the clamp, it is necessary to measure the relative distance between the clamp 2 and the end of the blade 7 with a ruler). The present invention provides scale lines 23 on the handle 6. When the clamp 2 is installed on the handle 6, the installation position of the clamp 2 can be read through the scale lines 23, thereby obtaining the relative position of the positioning reflective ball 8 and the end of the blade 7, thereby obtaining the position information of the positioning reflective ball 8 through the binocular vision positioning device 5, and then accurately obtaining the posture information of the end of the blade 7.

[0048] Reference Figures 5-7 As shown, as a preferred solution of this embodiment, the top surface of the upper clamp 9 is provided with two first through holes 24, and the positions of the two first through holes 24 are provided with first positioning rings 25, and the bottom of the end of the connecting member 3 close to the upper clamp 9 is provided with two first mounting holes 26 corresponding to the first through holes 24, and the positions of the two first mounting holes 26 are provided with first positioning grooves 27 matching the first positioning rings 25, and the connecting member 3 is connected to the upper clamp 9 by bolts; by providing the first positioning ring 25 on the top surface of the upper clamp 9 and providing the first positioning groove 27 matching the first positioning ring 25 at the bottom of the connecting member 3, it is convenient to align the upper clamp 9 with the connecting member 3 when connecting, and the first through holes 24 can be quickly aligned with the first mounting holes 26, thereby improving the installation efficiency of the connecting member 3.

[0049] As a preferred solution of this embodiment, the connecting member 3 is provided with three second mounting holes 28 at one end close to the positioning bracket 4, and a second positioning ring 29 is provided at the position of each second mounting hole 28; three second through holes 30 corresponding to the second mounting holes 28 are opened on the positioning bracket 4, and a second positioning groove 31 corresponding to the second positioning ring 29 is provided at the position of each second through hole 30, and the connecting member 3 is connected to the positioning bracket 4 by bolts; by providing a second positioning ring 29 at a position corresponding to the second mounting hole 28 on the connecting member 3, and providing a second positioning groove 31 matching the second positioning ring 29 on the positioning bracket 4, it is convenient to align the connecting member 3 with the positioning bracket 4 when connecting, and the second mounting hole 28 can be quickly aligned with the second through hole 30, thereby improving the installation efficiency of the positioning bracket 4.

[0050] As a preferred solution of this embodiment, at least one second positioning ring 29 is a square positioning ring. By designing at least one of the multiple second positioning rings 29 to be square (i.e., an outer square and an inner circle when viewed from above, in this embodiment, the second positioning ring 29 in the middle position is designed to be square), the alignment efficiency of the second mounting hole 28 and the second through hole 30 can be further improved.

[0051] In this embodiment, the number of the positioning reflective balls 8 is at least 3. The more the number, the higher the positioning accuracy, and the higher the requirements for the installation position of the positioning reflective balls 8. In this embodiment, a total of 4 positioning reflective balls 8 are installed; the main structure of the positioning bracket 4 is an annular frame, and a connecting plate is provided in the middle of the annular frame. The two ends of the connecting plate are connected to the annular frame, and the connecting plate passes through the origin of the annular frame; the main shape of the connecting member 3 is "L"-shaped; the second through hole 30 is provided on the connecting plate; the outer circle of the annular frame is extended outward with 4 mounting rods, and the 4 mounting rods are arranged at equal intervals along the circumference of the annular frame, and the 4 positioning reflective balls 8 are respectively fixed at the ends of the 4 mounting rods.

[0052] The installation process of the osteotome positioning device of this embodiment is as follows:

[0053] First, fix the upper clamp 9 to the connecting member 3, align the first positioning groove 27 at the bottom of the connecting member 3 with the first positioning ring 25 on the top surface of the upper clamp 9, and then pass the bolt from the inner bottom of the upper clamp 9 through the first through hole 24 and screw it into the first mounting hole 26 at the bottom of the connecting member 3; then buckle the upper clamp 9 and the lower clamp 10 on the outside of the handle 6, and after adjusting the appropriate positions, lock the upper clamp 9 and the lower clamp 10 by the locking member 11 (tighten the butterfly nut 15); then fix the positioning bracket 4 with the positioning reflective ball 8 to the connecting member 3, align the square positioning groove at the bottom of the positioning bracket 4 with the square positioning ring at the top of the connecting member 3, and then pass the bolt from the top of the positioning bracket 4 through the second through hole 30 and screw it into the second mounting hole 28 at the top of the connecting member 3, and the installation of the bone knife positioning device is completed.

[0054] As another aspect of this embodiment, a method for positioning a bone knife based on binocular vision recognition technology is provided, comprising:

[0055] First, according to the above-mentioned installation process, the positioning bracket 4 equipped with multiple positioning reflective balls 8 is fixed to the handle 6 of the bone knife 1 through the connecting piece 3 and the clamp 2; then the scale value is read from the bottom surface of the handle 6, and the read scale value is input into the host of the positioning system. The host can calculate the position information of the four positioning reflective balls 8 relative to the end of the blade 7 according to the scale value (the relative position relationship between the four positioning reflective balls 8 and the clamp 2 can be directly obtained according to the design parameters of the bone knife 1, the clamp 2, the connecting piece 3, and the positioning bracket 4, and then the relative position relationship between the four positioning reflective balls 8 and the end of the blade 7 can be calculated according to the relative position relationship between the clamp 2 and the end of the blade 7); finally, the real-time position information of the four positioning reflective balls 8 is obtained through the binocular vision positioning device 5, and the real-time posture information of the end of the blade 7 is calculated according to the position information of the four positioning reflective balls 8 relative to the end of the blade 7 and the real-time position information of the four positioning reflective balls 8, thereby realizing precise positioning of the bone knife 1.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bone knife positioning device based on binocular vision recognition technology, characterized in that: The present invention comprises a bone knife (1), a clamp (2), a connector (3) connected to the clamp (2), a positioning bracket (4) connected to the connector (3), and a binocular vision positioning device (5), wherein the clamp (2) is detachably mounted on a handle (6) of the bone knife (1); a plurality of positioning reflective balls (8) are mounted on the positioning bracket (4), and the binocular vision positioning device (5) is used to identify position information of the plurality of positioning reflective balls (8), and obtain position information of the bone knife (1) based on the position information of the plurality of positioning reflective balls (8); The clamp (2) comprises an upper clamp (9) and a lower clamp (10) that are detachably connected, and the opening and closing ends of the upper clamp (9) and the lower clamp (10) are detachably connected via a locking member (11); The top surface of the upper clamp (9) is provided with a plurality of first through holes (24), the bottom of one end of the connecting member (3) close to the upper clamp (9) is provided with a plurality of first mounting holes (26) corresponding to the first through holes (24), and the connecting member (3) is connected to the upper clamp (9) by bolts; The outer wall of the handle (6) of the bone knife (1) is provided with a plurality of anti-slip grooves (21) at equal intervals along the axial direction; the clamp (2) includes a clamping ring (32), the clamping ring (32) is sleeved on the handle (6), and the inner wall of the clamp (2) is provided with a plurality of anti-slip teeth (22) matching the anti-slip grooves (21) along the axial direction; A scale mark (23) is provided on the plane (33) of the handle (6) along the axial direction for measuring the installation position of the fixture (2) relative to the axial direction of the handle (6); The connecting member (3) is provided with a plurality of second mounting holes (28) at one end close to the positioning bracket (4), and the positioning bracket (4) is provided with a plurality of second through holes (30) corresponding to the second mounting holes (28). The connecting member (3) and the positioning bracket (4) are connected by bolts.

2. The bone knife positioning device based on binocular vision recognition technology according to claim 1, characterized in that: The inner contour of the upper clamp (9) and the lower clamp (10) after being locked matches the outer contour of the handle (6); the hinged ends of the upper clamp (9) and the lower clamp (10) are hinged via a pin.

3. The bone knife positioning device based on binocular vision recognition technology as claimed in claim 1, characterized in that: A first positioning ring (25) is provided at the position of each first through hole (24), and a first positioning groove (27) matching the first positioning ring (25) is provided at the position of each first mounting hole (26).

4. The bone knife positioning device based on binocular vision recognition technology as claimed in claim 3, characterized in that: The locking member (11) includes a movable bolt (12), a fixing pin (13), a flat washer (14) and a butterfly nut (15); the opening and closing end of the upper clamp (9) is provided with a mounting groove (16) and a pin hole (17); the bolt head of the movable bolt (12) is embedded in the mounting groove (16) of the upper clamp (9); the fixing pin (13) passes through the through hole on the bolt head and is embedded in the pin hole (17) of the upper clamp (9); the opening and closing end of the lower clamp (10) is provided with a locking groove (18) corresponding to the mounting groove (16); the screw rod of the movable bolt (12) is detachably connected to the locking groove (18) through the flat washer (14) and the butterfly nut (15).

5. The bone knife positioning device based on binocular vision recognition technology as claimed in claim 4, characterized in that: The opening and closing end of the lower clamp (10) is provided with a support plate (19), the locking groove (18) is opened on the side of the support plate (19), and a limiting strip (20) is further provided at the position of the side of the support plate (19) corresponding to the end of the locking groove (18).

6. The bone knife positioning device based on binocular vision recognition technology as claimed in claim 1, characterized in that: The handle (6) is provided with a plane (33) on the radial upper side and the lower side thereof in the axial direction, the anti-slip groove (21) is provided on the radial front side and the rear side of the handle (6), the anti-slip teeth (22) are provided on the front side wall and the rear side wall of the clamping ring (32), and the upper side wall and the lower side wall of the clamping ring (32) are provided with abutting surfaces (34) respectively; the clamp (2) is axially positioned and connected to the anti-slip groove (21) through the anti-slip teeth (22), and is radially positioned and connected to the plane (33) through the abutting surfaces (34).

7. The bone knife positioning device based on binocular vision recognition technology as claimed in claim 1, characterized in that: A second positioning ring (29) is provided at the position of each second mounting hole (28); a second positioning groove (31) corresponding to the second positioning ring (29) is provided at the position of each second through hole (30), and at least one second positioning ring (29) is a square positioning ring.

8. The osteotome positioning device according to any one of claims 1 to 7, characterized in that: The positioning method of the osteotome comprises the following steps: A positioning bracket (4) equipped with a plurality of positioning reflective balls (8) is fixed to the handle (6) of the osteotome (1) through a connecting piece (3) and a clamp (2); Acquiring real-time position information of a plurality of positioning reflective balls (8) through a binocular vision positioning device (5); According to the design parameters of the bone knife (1), the clamp (2), the connecting piece (3), the positioning bracket (4), and the installation position information of the clamp (2) on the bone knife (1), the relative position information between the plurality of positioning reflective balls (8) and the bone knife (1) is obtained; The real-time position information of the bone knife (1) is calculated by combining the relative position information between the multiple positioning reflective balls (8) and the bone knife (1) and the real-time position information of the multiple positioning reflective balls (8).

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