Positioning and navigation device for a medical robot

Abstract

The application provides a positioning navigation device for a medical robot, and relates to the field of medical equipment, and comprises a mounting mechanism, the mounting mechanism is a positioning navigation device body, the body is a rectangular structure, a light supplementing lamp is mounted on the side of a moving piece, the moving piece is mounted on a support piece of a supporting mechanism, a bottom piece is mounted on the support piece, an adjusting piece is mounted in a threaded hole on the moving piece, the adjusting piece drives the moving piece to move up and down in a sliding groove by rotating the adjusting piece, a sliding rod is mounted in a circular hole of a rectangular protrusion of the moving piece, so that the moving piece can be fixed, the height of the light supplementing lamp can be adjusted according to requirements, and the problem that the positioning area of the navigation device cannot be irradiated and light-supplemented according to requirements is solved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a positioning and navigation device for medical robots. Background Technology

[0002] In the field of medical technology, medical robots use navigation systems to position, maintain, or guide medical devices onto a patient's target anatomical structure. The medical device is connected to the navigation system, which can determine the position of the medical device and the target anatomical structure. Information about the relative positions of the medical device and the target anatomical structure allows the medical robot to configure its articulated arm in such a way that the medical device is in the optimal position relative to the target anatomical structure.

[0003] The inventors' team's related academic article ("Clinical understanding and application status of laparoscopic radical resection of hilar cholangiocarcinoma", Jin Bin et al., Chinese Medical Journal, Vol. 10, No. 2, pp. 139-142, April 2021) disclosed that medical robots can be used to perform radical resection of hilar cholangiocarcinoma, and pointed out that medical robots still have great room for improvement, so as to be better suited to related surgeries.

[0004] Patent document 202080043651.2 provides a medical robot having an articulated arm with a robot reference located at the distal end of the articulated arm. The medical robot also has an articulated encoder for the articulated arm, enabling the position of the robot reference within the medical robot's frame of reference to be determined at any time. The method then further includes the step of determining the position of a medical instrument attached to the distal end of the articulated arm of the medical robot relative to a target anatomical structure of the patient.

[0005] However, with the current positioning and navigation devices used for medical robots, if the navigation device uses optical sensors for navigation, the navigation may become inaccurate if there is any obstruction, and it will be unable to provide supplemental lighting to the positioning area as needed. In addition, when using the existing positioning and navigation devices, doctors need to refer to the patient's CT scan when operating the navigation and positioning device, but the patient's CT scan cannot be used for auxiliary fixation. Furthermore, in actual use, it is impossible to locate the area to be inserted before surgery to prevent operational errors. Summary of the Invention

[0006] In view of this, the present invention provides a positioning and navigation device for a medical robot, which has an adjustment mechanism and an insertion mechanism. By adjusting the adjustment mechanism, the supplementary light can better illuminate the area of ​​the patient that needs to be punctured, thereby preventing obstruction during positioning and navigation of the patient's surgical area, which would otherwise result in inaccurate positioning.

[0007] This invention provides a positioning and navigation device for medical robots, which includes: a mounting mechanism, a support mechanism, an adjustment mechanism, and an insertion mechanism.

[0008] The mounting mechanism is the main body of the positioning and navigation device, and includes: a main body, which is a rectangular structure and has casters at the bottom; a support mechanism is mounted on the top of the mounting mechanism; an adjustment mechanism is mounted on the support mechanism, and includes: a moving part, which is a ring structure, with a rectangular protrusion on the inner wall of the moving part, a round hole on the rectangular protrusion on the inner wall of the moving part, a U-shaped protrusion on the side of the moving part, a threaded hole on the U-shaped protrusion of the moving part, and a supplementary light is mounted on the side of the moving part, and the moving part is mounted on the support mechanism; the insertion mechanism is mounted on the top of the mounting mechanism.

[0009] Furthermore, the mounting mechanism also includes: a mounting rod;

[0010] The mounting rod has a cylindrical structure with a cylindrical protrusion at the top. There are four sets of mounting rods, and the mounting rods are installed on the top of the main body.

[0011] Furthermore, the mounting mechanism also includes: a fixing element and a contact element;

[0012] The fastener has a rectangular structure with a round hole, and an installation rod is installed inside the round hole. The top of the fastener is connected to the cylindrical protrusion on the installation rod by a spring. The contact is a frustum-shaped contact and is installed at the bottom of the fastener.

[0013] Furthermore, the support mechanism includes: a support member;

[0014] The support component has a cylindrical structure with a cylindrical protrusion at the top, and it is installed on the top of the main body.

[0015] Furthermore, the support mechanism also includes: a slide groove and a slide rod;

[0016] The slide groove has a rectangular structure and is located inside the support member. A rectangular protrusion on the moving member is installed inside the slide groove. The slide rod has a cylindrical structure and is installed inside the slide groove. The slide rod is installed inside the circular hole of the rectangular protrusion on the moving member.

[0017] Furthermore, the adjustment mechanism also includes: a base and an adjustment component;

[0018] The base is a cylindrical structure with a navigation device mounted on it, and the base is mounted on the support. The adjusting component is a cylindrical structure with a threaded hole, and the adjusting component is mounted on the top of the base and inside the threaded hole on the moving component.

[0019] Furthermore, the insertion mechanism includes: a mounting component and a driving component;

[0020] The mounting component has a cylindrical structure and is installed on the top side of the main body; the driving component has a Z-shaped structure and is installed on top of the mounting component.

[0021] Furthermore, the insertion mechanism also includes: a plug, a connector, and a positioning component;

[0022] The plug-in has a cylindrical structure and a circular hole, and is mounted on the drive component; the connector has a cylindrical structure and a cylindrical protrusion on its top, and is mounted inside the circular hole on the plug-in, and the cylindrical protrusion on the connector is connected to the plug-in by a spring; the positioning component has a cylindrical structure and a circular hole, and is mounted on the bottom of the connector. Beneficial effects

[0023] According to various embodiments of the present invention, the positioning and navigation device for medical robots can adjust the height and angle of the supplementary light as needed during use, thereby better illuminating the surgical area. In conjunction with the insertion mechanism, the navigation device can more accurately locate the area to be inserted and achieve more precise navigation accuracy.

[0024] Furthermore, the adjustable and movable components are designed with the adjustable component mounted on the base and the movable component mounted inside the slide groove via a rectangular protrusion. During use, rotating the adjustable component causes it to move the movable component up and down within the slide groove. A sliding rod, installed inside the circular hole of the rectangular protrusion on the movable component, provides auxiliary fixation. This allows for adjustment of the supplementary light's height as needed, preventing inaccurate navigation due to shadows or obstructions.

[0025] Furthermore, the system incorporates a fixing component and a mounting rod. The mounting rod is installed on the main body, while the fixing component is mounted on the mounting rod. During use, lifting the fixing component causes it to move the contact component upwards on the mounting rod, compressing the spring between the fixing component and the mounting rod. When the patient's medical records are placed on the main body, the spring's return action causes the fixing component and contact component to move downwards, bringing the contact component into contact with the patient's medical records and securing them in place. The contact component is made of rubber, which allows for better adhesion to the patient's medical records and prevents them from falling off.

[0026] Furthermore, through the installation of a plug and a positioning element, the plug is mounted on the drive unit, while the positioning element is mounted at the bottom of the connector. This allows the navigation device on the bottom component to transmit a signal to the drive unit during use. The drive unit receives the signal and moves to the area to be inserted. At this time, the positioning element contacts the patient's body to locate the area to be inserted. After the doctor confirms that the area is correct, the drive unit moves the plug downward, allowing the plug to pass through the round hole on the positioning element and compress the spring on the connector, thereby guiding the puncture and preventing operational errors. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0028] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0029] In the attached diagram:

[0030] Figure 1 This is a schematic diagram of the main three-dimensional structure of a positioning and navigation device for a medical robot according to an embodiment of the present invention.

[0031] Figure 2 This is a rear-view stereoscopic structural diagram of a positioning and navigation device for a medical robot according to an embodiment of the present invention.

[0032] Figure 3 This is an exploded perspective view of the mounting mechanism of a positioning and navigation device for a medical robot according to an embodiment of the present invention.

[0033] Figure 4 This is an exploded perspective view of the support mechanism and adjustment mechanism of the positioning and navigation device for a medical robot according to an embodiment of the present invention.

[0034] Figure 5 This is an exploded perspective view of the insertion mechanism of a positioning and navigation device for a medical robot according to an embodiment of the present invention.

[0035] Figure 6 The positioning and navigation device for medical robots according to an embodiment of the present invention is composed of... Figure 1 A schematic diagram of the enlarged portion of section A.

[0036] Figure 7 The positioning and navigation device for medical robots according to an embodiment of the present invention is composed of... Figure 2 A schematic diagram of the enlarged portion of section B.

[0037] Figure 8 The positioning and navigation device for medical robots according to an embodiment of the present invention is composed of... Figure 4 A schematic diagram of the enlarged portion of section C.

[0038] List of reference numerals

[0039] 1. Installation mechanism;

[0040] 101. Main body; 102. Mounting rod; 103. Fixing component; 104. Contact component;

[0041] 2. Supporting structures;

[0042] 201. Support component; 202. Slide groove; 203. Slide rod;

[0043] 3. Adjustment mechanism;

[0044] 301. Base component; 302. Adjusting component; 303. Moving component;

[0045] 4. Insertion mechanism;

[0046] 401. Installation component; 402. Driver component; 403. Plug-in component; 404. Connector component; 405. Positioning component. Implementation

[0047] To make the objectives, solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise stated, the terms used herein have their ordinary meanings in the art. The same reference numerals in the drawings represent the same parts.

[0048] Example: Please refer to Figures 1 to 8 As shown:

[0049] This invention provides a positioning and navigation device for a medical robot, comprising a mounting mechanism 1, a support mechanism 2, an adjustment mechanism 3, and an insertion mechanism 4.

[0050] Mounting mechanism 1 is the main body of the positioning and navigation device, and includes: a main body 101, which is a rectangular structure and has casters at the bottom; the main body 101 is used to support the various parts; a support mechanism 2 is mounted on the top of mounting mechanism 1; an adjustment mechanism 3 is mounted on the support mechanism 2, and the adjustment mechanism 3 includes: a moving part 303, which is a ring structure, with a rectangular protrusion on the inner wall of the moving part 303, a round hole on the rectangular protrusion on the inner wall of the moving part 303, a U-shaped protrusion on the side of the moving part 303, a threaded hole on the U-shaped protrusion of the moving part 303, and a supplementary light mounted on the side of the moving part 303, and the moving part 303 is mounted on the support member 201 of the support mechanism 2; the moving part 303 is used to move inside the slide groove 202 through the rectangular protrusion by the action of the adjustment member 302, thereby enhancing the supplementary lighting effect on the surgical area when there is obstruction, and preventing errors in the navigation device; and an insertion mechanism 4 is mounted on the top of mounting mechanism 1.

[0051] Among them, such as Figure 3 As shown, the mounting mechanism 1 also includes: a mounting rod 102, a fixing member 103, and a contact member 104; the mounting rod 102 is a cylindrical structure, with a cylindrical protrusion at the top, and there are four sets of mounting rods 102, which are mounted on the top of the main body 101; the mounting rod 102 is used to mount the fixing member 103; the fixing member 103 is a rectangular structure, with a circular hole, and the mounting rod 102 is installed inside the circular hole, and the top of the fixing member 103 is open to the mounting rod. The spring is connected to the cylindrical protrusion on the mounting rod 102; the fixing member 103 here is used to stretch and compress the spring between the fixing member 102 and the mounting rod 102, thereby fixing the patient's data through the contact member 104; the contact member 104 is a frustum-shaped contact and is installed at the bottom of the fixing member 103; the contact member 104 here is set as a frustum-shaped structure and is made of rubber, so that the patient's data can be better fixed, and the doctor can make better comparisons during the operation.

[0052] Among them, such as Figure 4As shown, the support mechanism 2 includes: a support member 201, a sliding groove 202, and a sliding rod 203; the support member 201 is a cylindrical structure with a cylindrical protrusion at its top, and is mounted on the top of the main body 101; the support member 201 is used to support the navigation device; the sliding groove 202 is a rectangular structure and is located inside the support member 201, and a rectangular protrusion on the movable member 303 is installed inside the sliding groove 202; the sliding groove 202 is used to slide and connect with the movable member 303; the sliding rod 203 is a cylindrical structure and is installed inside the sliding groove 202, and is installed inside the circular hole of the rectangular protrusion on the movable member 303; the sliding rod 203 is used to be installed inside the circular hole of the rectangular protrusion on the movable member 303, thereby providing auxiliary fixation for the movable member 303.

[0053] Among them, such as Figure 4 As shown, the adjustment mechanism 3 further includes: a base 301 and an adjustment member 302; the base 301 is a cylindrical structure, and a navigation device is mounted on the base 301, which is also mounted on the support member 201; the base 301 is used to mount the navigation device, which scans the patient through an optical sensor and transmits the signal to the drive member 402 to achieve navigation, and the optical sensor and navigation device are mature existing technologies; the adjustment member 302 is a cylindrical structure, and a threaded hole is provided on the adjustment member 302, which is mounted on the top of the base 301 and inside the threaded hole on the moving member 303; the adjustment member 302 is used to rotate and drive the moving member 303 to move up and down inside the slide groove 202.

[0054] Among them, such as Figure 5As shown, the insertion mechanism 4 includes: a mounting component 401, a driving component 402, a plug 403, a connector 404, and a positioning component 405. The mounting component 401 has a cylindrical structure and is mounted on the top side of the main body 101. The mounting component 401 is used to mount the driving component 402. The driving component 402 has a Z-shaped structure and is mounted on top of the mounting component 401. The driving component 402 is used to transmit signals to the robot body via a navigation device, thereby enabling the driving component 402 to start working. The driving component 402 is a mature existing technology. The plug 403 has a cylindrical structure and a circular hole, and is mounted on the driving component 402. The plug 403 is used to move via the driving component 402. The device is inserted into the human body for surgery. Different types of inserts 403 can be replaced according to different surgeries, which is a mature technology. The connector 404 has a cylindrical structure with a cylindrical protrusion at the top. The connector 404 is installed inside the circular hole on the insert 403, and the cylindrical protrusion on the connector 404 is connected to the insert 403 by a spring. The connector 404 is used to connect the insert 403 and the positioning element 405. The positioning element 405 has a cylindrical structure with a circular hole and is installed at the bottom of the connector 404. The positioning element 405 is used to locate the puncture area by contacting the human body and through the circular hole. The insert 403 can only be punctured after confirmation by the doctor, ensuring the accuracy of the insertion.

[0055] The specific usage and function of this embodiment: In this invention, when using this device, by lifting the fixing member 103, the fixing member 103 drives the contact member 104 to move upward on the mounting rod 102, and compresses the spring between the fixing member 103 and the mounting rod 102. The patient's data is placed on the main body 101, and through the spring's reset action, the fixing member 103 and the contact member 104 move downward, thereby making the contact member 104 contact the patient's data, thus fixing the patient's data. The contact member 104 is made of rubber, which allows for better adhesion to the patient's data and prevents it from falling off. By rotating the adjusting member 302, the adjusting member 302 drives the moving member 303 to move up and down inside the slide groove 202. The slide rod 203 is mounted on the moving member 303. The protruding circular hole inside the base piece 301 helps to fix the moving part 303, allowing the height of the supplementary light to be adjusted as needed. This prevents the navigation device from becoming inaccurate due to shadows. The optical sensor of the navigation device on the base piece 301 collects signals and transmits them to the drive part 402. The drive part 402 receives the signal and moves to the area to be inserted. At this time, the positioning part 405 contacts the patient's body to locate the area to be inserted. After the doctor confirms that it is correct, the drive part 402 moves the insert 403 downward, allowing the insert 403 to pass through the circular hole on the positioning part 405 and compress the spring on the connector 404, thereby guiding the puncture and preventing operational errors.

[0056] Finally, it should be noted that when describing the position of each component and the mating relationship between them, the present invention usually uses one or a pair of components as examples. However, those skilled in the art should understand that such positions, mating relationships, etc., are also applicable to other components or other pairs of components.

[0057] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the scope of protection of the present invention, which is determined by the appended claims.

Claims

1. A positioning and navigation device for a medical robot, characterized in that, It includes an installation mechanism (1), a support mechanism (2), an adjustment mechanism (3), and an insertion mechanism (4): The installation mechanism (1) is the main body of the positioning and navigation device, and the installation mechanism (1) includes: a main body (101), the main body (101) is a rectangular structure, and the bottom of the main body (101) is provided with casters; the support mechanism (2) is installed on the top of the installation mechanism (1); the adjustment mechanism (3) is installed on the support mechanism (2), and the adjustment mechanism (3) includes: a moving part (303), the moving part (303) is a circular ring structure, the inner wall of the moving part (303) is provided with a rectangular protrusion, the rectangular protrusion on the inner wall of the moving part (303) is provided with a round hole, the side of the moving part (303) is provided with a U-shaped protrusion, the U-shaped protrusion of the moving part (303) is provided with a threaded hole, and the side of the moving part (303) is provided with a supplementary light, and the moving part (303) is installed on the support member (201) on the support mechanism (2); the insertion mechanism (4) is installed on the top of the installation mechanism (1).

2. The positioning and navigation device for a medical robot as described in claim 1, characterized in that: The installation mechanism (1) further includes: an installation rod (102); The mounting rod (102) is a cylindrical structure with a cylindrical protrusion at the top. There are four sets of mounting rods (102), and the mounting rods (102) are installed on the top of the main body (101).

3. The positioning and navigation device for a medical robot as described in claim 2, characterized in that: The installation mechanism (1) further includes: a fixing element (103) and a contact element (104); The fastener (103) is a rectangular structure with a round hole. An installation rod (102) is installed inside the round hole of the fastener (103). The top of the fastener (103) is connected to the cylindrical protrusion on the installation rod (102) by a spring. The contact (104) is a frustum-shaped contact and is installed at the bottom of the fastener (103).

4. The positioning and navigation device for a medical robot as described in claim 1, characterized in that: The support mechanism (2) includes: a support member (201); The support member (201) is a cylindrical structure with a cylindrical protrusion on the top and is installed on the top of the main body (101).

5. The positioning and navigation device for a medical robot as described in claim 4, characterized in that: The support mechanism (2) further includes: a slide groove (202) and a slide rod (203); The slide groove (202) is a rectangular structure and is opened inside the support member (201). The slide groove (202) is installed inside the sliding member (303) with a rectangular protrusion. The slide rod (203) is a cylindrical structure and is installed inside the slide groove (202). The slide rod (203) is installed inside the circular hole of the rectangular protrusion on the sliding member (303).

6. The positioning and navigation device for a medical robot as described in claim 5, characterized in that: The adjustment mechanism (3) further includes: a base (301) and an adjustment component (302); The base (301) is a cylindrical structure, and a navigation device is installed on the base (301). The base (301) is installed on the support (201). The adjusting member (302) is a cylindrical structure, and a threaded hole is provided on the adjusting member (302). The adjusting member (302) is installed on the top of the base (301), and the adjusting member (302) is installed inside the threaded hole on the moving member (303).

7. The positioning and navigation device for a medical robot as described in claim 1, characterized in that: The insertion mechanism (4) includes: a mounting component (401) and a driving component (402); The mounting component (401) has a cylindrical structure and is mounted on the top side of the main body (101); the driving component (402) has a Z-shaped structure and is mounted on the top of the mounting component (401).

8. The positioning and navigation device for a medical robot as described in claim 7, characterized in that: The insertion mechanism (4) further includes: a plug (403), a connector (404), and a positioning component (405); The plug (403) is a cylindrical structure with a round hole and is mounted on the drive (402); the connector (404) is a cylindrical structure with a cylindrical protrusion on the top and is mounted inside the round hole on the plug (403), and the cylindrical protrusion on the connector (404) is connected to the plug (403) by a spring; the positioning member (405) is a cylindrical structure with a round hole and is mounted on the bottom of the connector (404).

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