Array positioning mechanism, auxiliary navigation positioning device and orthopedic surgical instrument

Abstract

The application provides an array positioning mechanism, an auxiliary navigation positioning device and an orthopedic surgical instrument. The array positioning mechanism comprises a mounting unit, a first clamping arm rotatably connected to the mounting unit, and a second clamping arm connected to the mounting unit, and a clamping opening is formed between the first clamping arm and the second clamping arm. The array positioning mechanism further comprises a driving member slidably mounted on the mounting unit, the driving member is connected to the first clamping arm and is configured to slide in a preset direction and drive the first clamping arm to rotate to reduce the opening of the clamping opening, and slide in the opposite direction of the preset direction to allow the first clamping arm to rotate and expand the opening of the clamping opening. The auxiliary navigation positioning device comprises the array positioning mechanism, a locking mechanism and a tracer. The locking mechanism is mounted on the mounting unit. The tracer comprises an array support mounted on the locking mechanism and a reflective element mounted on the array support.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an array positioning mechanism, an auxiliary navigation and positioning device, and an orthopedic surgical instrument. Background Technology

[0002] In orthopedic surgeries performed with orthopedic instruments, it is necessary to track the position of the bones in real time to ensure surgical precision. Currently, a tracker is used in orthopedic surgery. This tracker can be fixedly mounted on the bone and has multiple reflective spheres arranged in an array. These reflective spheres are used to reflect the tracking light emitted by the optical tracking system of the orthopedic surgical instruments. In this way, the optical tracking system feeds back the bone coordinate information to the robot executing the orthopedic surgical instruments.

[0003] Existing tracers are typically mounted on a positioning frame in a detachable manner, and then the positioning frame is fixedly connected to the bone to complete the fixation of the tracer to the bone. Traditional positioning frames have problems with the complex structure of components and the assembly between components, which makes the process of installing them to the bone cumbersome, affecting the efficiency of surgery, and the convenience and practicality need to be improved. Summary of the Invention

[0004] In view of this, the present invention provides an array positioning mechanism for fixing a tracer to a skeleton, thereby fixing the tracer to the skeleton. The structure and assembly connection of the array positioning mechanism are simplified, making the installation of the tracer to the skeleton easier and more convenient, and improving the efficiency and precision of orthopedic surgery.

[0005] The array positioning mechanism provided by the present invention includes a mounting unit, a first clamping arm rotatably connected to the mounting unit, and a second clamping arm connected to the mounting unit. A clamping opening is formed between the first clamping arm and the second clamping arm. The array positioning mechanism further includes a driving member slidably mounted on the mounting unit. The driving member is slidably connected to the first clamping arm and is configured to slide in a preset direction and at least drive the first clamping arm to rotate to reduce the opening of the clamping opening, and to slide in the opposite direction in the preset direction to allow the first clamping arm to rotate and expand the opening of the clamping opening.

[0006] Compared with the prior art, the array positioning mechanism provided by the present invention has at least the following beneficial effects:

[0007] 1) The array positioning mechanism of the present invention has the advantages of being easier to operate and more convenient to use. Users only need to apply force to the driving member to make the driving member slide in the preset direction to drive the first clamping arm and the second clamping arm to fix and clamp the bone, or make the driving member slide in the opposite direction of the preset direction to drive the first clamping arm and the second clamping arm to release and detach from the bone. The driving member has a definite direction of movement to control the shrinking and expanding of the clamping opening, making it easier and faster for users to master the operation method of the array positioning mechanism.

[0008] 2) The array positioning mechanism of the present invention is particularly suitable for the fixed connection between the tracer and the spinal skeleton. The first clamping arm and the second clamping arm can be fixedly connected to the spine by clamping the spinous process of the spine, which is not easy to damage the spine and the surrounding muscle tissue. After the array positioning mechanism clamps and fixes the spinous process of the spine, it can maintain a stable posture and position, thus preventing the tracer from shaking relative to the skeleton.

[0009] 3) The fixed connection between the array positioning mechanism and the bone can be achieved more quickly, and the array positioning mechanism can also release the bone and detach from the bone more quickly. Therefore, fewer operations are required for the installation and disassembly of the array positioning mechanism and the bone, which is beneficial to improving the efficiency of the operation.

[0010] In one embodiment, the mounting unit includes a guide and a base fixed to one end of the guide. The first clamping arm and the second clamping arm are both hinged to the base. The array positioning mechanism also includes an adjusting member that is at least partially housed in the driving member. The adjusting member is threadedly engaged with the guide. The driving member moves closer to the base following the adjusting member to drive the first clamping arm to rotate and reduce the opening of the clamping opening.

[0011] With this configuration, the helical motion between the adjusting component and the guide component is decomposed into the relative rotation between the adjusting component and the driving component and the relative translation between the guide component and the driving component. Therefore, the operator only needs to rotate the adjusting component to control the opening and closing of the clamp opening, making it easier for the array positioning mechanism to connect to and disconnect from the skeleton. Furthermore, the moving speed of the driving component is smaller than the helical motion speed between the adjusting component and the guide component, resulting in higher precision in driving the clamp opening opening and closing.

[0012] Furthermore, the threaded engagement between the adjusting component and the guide component allows the adjusting component to achieve a self-locking function. Once the external force applied to the adjusting component is removed, the adjusting component can maintain a relatively fixed state with the guide component through the self-locking property of the threaded engagement. Thus, the position and angle of the first clamping arm relative to the driving component and the mounting unit are determined. During the clamping of the skeleton by the first and second clamping arms, the driving component can continue to exert a long-term constraint force on the first clamping arm to ensure that the first clamping arm, the second clamping arm and the skeleton can maintain a large contact pressure for a long time. It is not easy for the second clamping arm to rotate on its own due to the unexpected movement of the adjusting component relative to the guide component, thereby widening the clamping opening and causing the array positioning mechanism to detach from the skeleton.

[0013] In one embodiment, the array positioning mechanism further includes an anti-rotation member connected to one of the driving member and the guide member, and the other of the driving member and the guide member has an anti-rotation groove extending along the axial direction of the guide member, with at least a portion of the anti-rotation member slidably disposed in the anti-rotation groove.

[0014] With this configuration, the anti-rotation component and the anti-rotation groove form a sliding fit, which can further restrict the rotation of the driving component relative to the guide component. This ensures that the driving component can move linearly in strict accordance with the axial direction of the guide component, thereby driving the first clamping arm to rotate more stably and efficiently. This avoids the inconsistent angular displacement of the first clamping arm each time it is driven to rotate.

[0015] In one embodiment, the drive member is sleeved on the guide member, the anti-rotation groove is formed on the outer peripheral wall of the guide member, the anti-rotation member is detachably inserted into the drive member, and protrudes from the inner side wall of the drive member to extend into the anti-rotation groove.

[0016] With this configuration, the sliding fit between the drive component and the guide component is reliable, the drive component is not easy to detach from the guide component, and the connection or fit between the anti-rotation component and the drive component and the anti-rotation groove is easier and simpler.

[0017] In one embodiment, one side of the drive member is recessed inward to form a receiving groove, and the adjusting member includes an anti-detachment part located in the receiving groove. A stop is protruding from the side wall of the receiving groove. One end of the anti-detachment part is larger than the opening formed by the stop and extends to the side of the stop facing the bottom wall of the receiving groove.

[0018] With this configuration, as the adjusting member moves spirally relative to the guide member, the anti-detachment part can abut against and push the bottom wall of the receiving groove to push the driving member to slide in the preset direction in the forward direction, or the anti-detachment part can abut against and push the stop block to push the driving member to slide in the reverse direction in the preset direction in the reverse direction. Whether controlling the clamp opening to expand or control the clamp opening to shrink, the adjusting member can stably apply a thrust to the driving member, and the driving member can respond to the movement of the adjusting member in a timely and sensitive manner to generate the corresponding movement.

[0019] In one embodiment, the adjusting member further includes a rotating handwheel sleeved on the guide member, the rotating handwheel being located outside the receiving groove and fixedly connected to the other end of the anti-detachment part that is relatively far from the bottom wall of the receiving groove.

[0020] This configuration allows the user to apply torque to the adjustment components more directly and easily by setting the position of the rotating handwheel.

[0021] In one embodiment, the first clamping arm has a first clamping block and a first sliding contact at both ends, and the middle part between the two ends of the first clamping arm is hinged to the mounting unit. The driving member includes a driving inclined surface for the first sliding contact to slide against and a movable adapter part that adapts to the mounting unit. The trajectory formed by the movable adapter part sliding along a preset direction forms an angle between the driving inclined surface and the opening of the clamping opening.

[0022] With this configuration, the driving component applies force to the first clamping arm by sliding the driving inclined surface into contact with the first sliding contact. The inclination angle of the driving inclined surface determines that the driving component can, through the lever principle, drive the first sliding contact to gradually rotate away from the trajectory formed by the movable adapter sliding in the preset direction, while simultaneously driving the first clamping block to gradually rotate closer to the trajectory formed by the movable adapter sliding in the preset direction, thereby reducing the opening of the clamping opening.

[0023] In one embodiment, the two ends of the second clamping arm have a second clamping block and a second sliding contact, respectively. The middle part between the two ends of the second clamping arm is hinged to the mounting unit. The driving member includes a first driving inclined surface and a second driving inclined surface. The first driving inclined surface and the second driving inclined surface form an angle between the opening and the clamping opening. The two surfaces slide against the first sliding contact and the second sliding contact, respectively.

[0024] With this configuration, the drive unit can simultaneously drive the first and second clamping arms to rotate, thereby changing the opening of the clamping opening. The range of change in the opening of the clamping opening is further expanded. Therefore, it is possible to appropriately reduce the length of the first and second clamping arms without significantly affecting the range of change in the opening of the clamping opening. Appropriately reducing the length of the first and second clamping arms can further reduce the size of the array positioning mechanism and also help reduce the amplitude of the tracer's relative sway to the skeleton.

[0025] In one embodiment, the mounting unit includes a guide and a base fixed to one end of the guide. The first driving ramp and the second driving ramp are symmetrically arranged about the axis of the guide. The preset direction is along the axis of the guide and close to the base. The first clamping arm and the second clamping arm are both hinged to the base and are symmetrically arranged about the axis of the guide.

[0026] With this configuration, when the first and second clamping arms hold the bone, the array positioning mechanism can better maintain force balance. The magnitude of the force exerted by the bone on the first clamping arm is the same as or tends to be consistent with the magnitude of the force exerted by the bone on the second clamping arm. This makes it less likely for the array positioning mechanism to become unstable and sway relative to the bone, and will not affect the relative fixation between the tracer and the bone. Therefore, the auxiliary navigation and positioning device using the array positioning mechanism of the present invention can more accurately assist the surgical robot in bone tracking and positioning.

[0027] In one embodiment, the first clamping arm includes a first clamping block, the second clamping arm includes a second clamping block, a clamping opening is formed between the first clamping block and the second clamping block, and the first clamping block has a plurality of clamping protrusions arranged in rows and columns on the side near the second clamping block; and / or, the second clamping block has a plurality of clamping protrusions arranged in rows and columns on the side near the first clamping block.

[0028] This arrangement of the clamping protrusions in rows and columns can increase the friction between the first and / or second clamping blocks and the bone, and also increase the contact area between the first and / or second clamping blocks and the bone to a certain extent. This avoids poor fixation between the first and second clamping blocks and the bone due to insufficient contact area or point contact with the bone.

[0029] In one embodiment, the array positioning mechanism further includes a first elastic element installed in the mounting unit, one end of the first elastic element being connected to the first clamping arm, and the first elastic element having elastic potential energy to drive the first clamping arm to rotate to expand the clamping opening.

[0030] With this configuration, when the user manipulates the drive component to move a certain distance in the opposite direction along the preset direction, the first clamping arm can be driven by the elastic force of the first elastic element, thereby enabling the array positioning mechanism to automatically expand the opening of the clamping opening. Therefore, the first elastic element can help release the first and second clamping arms from the bone, and the array positioning mechanism can be loosened and separated from the bone without the need for personnel to apply force to the first or second clamping arms, thus improving the ease of use of the array positioning mechanism.

[0031] In one embodiment, the installation unit includes a guide and a limiting structure protruding from the guide. The drive is slidably mounted on the guide and slides along the guide in a preset direction to approach the limiting structure until it abuts against the limiting structure.

[0032] With this configuration, the limiting structure can limit the extreme position of the guide member's movement in a preset direction, preventing the guide member from rotating excessively and causing the clamp opening to be too small. Therefore, it can prevent the first and second clamping arms from excessively squeezing the bone and causing bone damage. For a batch of array positioning mechanisms specifically used to fix a certain type of bone, such as a batch of array positioning mechanisms used to fix the spinous process of the spine, the minimum opening of the clamp opening can be limited by the pre-set limiting structure. Ultimately, the array positioning mechanisms in this batch have the same minimum opening of the clamp opening, and can all be stably fixed to the spinous process without shaking or damage.

[0033] In one embodiment, the array positioning mechanism further includes a first elastic element installed on the mounting unit, a second clamping arm rotatably connected to the mounting unit, and the two ends of the first elastic element being respectively connected to the first clamping arm and the second clamping arm. The first elastic element has elastic potential energy to drive the first clamping arm and the second clamping arm to rotate to expand the clamping opening.

[0034] With this configuration, when the user manipulates the drive component to move a certain distance in the opposite direction along a preset direction, the first and second clamping arms can be driven by the elastic force of the first elastic element, thereby enabling the array positioning mechanism to automatically expand the opening of the clamping opening. Therefore, the first elastic element can help release the first and second clamping arms from the bone, and the array positioning mechanism can be loosened and separated from the bone without the need for personnel to apply force to the first and second clamping arms, thus improving the ease of use of the array positioning mechanism.

[0035] The present invention also provides an auxiliary navigation and positioning device, which includes the above-mentioned array positioning mechanism, a locking mechanism, and a tracer. The locking mechanism is installed on the mounting unit, and the tracer includes an array bracket installed on the locking mechanism and a reflective element installed on the array bracket.

[0036] Compared with the prior art, the assisted navigation and positioning device provided by the present invention has at least the following beneficial effects:

[0037] 1) The auxiliary navigation and positioning device of the present invention is easier and more convenient for users to master when connected to the skeleton and when separated from the skeleton. It has fewer operation steps and can be completed faster, which helps to improve surgical efficiency.

[0038] 2) The auxiliary navigation and positioning device of the present invention is particularly suitable for fixed connection with the spinal bones. By using an array positioning mechanism to fix it to the spine in a way that clamps the spinous process of the spine, it can avoid the array positioning mechanism, locking mechanism and tracker from shaking relative to the spine, thus better maintaining the position and orientation stability of the tracker.

[0039] In one embodiment, the locking mechanism includes a main pressure seat, a secondary pressure seat, and an elastic preload member connecting the main pressure seat and / or the secondary pressure seat. The main pressure seat and the secondary pressure seat have at least a pre-locked state and a fully locked state. When the main pressure seat and the secondary pressure seat are connected in the pre-locked state, the elastic preload member has a deformation allowance to allow the gap width between the elastic preload member and the main pressure seat to change. When the main pressure seat and the secondary pressure seat are connected in the fully locked state, the elastic preload member is relatively fixed to the main pressure seat and clamps one of the mounting units or array brackets.

[0040] This configuration improves the ease of use of the locking mechanism and makes it easier to adjust and control the relative position and attitude relationship between the locking mechanism and the array positioning mechanism or tracer. When the main pressure seat and the auxiliary pressure seat are connected in the pre-locked state, the elastic preload can still change the clamping pressure exerted by the elastic preload and the main pressure seat on the mounting unit or array bracket through elastic deformation. This allows the user to move the mounting unit or array bracket relative to the locking mechanism, further precisely adjusting the relative position and attitude relationship between the mounting unit or array bracket and the locking mechanism. After the user adjusts the position and orientation of the mounting unit or array bracket, the elastic preload can apply a small elastic pressure to the mounting unit or array bracket, temporarily fixing it so that the user can observe whether the position and orientation of the array positioning mechanism or tracer relative to the locking mechanism meets the expected requirements. Once the relative position and orientation relationship between the mounting unit or array bracket and the locking mechanism is determined, the connection state between the main pressure seat and the auxiliary pressure seat can be switched to the fully locked state. The elastic preload can then apply a larger elastic pressure to the mounting unit or array bracket, thus determining the relative position and orientation relationship between the locking mechanism and the array positioning mechanism or tracer.

[0041] In one embodiment, when the main pressure seat and the secondary pressure seat are connected in a pre-locked state, the elastic pre-tightening member can elastically deform to allow the gap width between the elastic pre-tightening member and the secondary pressure seat to change. When the main pressure seat and the secondary pressure seat are connected in a fully locked state, the elastic pre-tightening member and the secondary pressure seat are relatively fixed and clamp the other of the mounting unit or array bracket.

[0042] With this configuration, the two ends of the elastic pretensioner can respectively cooperate with the main pressure seat and the auxiliary pressure seat to clamp the mounting unit and the array bracket. The relative position and attitude between the array positioning mechanism and the locking mechanism, as well as the relative position and attitude between the tracer and the locking mechanism, can be more conveniently observed, adjusted and controlled. When adjusting one of the array positioning mechanism or the tracer, the other can still be clamped and positioned by the elastic pretensioner and the main pressure seat or the auxiliary pressure seat. This will not cause inconvenience to adjusting the position and attitude of the array positioning mechanism or the tracer due to the simultaneous loss of positioning of the array positioning mechanism and the tracer.

[0043] In one embodiment, when the main pressure seat and the auxiliary pressure seat are connected in the pre-locked state, the two ends of the elastic pre-tightening member can contract to approach or extend to move away. When the main pressure seat and the auxiliary pressure seat are connected in the fully locked state, the length of the elastic pre-tightening member is contracted to the shortest, and the two ends of the elastic pre-tightening member are fixedly connected.

[0044] With this configuration, in the pre-locked state, the elastic pretensioner can release the elastic pressure on one of the mounting units or array supports by contracting its two ends closer together. The elastic pretensioner can also apply elastic pressure to the mounting unit and array support respectively by extending its two ends away, so that the user can observe whether the relative position and attitude between the current array positioning mechanism, locking mechanism and tracer have reached the expected level. In the fully locked state, the deformation freedom of the elastic pretensioner to further contract or extend is limited, and the two ends of the elastic pretensioner remain relatively fixed, thereby keeping the mounting unit and array support relatively fixed.

[0045] In one embodiment, the elastic pretensioner has a main pressure plate and a secondary pressure plate at both ends. The main pressure plate and the main pressure seat clamp one of the mounting unit or array bracket, and the secondary pressure plate and the secondary pressure seat clamp the other of the mounting unit or array bracket. The main pressure plate and the secondary pressure plate are each provided with a meshing tooth on the side that is close to each other. When the length of the elastic pretensioner is contracted to its shortest length, the main pressure plate and the secondary pressure plate are fixed by meshing through the meshing teeth.

[0046] With this configuration, the two ends of the elastic preload can apply elastic pressure to the mounting unit and array bracket more securely and reliably. When the main pressure plate and the secondary pressure plate apply elastic pressure to the mounting unit and array bracket, they can form a larger contact area with the mounting unit and array bracket. In the fully locked state, the fixed connection between the main pressure plate and the secondary pressure plate is more secure, and it is more difficult for relative movement to occur. Therefore, it can more fully guarantee that there is no relative movement between the mounting unit and the array bracket.

[0047] In one embodiment, the auxiliary navigation and positioning device further includes a control member that passes through and connects to the main pressure seat and is threadedly engaged with the secondary pressure seat. The control member moves spirally relative to the secondary pressure seat to drive the main pressure seat to move closer to or away from the secondary pressure seat, so that the main pressure seat and the secondary pressure seat can switch between a pre-locked state and a fully locked state.

[0048] With this configuration, the main pressure seat and the auxiliary pressure seat can move closer to each other or further apart at a more stable and gradual rate. By rotating the control component, the user can more accurately and sensitively control and adjust the distance between the main pressure seat and the auxiliary pressure seat, thereby more accurately and sensitively changing the size of the elastic preload and the distance between the two ends of the elastic preload. The elastic pressure of the elastic preload acting on the mounting unit or array bracket can also be adjusted and changed more precisely. Thanks to the self-locking property of the threaded fit, the distance between the main pressure seat and the auxiliary pressure seat will not change automatically after the adjustment is confirmed, and the elastic pressure of the elastic preload acting on the mounting unit or array bracket will not easily change or be removed. This can ensure that the mounting unit and array bracket do not move relative to the locking mechanism for a longer period of time. This provides convenience for the user to confirm the relative position and attitude relationship between the array positioning mechanism, the locking mechanism, and the tracer.

[0049] In one embodiment, the elastic preload is fitted onto the control element.

[0050] With this configuration, the elastic preload is less likely to detach from the control component, and therefore less likely to cause the elastic pressure exerted by the elastic preload on the mounting unit or array bracket to be unexpectedly released.

[0051] In one embodiment, the two ends of the elastic pretensioner elastically abut against the main pressure seat and the auxiliary pressure seat, respectively. The control component includes a rod and an anti-disengagement end. The rod passes through the main pressure seat and is threadedly engaged with the auxiliary pressure seat. The anti-disengagement end protrudes from the outer peripheral wall of the rod and abuts against the side of the main pressure seat that is relatively far away from the elastic pretensioner and the auxiliary pressure seat.

[0052] With this configuration, by increasing the depth of the threaded engagement between the rod and the secondary pressure seat, the anti-disengagement end can push the main pressure seat to move and overcome the elastic force of the elastic preload to approach the secondary pressure seat until the distance between the main pressure seat and the secondary pressure seat is closest and the deformation allowance of the elastic preload disappears. In this way, the main pressure seat and the secondary pressure seat can be smoothly and safely switched from the pre-locked connection state to the fully locked connection state. By controlling the spiral movement of the control component, the elastic preload can be compressed more comfortably and effortlessly.

[0053] In one embodiment, a clamping hole is formed between the end of the elastic pretensioner near the main pressure seat and the main pressure seat, and the clamping hole allows the mounting unit or array bracket to pass through; and / or, a clamping hole is formed between the end of the elastic pretensioner near the secondary pressure seat and the secondary pressure seat, and the clamping hole allows the mounting unit or array bracket to pass through.

[0054] With this configuration, the mounting unit or array bracket can not only slide within the clamping hole, allowing for axial changes in the relative positions of the mounting unit and locking mechanism, or the array bracket and locking mechanism, within the clamping hole; but also rotate within the clamping hole, allowing for circumferential changes in the relative positions of the mounting unit and locking mechanism, or the array bracket and locking mechanism, within the clamping hole. Therefore, the locking mechanism provides more degrees of adjustment freedom for the array positioning mechanism and the tracer to meet the needs of adjusting and changing the tracer's position and orientation.

[0055] In one embodiment, the elastic pretensioner includes a second elastic element, and also includes a main pressure plate and a secondary pressure plate respectively connected to both ends of the second elastic element. The main pressure plate and the secondary pressure plate are rotatably arranged relative to each other along the circumference of the second elastic element. The main pressure plate includes a first anti-rotation fitting part that is fixedly adapted to the main pressure seat, and the secondary pressure plate includes a second anti-rotation fitting part that is fixedly adapted to the secondary pressure seat.

[0056] With this configuration, when the main pressure plate rotates relative to the secondary pressure plate along the circumference of the second elastic element, it can be synchronously driven to rotate relative to the secondary pressure plate along the circumference of the second elastic element through the first anti-rotation fitting part. Similarly, when the secondary pressure plate rotates relative to the main pressure plate along the circumference of the second elastic element, it can be synchronously driven to rotate relative to the main pressure plate along the circumference of the second elastic element through the second anti-rotation fitting part. This allows the gap between the main pressure plate and the main pressure plate to rotate relative to the gap between the secondary pressure plate and the secondary pressure plate along the circumference of the second elastic element, thereby allowing the mounting unit to rotate relative to the array support along the circumference of the second elastic element.

[0057] In one embodiment, the auxiliary navigation and positioning device further includes a control member, a main pressure seat and a secondary pressure seat are sleeved on the control member and are rotatable relative to each other in the circumference of the control member, a main pressure plate is provided at one end of the elastic pretensioner near the main pressure seat, and a secondary pressure plate is provided at the other end of the elastic pretensioner near the secondary pressure seat, and the main pressure plate and the secondary pressure plate are rotatable relative to each other in the circumference of the control member.

[0058] With this configuration, the user can control the main pressure seat and the main pressure plate to remain relatively fixed and rotate together relative to the secondary pressure seat and the secondary pressure plate in the circumferential direction of the control component, or control the secondary pressure seat and the secondary pressure plate to remain relatively fixed and rotate together relative to the main pressure seat and the main pressure plate in the circumferential direction of the control component, thereby realizing the rotation of the installation unit relative to the array bracket in the circumferential direction of the control component.

[0059] The present invention also provides an orthopedic surgical instrument, including the above-mentioned array positioning mechanism or auxiliary navigation positioning device. Attached Figure Description

[0060] Figure 1 This is a three-dimensional structural diagram of an auxiliary navigation and positioning device according to an embodiment of the present invention;

[0061] Figure 2 This is an exploded view of an array positioning mechanism according to an embodiment of the present invention;

[0062] Figure 3 This is an exploded view of a locking mechanism according to an embodiment of the present invention;

[0063] Figure 4 This is a three-dimensional structural schematic diagram of a locking mechanism according to an embodiment of the present invention;

[0064] Figure 5 This is a partial structural schematic diagram of a locking mechanism according to an embodiment of the present invention;

[0065] Figure 6 This is a schematic diagram of the first adjustment of an auxiliary navigation and positioning device according to an embodiment of the present invention;

[0066] Figure 7 This is a second adjustment schematic diagram of an auxiliary navigation and positioning device according to an embodiment of the present invention;

[0067] Figure 8 This is a schematic diagram of the third adjustment of an auxiliary navigation and positioning device according to an embodiment of the present invention;

[0068] Figure 9 This is an exploded view of a tracer according to an embodiment of the present invention.

[0069] Explanation of reference numerals in the attached figures:

[0070] 100. Array positioning mechanism; 10. Mounting unit; 11. Guide component; 111. Guide thread; 112. Anti-rotation groove; 12. Seat; 13. Extended component; 14. Limiting structure; 21. First clamping arm; 211. First clamping block; 212. First sliding contact; 22. Second clamping arm; 221. Second clamping block; 222. Second sliding contact; 23. Clamping protrusion; 30. Adjustment unit; 31. Driving component; 311. First driving ramp; 312. Second driving ramp; 313. Anti-rotation component insertion hole; 314. Receiving groove; 315. Stop block; 316. Movable adapter; 32. Adjusting component; 321. Anti-detachment component; 322. Rotary handwheel; 323. Adjusting sleeve; 41. First elastic element; 42. Anti-rotation component; 43. Clamping arm pin; 44. Torsion spring mounting shaft;

[0071] 200. Locking mechanism; 51. Main pressure seat; 52. Secondary pressure seat; 53. Clamping hole; 531. First clamping hole; 532. Second clamping hole; 60. Elastic preload; 61. Main pressure plate; 611. First anti-rotation fitting; 62. Secondary pressure plate; 621. Second anti-rotation fitting; 63. Second elastic element; 64. Engaging teeth; 70. Control component; 71. Rod body; 72. Anti-detachment end; 73. Control handwheel; 80. Anti-detachment nut;

[0072] 300. Tracker; 91. Array bracket; 911. Link; 912. Cross; 913. Connecting screw; 92. Reflector. Detailed Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0075] This invention provides an array positioning mechanism 100 for orthopedic surgical instruments. The array positioning mechanism 100 serves to fix the bone to a tracer 300, establishing a rigid and stable connection between the tracer 300 and the bone. The array positioning mechanism 100 and the tracer 300 together constitute an auxiliary navigation and positioning device. This auxiliary navigation and positioning device helps track the position of the bone and provides feedback on its coordinates, thereby ensuring surgical accuracy. To better understand the function, effect, and positive significance of the array positioning mechanism 100 of this invention, a brief introduction to orthopedic surgical instruments and auxiliary navigation and positioning devices is provided first.

[0076] Orthopedic surgical instruments include optical tracking devices, surgical robots, and auxiliary navigation and positioning devices comprised of an array positioning mechanism, a tracer 300, and other components. The optical tracking device emits tracking light. The tracer 300 includes multiple reflective elements 92 arranged in a specific pattern. These reflective elements 92 reflect the tracking light back to the optical tracking device. The surgical robot is electrically connected to the optical tracking device and can perform corresponding surgical actions based on the reflected light received by the optical tracking device.

[0077] One of the factors determining the precision and accuracy of surgical procedures is the stability of the connection between the tracer 300 and the skeleton. The tracer 300 is fixedly connected to the array positioning mechanism 100 and to the skeleton through the array positioning mechanism 100, thus establishing a stable rigid connection with the skeleton. This allows the tracer 300 to reflect tracking light to the optical tracking device with a low deviation, enabling the auxiliary navigation and positioning device to accurately track the position of the skeleton and provide feedback on the skeleton coordinates.

[0078] Therefore, the present invention also provides an auxiliary navigation and positioning device and an orthopedic surgical instrument. The auxiliary navigation and positioning device includes a tracer 300 and an array positioning mechanism 100 provided by the present invention. The orthopedic surgical instrument includes the array positioning mechanism 100 provided by the present invention or the auxiliary navigation and positioning device.

[0079] Please see Figure 1 , Figures 6-9 , Figure 1 This is a three-dimensional structural diagram of an auxiliary navigation and positioning device according to one embodiment of the present invention; Figures 6-8This is a schematic diagram of three adjustments of an auxiliary navigation and positioning device according to one embodiment of the present invention. Figure 9 This is an exploded view of the tracer 300 in an auxiliary navigation and positioning device according to an embodiment of the present invention.

[0080] The tracer 300 includes an array support 91 and multiple reflective elements 92, such as Figure 9 As shown, in some embodiments, the array support 91 includes a connecting rod 911, a cross 912, and a connecting screw 913. One end of the connecting rod 911 is fixedly connected to the cross intersection of the cross 912, and the other end extends protruding away from the cross 912. Multiple reflective elements 92 are respectively disposed at multiple ends of the cross 912, and each reflective element 92 is connected to the cross 912 by a connecting screw 913. Optionally, the reflective element 92 is a reflective sphere.

[0081] In other embodiments, T-shaped brackets, X-shaped brackets, polygonal brackets, and other structures can be used to replace the cross 912, and multiple reflective elements 92 can be installed at the ends or edges of the T-shaped brackets, X-shaped brackets, polygonal brackets, and other structures.

[0082] The auxiliary navigation and positioning device also includes a locking mechanism 200. As a transitional connection device connecting the tracer 300 and the array positioning mechanism 100, the locking mechanism 200 can drive the tracer 300 to move relative to the array positioning mechanism 100 by generating relative movement of its different parts, so as to change the position and orientation of the tracer 300 relative to the skeleton. It can also maintain the relative fixation between its different parts after the position and orientation of the tracer 300 relative to the skeleton is determined, thereby locking the relative position and orientation between the tracer 300 and the array positioning mechanism 100, and thus locking the relative position and orientation between the tracer 300 and the skeleton.

[0083] Please see Figures 1-2 The array positioning mechanism 100 provided by the present invention includes a mounting unit 10, a first clamping arm 21, a second clamping arm 22, and a driving member 31. The mounting unit 10 serves as the main support structure of the array positioning mechanism 100. Other components of the array positioning mechanism 100 are directly or indirectly mounted on the mounting unit 10, and the mounting unit 10 can also be connected to the locking mechanism 200. The first clamping arm 21 is rotatably connected to the mounting unit 10, and the second clamping arm 22 is also connected to the mounting unit 10. An adjustable clamping opening is formed between the first clamping arm 21 and the second clamping arm 22. At least when the first clamping arm 21 rotates relative to the mounting unit 10, the clamping opening can be enlarged or reduced. When at least a part of the bone is placed in the clamping opening, by reducing the clamping opening, the first clamping arm 21 and the second clamping arm 22 can ultimately achieve a fixed connection between the array positioning mechanism 100 and the bone by fixing the bone.

[0084] The driving component 31 directly contacts the first clamping arm 21 and is responsible for applying a driving force to the first clamping arm 21, thereby causing the first clamping arm 21 to rotate relative to the mounting unit 10, so as to reduce the opening of the clamping opening until both the first clamping arm 21 and the second clamping arm 22 are fixedly attached to the bone. In addition, the driving component 31 can also change the force it exerts on the first clamping arm 21, so that the first clamping arm 21 rotates in the opposite direction and expands the opening of the clamping opening, thereby realizing the release of the bone by the array positioning mechanism 100. Unlike the prior art, in this invention, the driving component 31 is slidably mounted on the mounting unit 10, and the mounting unit 10 defines a defined sliding trajectory. When the driving component 31 slides along the sliding trajectory in a preset direction, the driving component 31 can at least drive the first clamping arm 21 to rotate clockwise to reduce the opening of the clamping opening. When the driving component 31 slides along the sliding trajectory in the opposite direction of the preset direction, the first clamping arm 21 is allowed to flip to expand the opening of the clamping opening.

[0085] In some embodiments, the mounting unit 10 includes a guide 11, a seat 12, and an extension 13, all fixedly connected as a single unit. The seat 12 is fixedly connected to one end of the guide 11, and the extension 13 is fixedly connected to the other end of the guide 11 that is relatively away from the seat 12, and extends outward in a direction away from the seat 12. A drive member 31 is slidably mounted on the guide 11, and a first clamping arm 21 and a second clamping arm 22 are rotatably mounted on the seat 12. The first clamping arm 21 is connected to the seat 12 between its two ends, and the second clamping arm 22 is connected to the seat 12 between its two ends. The extension 13 is used to engage and connect with the locking mechanism 200. One end of the first clamping arm 21 extends outward from the end of the seat body 12 away from the guide member 11 and the extension member 13 to form a first clamping block 211. One end of the second clamping arm 22 extends outward from the end of the seat body 12 away from the guide member 11 and the extension member 13 to form a second clamping block 221. The clamping opening is located at the end of the seat body 12 that is relatively far away from the guide member 11 and the extension member 13, and is located between the first clamping block 211 and the second clamping block 221.

[0086] The guide member 11 is used to define the sliding trajectory of the drive member 31. In some embodiments, the guide member 11 extends along a straight line, and the drive member 31 slides along the straight line where the guide member 11 is located. The drive member 31 includes a first drive ramp 311 and a second drive ramp 312. A first sliding contact 212 is formed at the end of the first clamping arm 21 that is relatively away from the first clamping block 211. The first sliding contact 212 is slidably connected to the first drive ramp 311. A second sliding contact 222 is formed at the end of the second clamping arm 22 that is relatively away from the second clamping block 221. The second sliding contact 222 is slidably connected to the second drive ramp 312.

[0087] Please see Figure 2 The driving member 31 also includes a movable adapter 316 for slidably fitting with the guide member 11. The movable adapter 316 slides along the straight line of the guide member 11 in a preset direction, gradually approaching the seat 12 and moving away from the extension member 13. An angle is formed between the first driving inclined surface 311 and the trajectory formed by the sliding of the movable adapter 316, with the opening facing away from the clamp opening. An angle is also formed between the second driving inclined surface 312 and the trajectory formed by the sliding of the movable adapter 316, with the opening facing away from the clamp opening. That is, along the preset direction, the distance between the first driving inclined surface 311 and the straight line of the guide member 11, and the distance between the second driving inclined surface 312 and the straight line of the guide member 11, both tend to decrease. The first driving inclined surface 311 and the second driving inclined surface 312 form a V-shaped angle with the opening direction facing away from the clamp opening.

[0088] Therefore, as the driving member 31 gradually slides along the straight line of the guide member 11 towards the seat 12 and away from the extension member 13 in a preset direction, the first driving inclined surface 311 and the second driving inclined surface 312 apply a pushing force to the first sliding contact 212 and the second sliding contact 222 respectively. The first sliding contact 212 and the second sliding contact 222 are both driven away from the guide member 11. Finally, the first clamping block 211 and the second clamping block 221 are driven and approach the straight line of the guide member 11 according to the lever principle, thereby reducing the opening of the clamping opening. Conversely, when the driving member 31 gradually slides away from the seat 12 and closer to the extension member 13 along the straight line of the guide member 11 in the opposite direction of the preset direction, the thrust of the first driving inclined surface 311 and the second driving inclined surface 312 on the first sliding contact 212 and the second sliding contact 222 first decreases, and then the two move away from the first sliding contact 212 and the second sliding contact 222. Therefore, after the driving member 31 moves a certain distance in the opposite direction of the preset direction, the first clamping arm 21 and the second clamping arm 22 can rotate and reset, and the first sliding contact 212 and the second sliding contact 222 can be allowed to move closer to the straight line of the guide member 11 again. The distance between the first clamping block 211 and the second clamping block 221 increases accordingly, thereby expanding the clamping opening.

[0089] It is worth noting that the rotational connection between the second clamping arm 22 and the seat 12 is not necessary. In other embodiments, the second clamping arm 22 can be fixedly connected to the seat 12 as a whole, or a connection that cannot rotate relative to the seat 12 can be formed in other ways. The opening degree of the clamping opening can be changed by rotating only the first clamping arm 21 relative to the seat 12. Accordingly, the drive member 31 is only provided with the first drive inclined surface 311, which is used to contact the first sliding contact 212 and push the first clamping arm 21 to rotate.

[0090] See again Figures 1-2The array positioning mechanism 100 also includes an adjusting member 32. The adjusting member 32 and the driving member 31 together constitute the adjusting unit 30 of the array positioning mechanism 100. The adjusting unit 30 can move as a whole relative to the guide member 11 along the straight line of the guide member 11. Specifically, the guide member 11 is a cylindrical rod 71 with a guide thread 111 on its outer peripheral wall. The adjusting member 32 is sleeved on the guide member 11 and forms a threaded engagement with the guide member 11. The axis of the guide member 11 is the helical center of the adjusting member 32 relative to the guide member 11. The adjusting member 32 includes an adjusting sleeve 323, an anti-detachment part 321, and a rotating handwheel 322, which are fixedly connected as one unit. The anti-detachment part 321 and the rotating handwheel 322 are respectively fixedly disposed at both ends of the adjusting sleeve 323. The adjusting sleeve 323 sleeves the guide member 11. The anti-detachment part 321 protrudes outward relative to the outer peripheral wall of the adjusting sleeve 323, and the outer peripheral wall of the rotating handwheel 322 also protrudes relative to the outer peripheral wall of the adjusting sleeve 323. The anti-detachment part 321 and at least part of the adjusting sleeve 323 are housed in the drive member 31. The rotating handwheel 322 is located outside the drive member 31. The drive member 31 and the adjusting member 32 can rotate relative to each other in the circumferential direction of the guide member 11. As the adjusting member 32 moves spirally relative to the guide member 11, the drive member 31 can follow the adjusting member 32 and move relative to the guide member 11 in the axial direction.

[0091] Furthermore, the driving member 31 is recessed inward on the side relatively away from the seat 12 to form a receiving groove 314. The movable adapter 316 of the driving member 31 has a through hole for fitting the guide member 11 and communicating with the receiving groove 314. A stop block 315 is also protruding from the inner sidewall of the receiving groove 314. A gap is formed between the stop block 315 and the bottom wall of the receiving groove 314. The anti-detachment part 321 extends to the side of the stop block 315 facing the bottom wall of the receiving groove 314 and is located in the space between the stop block 315 and the bottom wall of the receiving groove 314. The opening formed by the stop block 315 is only for the adjusting sleeve 323 to pass through, and its opening size is smaller than the peripheral size of the anti-detachment part 321. Finally, the stop block 315 and the inner sidewall of the receiving groove 314, the anti-detachment part 321 and the outer peripheral wall of the adjusting sleeve 323 form a stepped fit. When both the adjusting member 32 and the driving member 31 are fitted onto the guide member 11, the anti-detachment part 321 and at least a portion of the adjusting sleeve 323 are always located within the receiving groove 314, so the adjusting member 32 is not easily detached from the driving member 31.

[0092] It is understood that in other embodiments, the movable adapter 316 may not need to have a through hole to accommodate the guide member 11. The movable adapter 316 may also be a slider or a groove, which slides in conjunction with the guide member 11.

[0093] The outer diameter of the rotating handwheel 322 is larger than the opening size of the receiving groove 314. Therefore, the rotating handwheel 322 can always remain outside the drive member 31 and will not enter the receiving groove 314. It can be directly grasped by the user to apply rotational torque to the rotating handwheel 322. When the user rotates the rotating handwheel 322, causing the adjusting member 32 to move spirally towards the seat 12 along the axial direction of the guide member 11, the anti-detachment part 321 can abut against the bottom wall of the receiving groove 314, thereby pushing the drive member 31 to move towards the seat 12 along the axial direction of the guide member 11. At this time, the entire adjusting unit 30 moves relative to the guide member 11 in a preset direction. When the adjusting member 32 moves spirally away from the seat 12 along the axial direction of the guide member 11, the anti-detachment part 321 can abut against the side of the stop block 315 that is relatively close to the bottom wall of the receiving groove 314, thereby pushing the drive member 31 to move away from the seat 12 along the axial direction of the guide member 11. At this time, the entire adjusting unit 30 moves relative to the guide member 11 in the opposite direction of the preset direction.

[0094] Thanks to the self-locking property of the threaded engagement, when the user removes the torque applied to the adjusting member 32, the adjusting member 32 can spontaneously maintain a fixed state relative to the guide member 11 in the axial direction. Therefore, the driving member 31 can maintain its fixed position in the axial direction of the guide member 11, which is of great significance for the array positioning mechanism 100 to stably clamp and fix the skeleton.

[0095] Optionally, an anti-rotation groove 112 is provided on the outer peripheral wall of the guide member 11. The anti-rotation groove 112 extends in a direction parallel to the axis of the guide member 11. The array positioning mechanism 100 also includes an anti-rotation member 42, which can be an anti-rotation pin. Correspondingly, the drive member 31 is provided with an anti-rotation member insertion hole 313. The anti-rotation member 42 is fixedly inserted into the anti-rotation member insertion hole 313 and extends out from the inner wall of the through hole of the guide member 11 in the drive member 31 to extend into the anti-rotation groove 112. The width of the anti-rotation groove 112 is basically the same as the outer diameter of the anti-rotation member 42. As the driving component 31 follows the adjusting component 32 and moves along the axial direction of the guide component 11, the anti-rotation component 42 and the anti-rotation groove 112 form a sliding fit. Thus, the anti-rotation component 42 completely restricts the degree of freedom of the driving component 31 to rotate relative to the guide component 11, so that the driving component 31 can only perform more precise translational movements along the axial direction of the guide component 11, thereby ensuring that the driving component 31 drives the first clamping arm 21 and the second clamping arm 22 to rotate at precise angles without deviation.

[0096] It is understood that in other embodiments, the anti-rotation member 42 may also be fixedly connected to the guide member 11, and correspondingly, the anti-rotation groove 112 is formed in the drive member 31, and the anti-rotation member 42 and the drive member 31 form a linear sliding fit.

[0097] Optionally, the anti-rotation element 42 is detachably plugged into the drive element 31.

[0098] Optionally, the first clamping block 211 has a plurality of clamping protrusions 23 arranged in rows on the side near the second clamping block 221, and the second clamping block 221 has a plurality of clamping protrusions 23 arranged in rows on the side near the first clamping block 211. The clamping protrusions 23 are conical, cylindrical or spherical.

[0099] Optionally, the first clamping block 211 protrudes laterally outward relative to other positions of the first clamping arm 21 and forms a rectangular clamping plate, and the second clamping block 221 protrudes laterally outward relative to other positions of the second clamping arm 22 and also forms a rectangular clamping plate. The first clamping arm 21 and the second clamping arm 22 are T-shaped as a whole.

[0100] Furthermore, the array positioning mechanism 100 also includes a first elastic element 41 installed in the mounting unit 10. One end of the first elastic element 41 is connected to the first clamping arm 21, and the other end is connected to the second clamping arm 22. The first elastic element 41 has elastic potential energy to drive the first clamping arm 21 and the second clamping arm 22 to rotate to expand the opening of the clamping opening.

[0101] It should be noted that although the first elastic element 41 has a deformation tendency to move the first clamping block 211 and the second clamping block 221 away from each other to widen the clamping opening, the threaded engagement between the adjusting member 32 and the guide member 11 ensures that both the adjusting member 32 and the drive member 31 can remain fixed in the axial direction of the guide member 11 when no external force is applied to the adjusting member 32 or the drive member 31. Therefore, the drive member 31 can continue to apply pressure to the first sliding contact 212 and the second sliding contact 222, thereby ensuring that the first clamping arm 21 and the second clamping arm 22 continue to... The fixed clamping of the bone, that is, when the adjusting member 32 and the guide member 11 can be stably self-locked, the driving member 31 can resist the elastic restoring force of the first elastic element 41 and will not slide away from the seat body 12 along the axis of the guide member 11. Therefore, it will not cause the first clamping block 211 and the second clamping block 221 to move away from each other and thus detach from the bone. The first clamping block 211 and the second clamping block 221 can only release the bone when the user applies a rotational torque to the adjusting member 32 and manually drives the driving member 31 to move in the opposite direction in a preset direction.

[0102] Specifically, see again Figure 2In some embodiments, the first elastic element 41 is a torsion spring. A torsion spring mounting shaft 44 is fixedly inserted into the base 12, passing through the torsion spring through hole. The two ends of the torsion spring abut against the first clamping arm 21 and the second clamping arm 22, respectively. The position where the torsion spring abuts against the first clamping arm 21 is between the hinge point of the first clamping arm 21 and the base 12 and the first clamping block 211. The position where the torsion spring abuts against the second clamping arm 22 is between the hinge point of the second clamping arm 22 and the base 12 and the second clamping block 221. This arrangement ensures that the first elastic element 41 is not easily detached from the base 12, which helps to improve the reliability of the array positioning mechanism 100.

[0103] Optionally, two clamping arm pins 43 are also fixedly inserted into the base 12. The two clamping arm pins 43 are respectively inserted into the first clamping arm 21 and the second clamping arm 22, thereby forming the rotation center of the first clamping arm 21 relative to the base 12 and the rotation center of the second clamping arm 22 relative to the base 12, respectively.

[0104] Optionally, the first clamping arm 21 and the second clamping arm 22 have the same shape and size, and are symmetrical about the axis of the guide member 11. In addition, the first driving inclined surface 311 and the second driving inclined surface 312 are symmetrical about the axis of the guide member 11, and the two clamping arm pins 43 fixedly inserted into the base 12 are symmetrical about the axis of the guide member 11.

[0105] Optionally, a limiting structure 14 can also be fixedly installed on the guide member 11. The limiting structure 14 can be a limiting block protruding relative to the outer peripheral wall of the guide member 11. As the driving member 31 moves closer to the seat body 12 along the axial direction of the guide member 11 in a preset direction, the driving member 31 gradually approaches the limiting structure 14 until the driving member 31 abuts against the limiting structure 14. At this time, the clamping force of the first clamping block 211 and the second clamping block 221 on the bone reaches its maximum, and the opening of the clamping opening reaches its minimum. The setting of the limiting structure 14 can prevent the pressure of the first clamping block 211 and the second clamping block 221 on the bone from exceeding the upper limit, thus protecting the bone from damage.

[0106] The specific structure and working principle of the locking mechanism 200 in the auxiliary navigation and positioning device provided by this invention will be described below. Please refer to [link / reference]. Figures 3-5The locking mechanism 200 includes a main pressure seat 51, a secondary pressure seat 52, an elastic pretensioner 60 located between the main pressure seat 51 and the secondary pressure seat 52, and a control member 70. The ends of the main pressure seat 51 and the elastic pretensioner 60 that are relatively close to the main pressure seat 51 are used to clamp and connect one of the mounting unit 10 or the array bracket 91. The ends of the secondary pressure seat 52 and the elastic pretensioner 60 that are relatively close to the secondary pressure seat 52 are used to clamp and connect the other of the mounting unit 10 or the array bracket 91. The elastic pretensioner 60 can elastically expand and contract, and at the same time establish the connection relationship between the main pressure seat 51 and the secondary pressure seat 52. The control member 70 is used to drive the main pressure seat 51 and the secondary pressure seat 52 to move closer to each other or relatively farther away, thereby changing the length dimension of the elastic pretensioner 60 from one end to the other, thereby changing the force condition of the elastic pretensioner 60.

[0107] When the elastic pretensioner 60 has not been compressed to its shortest state, both ends of the elastic pretensioner 60 can abut against the main pressure seat 51 and the secondary pressure seat 52 respectively. At this time, the main pressure seat 51 and the secondary pressure seat 52 are in a pre-locked state, and a buffer connection is established between them. The buffer connection means that the elastic pretensioner 60 still has room for further compression deformation, thereby changing the gap width between the main pressure seat 51 and the end of the elastic pretensioner 60 that is relatively closer to the main pressure seat 51, and thus changing the clamping pressure of the main pressure seat 51 and the elastic pretensioner 60 on one of the mounting units 10 or the array bracket 91. Of course, the elastic pretensioner 60 can also be further compressed, thereby changing the gap width between the secondary pressure seat 52 and the end of the elastic pretensioner 60 that is relatively closer to the secondary pressure seat 52, and thus changing the clamping pressure of the secondary pressure seat 52 and the elastic pretensioner 60 on the other of the mounting units 10 or the array bracket 91.

[0108] When the user moves the control component 70, reducing the distance between the main pressure seat 51 and the secondary pressure seat 52 to the shortest point of the elastic pretensioner 60, the elastic pretensioner 60 can no longer compress and deform. At this time, the main pressure seat 51 and the secondary pressure seat 52 are in a fully locked state, and a fixed connection is established between them. The main pressure seat 51 and the elastic pretensioner 60 are now completely fixedly clamping one of the mounting unit 10 or the array bracket 91, and the secondary pressure seat 52 and the elastic pretensioner 60 are also now completely fixedly clamping the other of the mounting unit 10 or the array bracket 91.

[0109] In the pre-locked state, even if the user widens the gap between the main pressure seat 51 and the elastic pretensioner 60 and attempts to move one of the mounting units 10 or the array bracket 91 relative to the main pressure seat 51, the other end of the elastic pretensioner 60 and the secondary pressure seat 52 can still fix the other of the mounting units 10 or the array bracket 91, thereby allowing the user to adjust the relative position and attitude between the locking mechanism 200 and the array positioning mechanism 100 or the tracer 300. Similarly, even if the user widens the gap between the secondary pressure seat 52 and the elastic pretensioner 60 and attempts to move one of the mounting units 10 or the array bracket 91 relative to the secondary pressure seat 52, the other end of the elastic pretensioner 60 and the main pressure seat 51 can still fix the other of the mounting units 10 or the array bracket 91. The user only needs to overcome the elastic resistance of the elastic pretensioner 60.

[0110] It should be noted that the gap between one end of the elastic pretensioner 60 and the main pressure seat 51, and between the other end of the elastic pretensioner 60 and the auxiliary pressure seat 52, are not necessarily adjustable. In some embodiments, the main pressure seat 51 and the elastic pretensioner 60 can be completely fixedly connected, or the auxiliary pressure seat 52 and the elastic pretensioner 60 can also be completely fixedly connected, as long as it is ensured that at least one end of the elastic pretensioner 60 can change the gap between itself and the main pressure seat 51 or the auxiliary pressure seat 52 through the expansion and contraction of the elastic pretensioner 60, so as to change the clamping pressure of the elastic pretensioner 60 and the main pressure seat 51, or the elastic pretensioner 60 and the auxiliary pressure seat 52 on the mounting unit 10 or the array bracket 91. When the clamping pressure increases, the mounting unit 10 or the array bracket 91 is fixed to the locking mechanism 200. When the clamping pressure decreases, the mounting unit 10 or the array bracket 91 can move relative to the locking mechanism 200 to change the position and orientation of the array positioning mechanism 100 or the tracer 300 relative to the locking mechanism 200.

[0111] Optionally, when the main pressure seat 51 and the auxiliary pressure seat 52 are in a fully locked state and fixedly connected, not only is the length from one end of the elastic pretensioner 60 to the other end of the elastic pretensioner 60 reduced to its shortest length, but the two ends of the elastic pretensioner 60 are also fixedly connected.

[0112] Specifically, please refer to Figure 3 and Figure 4In some embodiments, the control member 70 includes a rod 71 fixedly connected as a single unit and an anti-detachment end 72. The anti-detachment end 72 protrudes from the outer peripheral wall of the rod 71. The end of the rod 71 furthest from the anti-detachment end 72 is threaded, forming a screw section. The rod 71 passes through the main pressure seat 51 and extends into the secondary pressure seat 52 after extending out of the main pressure seat 51. Finally, the screw section forms a threaded engagement with the secondary pressure seat 52. The anti-detachment end 72 abuts against the end of the main pressure seat 51 furthest from the secondary pressure seat 52. The user can apply a rotational torque to the control member 70, causing it to move helically relative to the main pressure seat 51 and the secondary pressure seat 52. As the threaded engagement depth between the rod 71 and the secondary pressure seat 52 increases, the anti-detachment end 72 pushes the main pressure seat 51 closer to the secondary pressure seat 52, thereby reducing the distance between the main pressure seat 51 and the secondary pressure seat 52. When the user rotates the control component 70 in the opposite direction, reducing the thread engagement depth between the rod 71 and the auxiliary pressure seat 52, the anti-disengagement end 72 gradually moves away from the auxiliary pressure seat 52, allowing the main pressure seat 51 to move relatively away from the auxiliary pressure seat 52.

[0113] Furthermore, the elastic preload 60 includes a second elastic element 63, and a main pressure plate 61 and a secondary pressure plate 62 respectively disposed at both ends of the second elastic element 63. The main pressure plate 61 is rotatable relative to the second elastic element 63 along the circumferential direction of the line connecting the two ends of the second elastic element 63, and the secondary pressure plate 62 is rotatable relative to the second elastic element 63 along the circumferential direction of the line connecting the two ends of the second elastic element 63. The main pressure plate 61 is located at the end of the second elastic element 63 that is relatively close to the main pressure seat 51, and the secondary pressure plate 62 is located at the end of the second elastic element 63 that is relatively close to the secondary pressure seat 52. The side of the main pressure plate 61 facing away from the secondary pressure plate 62 and the second elastic element 63 clamps one of the extension member 13 or the connecting rod 911 with the main pressure seat 51, and the side of the secondary pressure plate 62 facing away from the main pressure plate 61 and the second elastic element 63 clamps the other of the extension member 13 or the connecting rod 911 with the secondary pressure seat 52. The main pressure plate 61 has multiple meshing teeth 64 on the side closer to the secondary pressure plate 62, and the secondary pressure plate 62 has multiple meshing teeth 64 on the side closer to the main pressure plate 61. When the length of the elastic preload 60 is compressed to its shortest length, the main pressure plate 61 and the secondary pressure plate 62 are fixedly connected by the interlocking teeth 64.

[0114] Optionally, the second elastic element 63 is a telescopic spring sleeved on the rod body 71. Both the main pressure plate 61 and the secondary pressure plate 62 are rotatably sleeved on the rod body 71. At the same time, the main pressure plate 61 has a first annular receiving groove on the side closer to the secondary pressure plate 62, which is connected to the through hole of the main pressure plate 61. The secondary pressure plate 62 has a second annular receiving groove on the side closer to the main pressure plate 61, which is connected to the through hole of the secondary pressure plate 62.

[0115] Furthermore, a plurality of engagement teeth 64 located on the side of the main pressure plate 61 near the secondary pressure plate 62 extend in a reflective manner around the axis of the rod 71 and are arranged at intervals around the rod 71, thereby forming a plurality of engagement grooves extending radially along the rod 71 between the plurality of engagement teeth 64. Similarly, a plurality of engagement teeth 64 located on the side of the secondary pressure plate 62 near the main pressure plate 61 extend radially around the axis of the rod 71 and are arranged at intervals around the rod 71, thereby forming a plurality of engagement grooves extending radially along the rod 71 between the plurality of engagement teeth 64.

[0116] Furthermore, one end of the second elastic element 63 extends into the first receiving groove and can rotate relative to the main pressure plate 61 around the axis of the rod 71. The other end of the second elastic element 63 extends into the second receiving groove and can rotate relative to the auxiliary pressure plate 62 around the axis of the rod 71. Therefore, the main pressure plate 61 and the auxiliary pressure plate 62 can rotate relative to each other around the circumference of the rod 71. After they rotate to a suitable angle, the length of the elastic preload 60 is compressed, so that the main pressure plate 61 and the auxiliary pressure plate 62 are engaged and fixed by the meshing teeth 64, thereby restricting the degree of freedom of the main pressure plate 61 and the auxiliary pressure plate 62 to rotate relative to each other around the circumference of the rod 71.

[0117] The two ends of the second elastic element 63 extend into the first and second receiving grooves and abut against the bottom walls of the first and second receiving grooves, respectively. Therefore, the two ends of the second elastic element 63 actually abut against the main pressure plate 61 and the secondary pressure plate 62, respectively, and have elastic deformation potential energy to push the main pressure plate 61 closer to the main pressure seat 51 and to push the secondary pressure plate 62 closer to the secondary pressure seat 52. (See reference...) Figure 4 When the main pressure seat 51 and the auxiliary pressure seat 52 are in a fully locked state and fixedly connected, the meshing teeth 64 of the main pressure plate 61 and the meshing teeth 64 of the auxiliary pressure plate 62 are engaged and fixed in a concave-convex fit. The first accommodating recess and the second accommodating recess together form a relatively closed space to accommodate all the second elastic elements 63. As the threaded engagement depth between the rod body 71 and the auxiliary pressure seat 52 decreases, the second elastic element 63 elongates and deforms, causing the main pressure plate 61 to abut against the main pressure seat 51 and move away from the auxiliary pressure plate 62 along with the main pressure seat 51. It also causes the auxiliary pressure plate 62 to abut against the auxiliary pressure seat 52 and move away from the main pressure plate 61 along with the auxiliary pressure seat 52, so as to quickly fill the increase in distance caused by the main pressure seat 51 and the auxiliary pressure seat 52 moving away from each other.

[0118] Optionally, a first clamping hole 531 is formed between the side of the main pressure plate 61 away from the secondary pressure plate 62 and the second elastic element 63 and the main pressure seat 51, through which the extension member 13 passes. A second clamping hole 532 is formed between the side of the secondary pressure plate 62 away from the main pressure plate 61 and the second elastic element 63 and the secondary pressure seat 52, through which the connecting rod 911 passes. The first clamping hole 531 and the second clamping hole 532 can be cylindrical holes or conical holes.

[0119] When the first clamping hole 531 and the second clamping hole 532 are both cylindrical holes, the extension 13 can rotate circumferentially within the first clamping hole 531 and move axially within the first clamping hole 531. Similarly, the connecting rod 911 can rotate circumferentially within the second clamping hole 532 and move axially within the second clamping hole 532.

[0120] Optionally, the main pressure seat 51 and the main pressure plate 61 can be kept relatively fixed in the circumferential direction of the rod 71, and then the two as a whole can rotate together in the circumferential direction of the rod 71 relative to the rod 71, thereby changing their position relative to the secondary pressure seat 52 and the secondary pressure plate 62. Similarly, the secondary pressure plate 62 and the secondary pressure seat 52 can be kept relatively fixed in the circumferential direction of the rod 71, and then the two as a whole can rotate together in the circumferential direction of the rod 71 relative to the rod 71, thereby changing their position relative to the main pressure seat 51 and the main pressure plate 61.

[0121] Specifically, please refer to Figure 3 , Figure 4 and Figure 5 The main pressure plate 61 includes a first anti-rotation fitting part 611 located outside the axis of the rod 71. The first anti-rotation fitting part 611 extends towards the main pressure seat 51 and inserts into the main pressure seat 51, thereby forming a fixed fit with the main pressure seat 51. The secondary pressure plate 62 includes a second anti-rotation fitting part 621 located outside the axis of the rod 71. The second anti-rotation fitting part 621 extends towards the secondary pressure seat 52 and inserts into the secondary pressure seat 52, thereby forming a fixed fit with the secondary pressure seat 52. The first anti-rotation fitting part 611 restricts the main pressure plate 61 and the main pressure seat 51 from rotating relative to each other around the rod 71. The second anti-rotation fitting part 621 restricts the secondary pressure plate 62 and the secondary pressure seat 52 from rotating relative to each other around the rod 71. This ensures that the extension 13 and the connecting rod 911 can be stably and firmly clamped and fixed.

[0122] Of course, in other embodiments, the first anti-rotation fitting part 611 and the second anti-rotation fitting part 621 may not be provided. In this case, the personnel can first loosen the rod body 71 and the auxiliary pressure seat 52 to switch the elastic pre-tightening member 60 to a state that can stretch and deform. At this time, the main pressure seat 51 and the auxiliary pressure seat 52 are in a pre-locked connection state. Then, the personnel can rotate the main pressure seat 51 and the main pressure plate 61 respectively, or rotate the auxiliary pressure seat 52 and the auxiliary pressure plate 62 respectively. This can also form a clamping gap or clamping hole 53 between the main pressure seat 51 and the main pressure plate 61, and between the auxiliary pressure seat 52 and the auxiliary pressure plate 62.

[0123] Optional, see below Figures 3-4The control unit 70 also includes a control handwheel 73 fixedly connected to the end of the anti-detachment end 72 that is relatively far away from the rod body 71. The control handwheel 73 can be directly operated by the user to apply a rotational torque to the control unit 70.

[0124] The following description, with reference to the accompanying drawings, illustrates the adjustment and usage process of the locking mechanism 200. (See attached diagram.) Figure 5 , Figure 8 When the main pressure seat 51 and the auxiliary pressure seat 52 are in a pre-locked connection state, the user can drive the main pressure seat 51 and the main pressure plate 61 to rotate relative to the auxiliary pressure seat 52 along the circumference of the rod 71, or drive the auxiliary pressure seat 52 and the auxiliary pressure plate 62 to rotate relative to the main pressure seat 51 along the circumference of the rod 71. Thus, the array positioning mechanism 100 and the tracer 300 can rotate relative to each other along the circumference of the rod 71.

[0125] See Figures 6-7 Similarly, when the main pressure seat 51 and the auxiliary pressure seat 52 are in the pre-locked connection state, the user can overcome the elastic resistance of the elastic pre-tightening member 60 and drive the extension member 13 to move axially in the second clamping round hole 532, thereby changing the relative position of the array positioning mechanism 100 and the tracer 300 in the axial direction of the extension member 13, or drive the extension member 13 to rotate circumferentially in the second clamping round hole 532, thereby changing the relative position of the array positioning mechanism 100 and the tracer 300 in the circumferential direction of the extension member 13.

[0126] Of course, the user can also move the connecting rod 911 axially in the first clamping hole 531, thereby changing the relative position of the array positioning mechanism 100 and the tracer 300 in the axial direction of the connecting rod 911, or drive the connecting rod 911 to rotate circumferentially in the first clamping hole 531, thereby changing the relative position of the array positioning mechanism 100 and the tracer 300 in the axial direction of the connecting rod 911.

[0127] Optionally, the axis of the first clamping hole 531 and the axis of the second clamping hole 532 are both perpendicular to the axis of the rod 71.

[0128] Optionally, in some embodiments, the locking mechanism 200 further includes an anti-loosening nut 80 mounted on the secondary pressure seat 52. A portion of the anti-loosening nut 80 extends into the secondary pressure seat 52 and is threadedly fixed to the threaded section of the rod body 71. The other portion of the anti-loosening nut 80 forms a cover, which abuts against the outer wall of the secondary pressure seat 52. The anti-loosening nut 80 can further improve the connection reliability between the control member 70 and the secondary pressure seat 52. In particular, when the main pressure seat 51 and the secondary pressure seat 52 are in a fully locked connection state, the anti-loosening nut 80 can lock the control member 70 through threaded engagement, preventing the threaded connection between the control member 70 and the secondary pressure seat 52 from failing or slipping, thereby preventing the array positioning mechanism 100 and the tracer 300 from accidentally moving relative to each other.

[0129] The technical features of the above-described embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any appropriate changes and variations made to the above embodiments within the essential spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An array positioning mechanism, characterized in that, Includes a mounting unit (10), a first clamping arm (21) rotatably connected to the mounting unit (10), and a second clamping arm (22) connected to the mounting unit (10), wherein a clamping opening is formed between the first clamping arm (21) and the second clamping arm (22), wherein: The array positioning mechanism further includes a drive member (31) slidably mounted on the mounting unit (10). The drive member (31) is connected to the first clamping arm (21) and is configured to slide along a preset direction and at least drive the first clamping arm (21) to rotate to reduce the opening of the clamping opening, and to slide in the opposite direction along the preset direction to allow the first clamping arm (21) to rotate and expand the opening of the clamping opening. The mounting unit (10) includes a guide (11), and the array positioning mechanism further includes an adjusting member (32) that is threadedly engaged with the guide (11); The drive member (31) is recessed to form a receiving groove (314), and a stop block (315) is protruding from the side wall of the receiving groove (314). The adjusting member (32) includes an anti-detachment part (321) located in the receiving groove (314). One end of the anti-detachment part (321) is larger than the opening formed by the stop block (315) and extends to the side of the stop block (315) facing the bottom wall of the receiving groove (314). The drive member (31) moves in tandem with the adjustment member (32) to drive the first clamping arm (21) to rotate and reduce the opening of the clamping opening.

2. The array positioning mechanism according to claim 1, characterized in that, The mounting unit (10) is also fixed to a seat (12) at one end of the guide (11). The first clamping arm (21) and the second clamping arm (22) are both hinged to the seat (12). The driving member (31) moves close to the seat (12) following the adjusting member (32) to drive the first clamping arm (21) to rotate and reduce the opening of the clamping opening.

3. The array positioning mechanism according to claim 2, characterized in that, The array positioning mechanism further includes an anti-rotation member (42), which is connected to one of the driving member (31) and the guide member (11). The other of the driving member (31) and the guide member (11) has an anti-rotation groove (112) which extends along the axial direction of the guide member (11). At least part of the anti-rotation member (42) is slidably disposed in the anti-rotation groove (112).

4. The array positioning mechanism according to claim 3, characterized in that, The driving member (31) is sleeved on the guide member (11), the anti-rotation groove (112) is opened on the outer peripheral wall of the guide member (11), and the anti-rotation member (42) is detachably inserted into the driving member (31) and protrudes from the inner side wall of the driving member (31) to extend into the anti-rotation groove (112).

5. The array positioning mechanism according to claim 1, characterized in that, The adjusting member (32) also includes a rotating handwheel (322) sleeved on the guide member (11). The rotating handwheel (322) is located outside the receiving groove (314) and is fixedly connected to the other end of the anti-detachment part (321) that is relatively far away from the bottom wall of the receiving groove (314).

6. The array positioning mechanism according to claim 1, characterized in that, The first clamping arm (21) has a first clamping block (211) and a first sliding contact (212) at its two ends respectively. The middle part between the two ends of the first clamping arm (21) is hinged to the mounting unit (10). The driving member (31) includes a driving inclined surface for the first sliding contact (212) to slide against and a movable adapter (316) adapted to the mounting unit (10). The trajectory formed by the movable adapter (316) sliding along the preset direction forms an angle between the driving inclined surface and the opening of the clamping opening.

7. The array positioning mechanism according to claim 6, characterized in that, The second clamping arm (22) has a second clamping block (221) and a second sliding contact (222) at its two ends respectively. The middle part between the two ends of the second clamping arm (22) is hinged to the mounting unit (10). The driving member (31) includes a first driving inclined surface (311) and a second driving inclined surface (312). The first driving inclined surface (311) and the second driving inclined surface (312) form an angle with the opening facing away from the clamping opening. The two slide against the first sliding contact (212) and the second sliding contact (222) respectively.

8. The array positioning mechanism according to claim 7, characterized in that, The mounting unit (10) includes a guide (11) and a seat (12) fixed to one end of the guide (11). The first driving inclined surface (311) and the second driving inclined surface (312) are symmetrically arranged about the axis of the guide (11). The preset direction is along the axis of the guide (11) and close to the seat (12). The first clamping arm (21) and the second clamping arm (22) are both hinged to the seat (12) and are symmetrically arranged about the axis of the guide (11).

9. The array positioning mechanism according to claim 1, characterized in that, The first clamping arm (21) includes a first clamping block (211), the second clamping arm (22) includes a second clamping block (221), the clamping opening is formed between the first clamping block (211) and the second clamping block (221), the first clamping block (211) is provided with a plurality of clamping protrusions (23) arranged in rows on the side near the second clamping block (221); and / or, the second clamping block (221) is provided with a plurality of clamping protrusions (23) arranged in rows on the side near the first clamping block (211).

10. The array positioning mechanism according to claim 1, characterized in that, The array positioning mechanism further includes a first elastic element (41) mounted on the mounting unit (10), one end of the first elastic element (41) being connected to the first clamping arm (21), and the first elastic element (41) having elastic potential energy to drive the first clamping arm (21) to rotate to expand the clamping opening; and / or, The installation unit (10) includes a guide (11) and a limiting structure (14) protruding from the guide (11). The driving member (31) is slidably installed on the guide (11). The driving member (31) slides along the guide (11) in the preset direction to approach the limiting structure (14) until it abuts against the limiting structure (14).

11. The array positioning mechanism according to claim 10, characterized in that, The array positioning mechanism further includes a first elastic element (41) installed on the mounting unit (10), and the second clamping arm (22) is rotatably connected to the mounting unit (10). The two ends of the first elastic element (41) are respectively connected to the first clamping arm (21) and the second clamping arm (22). The first elastic element (41) has elastic potential energy to drive the first clamping arm (21) and the second clamping arm (22) to rotate to expand the clamping opening.

12. An auxiliary navigation and positioning device, characterized in that, The array positioning mechanism as described in any one of claims 1-11 further includes a locking mechanism (200) and a tracer (300), the locking mechanism (200) being mounted on the mounting unit (10), and the tracer (300) including an array bracket (91) mounted on the locking mechanism (200) and a reflective element (92) mounted on the array bracket (91).

13. The auxiliary navigation and positioning device according to claim 12, characterized in that, The locking mechanism (200) includes a main pressure seat (51), a secondary pressure seat (52), and an elastic pre-tightening member (60) connecting the main pressure seat (51) and / or the secondary pressure seat (52). The main pressure seat (51) and the secondary pressure seat (52) have at least a pre-locked state and a fully locked state. When the main pressure seat (51) and the auxiliary pressure seat (52) are connected in the pre-locked state, the elastic pre-tightening member (60) has a deformation allowance to allow the gap width between the elastic pre-tightening member (60) and the main pressure seat (51) to change. When the main pressure seat (51) and the auxiliary pressure seat (52) are connected in the fully locked state, the elastic pre-tightening member (60) is relatively fixed to the main pressure seat (51) and clamps one of the mounting unit (10) or the array bracket (91).

14. The auxiliary navigation and positioning device according to claim 13, characterized in that, When the main pressure seat (51) and the secondary pressure seat (52) are connected in the pre-locked state, the elastic pre-tightening member (60) can elastically deform to allow the gap width between the elastic pre-tightening member (60) and the secondary pressure seat (52) to change. When the main pressure seat (51) and the secondary pressure seat (52) are connected in the fully locked state, the elastic pre-tightening member (60) and the secondary pressure seat (52) are relatively fixed and clamp the other of the mounting unit (10) or the array bracket (91).

15. The auxiliary navigation and positioning device according to claim 14, characterized in that, When the main pressure seat (51) and the auxiliary pressure seat (52) are connected in the pre-locked state, the two ends of the elastic pre-tightening member (60) can retract to approach or extend away. When the main pressure seat (51) and the auxiliary pressure seat (52) are connected in the fully locked state, the length of the elastic pre-tightening member (60) is retracted to the shortest, and the two ends of the elastic pre-tightening member (60) are fixedly connected.

16. The auxiliary navigation and positioning device according to claim 14, characterized in that, The elastic pretensioner (60) has a main pressure plate (61) and a secondary pressure plate (62) at both ends. The main pressure plate (61) is used to connect one of the mounting unit (10) or the array bracket (91), and the secondary pressure plate (62) is used to connect the other of the mounting unit (10) or the array bracket (91). The main pressure plate (61) and the secondary pressure plate (62) are each provided with a meshing tooth (64) on the side close to each other. When the length of the elastic pretensioner (60) is contracted to its shortest, the main pressure plate (61) and the secondary pressure plate (62) are engaged and fixed by the meshing tooth (64).

17. The auxiliary navigation and positioning device according to claim 13, characterized in that, The auxiliary navigation and positioning device also includes a control element (70), which passes through and connects to the main pressure seat (51) and is threadedly engaged with the secondary pressure seat (52). The control element (70) moves spirally relative to the secondary pressure seat (52) to drive the main pressure seat (51) to move closer to or away from the secondary pressure seat (52), so that the main pressure seat (51) and the secondary pressure seat (52) switch between the pre-locked state and the fully locked state.

18. The auxiliary navigation and positioning device according to claim 17, characterized in that, The elastic preload (60) is sleeved on the control member (70); and / or, The two ends of the elastic pretensioner (60) elastically abut against the main pressure seat (51) and the secondary pressure seat (52) respectively. The control member (70) includes a rod (71) and an anti-disengagement end (72). The rod (71) passes through the main pressure seat (51) and is threadedly engaged with the secondary pressure seat (52). The anti-disengagement end (72) protrudes from the outer peripheral wall of the rod (71) and abuts against the side of the main pressure seat (51) that is relatively far away from the elastic pretensioner (60) and the secondary pressure seat (52).

19. The auxiliary navigation and positioning device according to claim 13, characterized in that, The elastic preload (60) has a clamping hole (53) formed between its end near the main pressure seat (51) and the main pressure seat (51), the clamping hole (53) allowing the mounting unit (10) or the array bracket (91) to pass through; and / or, The elastic preload (60) has a clamping hole (53) formed between its end near the sub-pressure seat (52) and the sub-pressure seat (52), through which the mounting unit (10) or the array bracket (91) passes.

20. The auxiliary navigation and positioning device according to claim 13, characterized in that, The elastic preload (60) includes a second elastic element (63) and a main pressure plate (61) and a secondary pressure plate (62) respectively connected to both ends of the second elastic element (63). The main pressure plate (61) and the secondary pressure plate (62) are rotatably disposed relative to each other along the circumference of the second elastic element (63). The main pressure plate (61) includes a first anti-rotation fitting part (611) fixedly adapted to the main pressure seat (51), and the secondary pressure plate (62) includes a second anti-rotation fitting part (621) fixedly adapted to the secondary pressure seat (52).

21. The auxiliary navigation and positioning device according to claim 13, characterized in that, The auxiliary navigation and positioning device further includes a control component (70), the main pressure seat (51) and the auxiliary pressure seat (52) are sleeved on the control component (70) and are rotatable relative to each other along the circumference of the control component (70). The elastic pretensioner (60) has a main pressure plate (61) at one end near the main pressure seat (51) and an auxiliary pressure plate (62) at the other end near the auxiliary pressure seat (52). The main pressure plate (61) and the auxiliary pressure plate (62) are rotatable relative to each other along the circumference of the control component (70).

22. An orthopedic surgical instrument, characterized in that, Includes the auxiliary navigation and positioning device as described in any one of claims 12-21.

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