Reference frame fixing device

Abstract

This invention relates to the field of medical device technology and discloses a reference frame fixation device, including a bone clip, a reference frame, and a stabilizer assembly. The bone clip includes a first clamping part, a second clamping part, and a first knob, with a toothed sleeve on the second clamping part. The reference frame includes a frame body, a marker ball, and a connecting rod. The stabilizer assembly includes a locking shaft installed inside the toothed sleeve, a locking sleeve fitted outside the locking shaft, a second knob fitted outside the locking sleeve, and an elastic element abutting between the locking shaft and the second knob. The connecting rod passes laterally through the locking shaft and the locking sleeve. A second tooth on the locking sleeve engages with a first tooth on the toothed sleeve to adjust the circumferential position of the locking sleeve relative to the toothed sleeve. A threaded rod inside the second knob is threadedly connected to the locking shaft. By rotating the second knob, the end of the threaded rod abuts against the connecting rod, and the second tooth abuts against the first tooth. This invention eliminates the need for bone pin puncture, resulting in minimal trauma, easy assembly and disassembly, and reliable fixation. It offers multiple degrees of adjustment, a simple structure, and ease of manufacturing.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a reference frame fixing device. Background Technology

[0002] In orthopedic surgery, especially spinal surgery, a navigation reference frame is needed to locate and track the patient's surgical site and instruments in order to accurately track patient displacement or changes in bone structure, thereby guiding the surgical procedure.

[0003] Traditional navigation reference frames are fixed to the bones near the affected area by puncturing bone needles. The bone needles are fastened to the reference frame connecting rod by two clamping screws. This reference frame fixing device can achieve two degrees of freedom adjustment of the reference frame, namely, up and down movement and left and right rocking.

[0004] The aforementioned reference frame fixation device has the following drawbacks: 1) Bone needle puncture causes significant surgical trauma and bleeding to the patient, hindering postoperative recovery; 2) Inconvenient assembly and disassembly, prolonging surgical time, and requiring extensive preoperative training for inexperienced surgeons to master installation and positioning techniques; 3) Insecure fixation between the reference frame and the bone, easily affecting positioning; 4) Limited adjustability and low flexibility, hindering orientation adjustment and more precise positioning; 5) Numerous small components, many of which can be disassembled and separated from the overall device. These components are prone to falling off and becoming contaminated with bacteria during assembly and disassembly, compromising aseptic surgical procedures. Furthermore, their small size makes them easily lost within the patient's body, posing a significant risk to the surgery; 6) The reference frame fixation device has a complex structure and is difficult to manufacture.

[0005] Therefore, there is an urgent need for a reference frame fixing device to solve the above-mentioned technical problems. Summary of the Invention

[0006] Based on the above, the purpose of this invention is to provide a reference frame fixation device that does not require bone needle puncture, is safe with minimal bleeding, is easy to install and disassemble, is firmly and reliably fixed, has a wide range of adjustable degrees of freedom, has a simple structure, and is easy to manufacture.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A reference frame fixing device includes a bone clip, a reference frame, and a stabilizer assembly. The bone clip includes a first clamping part and a second clamping part rotatably connected by a rotating shaft. The top of the second clamping part is provided with a first knob for locking the first clamping part and the second clamping part. The second clamping part is also provided with a toothed sleeve, the end face of which is provided with a first tooth. The reference frame includes a frame body, a marker ball fixed to the frame body, and a connecting rod connected to the bottom of the frame body. The stabilizer assembly includes a locking shaft, a locking sleeve, a second knob, and an elastic element. One end of the locking shaft is movably installed in the toothed sleeve, and the other end is sleeved in the locking sleeve. The connecting rod extends laterally through the reference frame. The locking shaft and the locking sleeve are provided; the end face of the locking sleeve is provided with a second tooth, which cooperates with the first tooth to adjust the circumferential position of the locking sleeve relative to the toothed sleeve; a second knob is sleeved on the outside of the locking sleeve, and a threaded rod is provided inside the second knob, which is axially threadedly connected to the locking shaft; an elastic element is installed in the inner cavity of the locking sleeve and the second knob, and the two ends of the elastic element abut against the locking shaft and the second knob respectively, and the elastic element is sleeved on the threaded rod; by rotating the second knob, the end of the threaded rod can be pressed against the connecting rod, and the second tooth abuts against the first tooth.

[0009] As an alternative to the reference frame fixing device, the top of the first clamping part is provided with an inclined surface. By tightening the first knob, the bottom end of the first knob is pressed against the inclined surface, which can generate a torque that clamps the object to be clamped relative to the rotation axis.

[0010] As an optional solution for the reference frame fixing device, one end of the locking shaft is provided with a first limiting part, and the inner cavity of the toothed sleeve is provided with a second limiting part. The first limiting part and the second limiting part cooperate to limit the position of the locking shaft relative to the toothed sleeve; and / or,

[0011] The second knob is provided with a third limiting part, and one end of the locking sleeve is provided with a fourth limiting part. The third limiting part and the fourth limiting part cooperate to limit the position of the second knob relative to the locking sleeve.

[0012] As an alternative to the reference frame fixing device, when the threaded rod reaches its limit position along the thread loosening direction, the locking shaft is still threadedly connected to the threaded rod.

[0013] As an alternative to the reference frame fixing device, the connecting rod is threaded to the frame body and fixed by a fixing pin passing through the frame body and the connecting rod; and / or,

[0014] The bone clip also includes a knob anti-disengagement pin, which is fixed to the second clamping part to prevent the first knob from being screwed out of the second clamping part along the loosening direction of the thread.

[0015] As an optional solution for the reference frame fixing device, the locking shaft is provided with a first limiting hole, the locking sleeve is provided with a second limiting hole, the connecting rod passes through both the first limiting hole and the second limiting hole, and the first limiting hole is an oblong hole.

[0016] As an alternative to the reference frame fixing device, the clamping surfaces of both the first clamping part and the second clamping part are provided with a pyramidal structure.

[0017] As an alternative to the reference frame fixing device, the elastic element is a compression spring.

[0018] As an alternative to the reference frame fixing device, the second knob and the threaded rod are fixed together by welding; and / or, the two ends of the rotating shaft are fixed to the second clamping part by welding.

[0019] As an optional solution for the reference frame fixing device, the frame is provided with a plurality of marker balls, which are asymmetrically distributed with respect to the center of the frame. The distance from each marker ball to the center of the frame is different, and the angle between the line connecting each marker ball to the center of the frame and the connecting rod is different.

[0020] The beneficial effects of this invention are as follows:

[0021] The reference frame fixation device provided by this invention uses bone clips to connect and fix the reference frame to the human skeleton. It eliminates the need for bone pin puncture, minimizes bleeding, reduces patient trauma, and facilitates postoperative recovery. During operation, the skeleton is first clamped by the first and second clamping parts, and then locked in place using the first knob, thereby firmly fixing the human skeleton to the reference frame. This ensures the stability, reliability, and high precision of the surgical procedure, improving the success rate. Furthermore, the fixation device is quick and easy to install and remove, and the position of the reference frame can be flexibly adjusted.

[0022] This invention, by tightening the second knob, allows the end of the threaded rod to abut against the connecting rod, and the second tooth on the locking sleeve to abut against the first tooth on the toothed sleeve, thus firmly locking the position of the reference frame. By loosening the second knob, the end of the threaded rod separates from the connecting rod, and the second tooth separates from the first tooth. At this point, the connecting rod can move along its own axis, rotate around its own axis, and also rotate around the axis of the locking sleeve, thereby achieving adjustment of the reference frame's longitudinal position, deflection angle, and pitch angle—three degrees of freedom—and enabling precise positioning and navigation of the reference frame. The entire reference frame fixing device of this invention has a simple structure and is easy to manufacture. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the reference frame fixing device provided in an embodiment of the present invention;

[0024] Figure 2 This is an exploded view of the reference frame fixing device provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the bone clip structure of the reference frame fixation device provided in an embodiment of the present invention;

[0026] Figure 4 This is a perspective view of the bone clip of the reference frame fixation device provided in an embodiment of the present invention;

[0027] Figure 5 This is a cross-sectional view of the bone clip of the reference frame fixation device provided in an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the frame of the reference frame fixing device provided in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the stabilizer assembly of the reference frame fixing device provided in an embodiment of the present invention;

[0030] Figure 8 This is an exploded view of the stabilizer assembly of the reference frame fixing device provided in an embodiment of the present invention;

[0031] Figure 9 This is a cross-sectional view of the stabilizer assembly and connecting rod in the locked state of the reference frame fixing device provided in the embodiment of the present invention;

[0032] Figure 10 This is a cross-sectional view of the stabilizer assembly and connecting rod in the loosened state of the reference frame fixing device provided in the embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the locking shaft in the reference frame fixing device provided in an embodiment of the present invention.

[0034] The attached figures are labeled as follows:

[0035] 1-Bone clip; 11-First clamping part; 111-Inclined surface; 12-Second clamping part; 13-Rotation axis; 14-First knob; 15-Gear sleeve; 151-First tooth; 152-Second limiting part; 16-Knob anti-disengagement pin; 17-Pyramidal structure;

[0036] 2-Reference frame; 21-Frame body; 211-Frame body center; 212-Connecting rod; 213-Marker ball mounting seat; 22-Marker ball; 23-Connecting rod; 24-Fixing pin; 25-Support pin;

[0037] 3-Stabilizer assembly; 31-Locking shaft; 311-First limiting part; 312-First limiting hole; 32-Locking sleeve; 321-Second tooth; 322-Fourth limiting part; 323-Second limiting hole; 33-Second knob; 331-Third limiting part; 34-Elastic element; 35-Threaded rod. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0042] This embodiment provides a reference frame fixation device for use in orthopedic surgical navigation systems, particularly during spinal surgery performed by a robotic surgery robot, to track the surgical site and surgical instruments. This reference frame fixation device eliminates the need for bone pin puncture, minimizes bleeding, is easy to install and disassemble, provides a secure and reliable fixation, offers multiple degrees of adjustment for the reference frame, and has a simple structure that is easy to manufacture.

[0043] like Figures 1-11 As shown, the reference frame fixing device in this embodiment includes a bone clip 1, a reference frame 2, and a stabilizer assembly 3. The bone clip 1 is used to stably fix the reference frame 2 to the human skeleton in the surgical area, and the stabilizer assembly 3 is used to adjust the position and posture of the reference frame 2. The bone clip 1 includes a first clamping part 11, a second clamping part 12, a rotating shaft 13, a first knob 14, and a toothed sleeve 15. The first clamping part 11 and the second clamping part 12 are rotatably connected by the rotating shaft 13 to adjust the opening and closing angle of the bone clip 1. The first knob 14 is threaded to the top of the second clamping part 12. By tightening the first knob 14, the positions of the first clamping part 11 and the second clamping part 12 can be locked to clamp the human skeleton. This embodiment replaces the traditional bone needle puncture with the clamping method of the bone clip 1, which, while satisfying the clamping firmness, results in less trauma and is easy to assemble, move, and disassemble. Preferably, the clamping portions 11 and 12, along with the bone clamping portions, are further provided with a pyramidal structure 17. The pyramidal structure 17 makes the clamping of the bone clip 1 more secure and conforms better to the bone and muscles, thereby improving the fixation effect of the reference frame 2. More preferably, the pyramidal structure 17 in this embodiment is a regular square pyramidal structure. In this embodiment, a toothed sleeve 15 is disposed on the second clamping portion 12. The axial direction of the toothed sleeve 15 is preferably parallel to the clamping direction of the first clamping portion 11 and the second clamping portion 12. The toothed sleeve 15 is used to install the stabilizer assembly 3. The end face of the toothed sleeve 15 is provided with a first tooth 151 for engaging with the structure in the stabilizer assembly 3. Preferably, in this embodiment, the toothed sleeve 15 and the second clamping portion 12 are an integral structure, which is convenient to operate and avoids secondary installation and assembly errors.

[0044] The reference frame 2 includes a frame body 21, marker balls 22 fixed to the frame body 21, and connecting rods 23 connected to the bottom of the frame body 21. Exemplarily, the marker ball 21 is an NDI reflective ball that reflects infrared light to provide feedback on the position of the reference frame 2 to the infrared tracking system, enabling positioning and navigation of the reference frame 2. Preferably, the frame body 21 has a cross-shaped structure, including connecting rods 212 extending from the center 211 of the frame body to the four corners. Each connecting rod 212 has a marker ball mounting seat 213 at its end, and the four marker balls 22 are respectively fixed in their corresponding marker ball mounting seats 213 by support pins 25. Specifically, both ends of the support pins 25 have threaded portions. The marker ball 22 is threaded to one end of the support pin 25, and the other end of the support pin 25 is threaded to the marker ball mounting seat 213. In this embodiment, the reference frame 2 adopts a cross-shaped structure. Compared with the traditional butterfly-shaped reference frame, the position determination method of the marker ball 22 is more accurate, and the structure of the reference frame 2 is simpler. More preferably, the four marker balls 22 are asymmetrically distributed relative to the center 211 of the frame. Specifically, the distance from each marker ball 22 to the center 211 of the frame is different, and the angle between the line connecting each marker ball 22 to the center 211 of the frame and the connecting rod 23 is also different. The above-mentioned asymmetrical structure design can better ensure the accuracy of the manufacturing and testing of the reference frame 2.

[0045] The stabilizer assembly 3 includes a locking shaft 31, a locking sleeve 32, a second knob 33, and an elastic element 34. One end of the locking shaft 31 is movably mounted in the inner cavity of the toothed sleeve 15, and the other end is fitted into the inner cavity of the locking sleeve 32. A first limiting hole 312 is radially formed on the locking shaft 31, and a second limiting hole 323 is radially formed on the locking sleeve 32. The first limiting hole 312 and the second limiting hole 323 are aligned. The connecting rod 23 passes through both the first limiting hole 312 and the second limiting hole 323 to connect the locking shaft 31 and the locking sleeve 32. In the unlocked state, the connecting rod 23 can move up and down along its own axis and rotate around its own axis. Preferably, in this embodiment, the first limiting hole 312 is an oblong hole, so that the connecting rod 23 can also move within a small range along the axial direction of the locking shaft 31. The locking sleeve 32 has a second tooth 321 on its end face that can mesh with the first tooth 151. When the second tooth 321 is not tightly engaged with the first tooth 151, the locking sleeve 32 can rotate relative to the toothed sleeve 15 to drive the connecting rod 23 and the locking shaft 31 to rotate, thereby adjusting the pitch angle of the reference frame 2. When the second tooth 321 is tightly engaged with the first tooth 151, the locking sleeve 32 cannot rotate relative to the toothed sleeve 15, thereby locking the pitch position of the reference frame 2. The second knob 33 is sleeved on the outside of the locking sleeve 32. The second knob 33 has a threaded rod 35 inside, and the locking shaft 31 has a threaded hole inside. The threaded rod 35 is axially threadedly connected to the locking shaft 31. The threaded hole in the locking shaft 31 communicates with the first limiting hole 312, so that the end of the threaded rod 35 can contact the connecting rod 23. Preferably, the second knob 33 and the threaded rod 35 are fixed as a whole structure by welding. The elastic element 34 is installed in the inner cavity of the locking sleeve 32 and the second knob 33. Both ends of the elastic element 34 abut against the end of the locking shaft 31 and the inner wall of the second knob 33, respectively. The elastic element 34 is sleeved on the threaded rod 35. By tightening the second knob 33, the locking shaft 31 can be brought axially closer to the threaded rod 35. The end of the threaded rod 35 abuts against the connecting rod 23 passing through the locking shaft 31, locking the position of the connecting rod 23. Simultaneously, the connecting rod 23 pushes the locking sleeve 32 against the toothed sleeve 15, causing the second tooth 321 to engage with the first tooth 151, thereby restricting the rotation of the locking sleeve 32. Preferably, in this embodiment, the elastic element 34 is a compression spring, sleeved outside the threaded rod 35, and the outer diameter of the compression spring is smaller than the inner diameter of the locking sleeve 32. The threaded rod 35 passes through the second knob 33, the compression spring, and the locking sleeve 32 in sequence, and engages with the internal thread of the locking shaft 31. When the second knob 33 compresses the compression spring, the compression spring contacts and compresses the end of the locking shaft 31, forming a mechanical self-locking mechanism.

[0046] The reference frame fixation device provided in this embodiment uses bone clips 1 to connect and fix the reference frame 2 to the human skeleton. It does not require bone needle puncture, is safe and causes less bleeding, reduces patient trauma, and is beneficial to postoperative recovery. During operation, the skeleton is first clamped by the first clamping part 11 and the second clamping part 12, and then locked and fixed by the first knob 14, thereby firmly fixing the human skeleton to the reference frame 2 together, ensuring the stability, reliability and high precision of the surgical operation, and improving the success rate of the operation. Moreover, the installation and disassembly of the reference frame fixation device are quick and convenient, and the position of the reference frame 2 can be flexibly moved. This invention, by tightening the second knob 33, allows the end of the threaded rod 35 to abut against the connecting rod 23, and the second tooth 321 on the locking sleeve 32 to abut against the first tooth 151 on the toothed sleeve 15, thereby firmly locking the position of the reference frame 2. By loosening the second knob 33, the end of the threaded rod 35 is separated from the connecting rod 23, and the second tooth 321 is separated from the first tooth 151. At this time, the connecting rod 23 can move along its own axis, rotate around its own axis, and also rotate around the axis of the locking sleeve 32, thereby realizing the adjustment of the reference frame 2 in three degrees of freedom: longitudinal position, deflection angle, and pitch angle. Compared with the traditional two-degree-of-freedom adjustment of the reference frame 2, this embodiment increases the motion freedom of the reference frame 2, realizing precise positioning and navigation of the reference frame 2. The entire reference frame fixing device of this invention has a simple structure and is easy to manufacture.

[0047] refer to Figure 4 and Figure 5 Preferably, in this embodiment, the top of the first clamping part 11 is provided with an inclined surface 111. By tightening the first knob 14, the bottom end of the first knob 14 can be brought into close contact with the inclined surface 111, forming a torque that clamps the bone with the first clamping part 11. Specifically, in this embodiment, the second clamping part 12 remains stationary, while the first clamping part 11 rotates about the rotation axis 13. By adjusting the opening angle of the first clamping part 11 and the second clamping part 12, the first clamping part 11 and the second clamping part 12 can clamp the bone and muscle. Then, the first knob 14 is tightened so that the bottom end of the first knob 14 is pressed against the inclined surface 111 of the first clamping part 11. At this time, the bottom end of the first knob 14 is tangent to the inclined surface 111 at point A. The first knob 14 applies a vertically downward force F to the first clamping part 11, and the line of action of the force F forms a line with the rotation point O of the first clamping part 11. The eccentricity causes the force F to form a torque L with the rotation point O. Therefore, at the instant the first knob 14 abuts against the top of the first clamping part 11, the first clamping part 11 can continue to rotate counterclockwise around the rotation point O by a small angle, further squeezing the muscles and bones. At this time, the bones and muscles generate a reaction force F1 on the first clamping part 11, causing the first clamping part 11 to tend to rotate clockwise. However, at this time, the first knob 14 has been tightened and fixed, so the first clamping part 11 abuts against the bottom of the first knob 14, forming a mechanical self-locking mechanism. The first clamping part 11 and the second clamping part 12 clamp the bones and muscles more firmly.

[0048] Because traditional reference frame fixing devices contain many small components, many of which can be disassembled and separated from the overall mechanism, these components are prone to falling off during disassembly and assembly, thus becoming contaminated with bacteria. This is detrimental to aseptic operation during surgery. Furthermore, these small components are easily lost inside the patient's body and difficult to locate, posing a significant risk to the surgery. To address these issues, in this embodiment, one end of the locking shaft 31 is provided with a first limiting part 311, and the inner cavity of the toothed sleeve 15 is provided with a second limiting part 152. The first limiting part 311 and the second limiting part 152 cooperate to prevent the locking shaft 31 from moving axially out of the inner cavity of the toothed sleeve 15. Preferably, both the first limiting part 311 and the second limiting part 152 are limiting step structures. Further, the second knob 33 is provided with a third limiting part 331, and one end of the locking sleeve 32 is provided with a fourth limiting part 322. The third limiting part 331 and the fourth limiting part 322 cooperate to prevent the end of the locking sleeve 32 from moving axially out of the inner cavity of the second knob 33. Preferably, the third limiting part 331 is a limiting pin disposed on the edge of the inner cavity of the second knob 33, and the fourth limiting part 322 is a limiting step disposed on the end of the locking sleeve 32. After the limiting step of the locking sleeve 32 is installed into the inner cavity of the second knob 33, the limiting pin is welded to the edge of the inner cavity of the second knob 33. Further, when the threaded rod 35 retracts to the limit position along the thread loosening direction, the locking shaft 31 is still threadedly connected to the threaded rod 35 and does not separate. With the above structural configuration, in this embodiment, regardless of the tightness of the threaded rod 35 and the locking shaft 31, the toothed sleeve 15, the locking shaft 31, the locking sleeve 32, the second knob 33, the elastic element 34, and the threaded rod 35 cooperate to form an inseparable whole. There will be no situation where a single part detaches. There is no risk of small parts falling into the patient's body, nor is there any risk of falling, contaminating, or being lost. The entire mechanism is simpler, safer, and more hygienic to use, improving the reliability of the surgery.

[0049] Furthermore, in this embodiment, the second clamping part 12 is provided with a clearance groove, and both ends of the rotating shaft 13 are installed through and mounted on the side wall of the clearance groove. The top of the first clamping part 11 is rotatably mounted on the rotating shaft 13. Preferably, both ends of the rotating shaft 13 are fixed to the side walls of the clearance groove by welding. In addition, the bone clip 1 in this embodiment also includes a knob anti-disengagement pin 16, which is fixed through and fixed to the second clamping part 12 to prevent the first knob 14 from being screwed out of the second clamping part 12 along the loosening direction of the thread. Preferably, both ends of the knob anti-disengagement pin 16 are welded to the second clamping part 12, and the screw of the first knob 14 is provided with a step. The knob anti-disengagement pin 16 can limit the step, thereby preventing the first knob 14 from being completely screwed out of the second clamping part 12, so as to avoid the second knob 14 falling off and being lost during the operation. Furthermore, in this embodiment, the connecting rod 23 is threaded to the bottom of the frame 21, and the frame 21 is provided with a first pin hole, while the connecting rod 23 is provided with a second pin hole. When the connecting rod 23 is screwed into place with the frame 21, the fixing pin 24 passes through the first pin hole and the second pin hole and is interference-fitted with the first pin hole and the second pin hole, thereby fixing the position of the frame 21 and the connecting rod 23. Through the above settings, in the entire reference frame fixing device of this embodiment, small parts such as the rotating shaft 13, the knob anti-dislodgement pin 16, and the fixing pin 24 cannot be removed from the overall structure, avoiding the risks of detachable screw assembly and the falling, loss, and contamination of small parts, thus ensuring surgical safety.

[0050] refer to Figure 9 In this embodiment, the locking process of stabilizer component 3 is as follows:

[0051] Assuming the second clamping part 12 remains stationary, twist the locking sleeve 32 to the desired angle so that the second tooth 321 of the locking sleeve 32 engages with the first tooth 151 of the toothed sleeve 15. At this time, the teeth of the two are in contact but not pressing. Turn the second knob 33 in the direction of thread tightening. As the threaded rod 35 is tightened with the locking shaft 31, the first limiting part 311 of the locking shaft 31 contacts and presses the second limiting part 152 inside the toothed sleeve 15. The end of the threaded rod 35 presses the connecting rod 23, and the left side of the connecting rod 23 presses the left side of the first limiting hole 312 on the locking shaft 31. At this time, the toothed sleeve 15, the locking shaft 31, the connecting rod 23, the threaded rod 35, and the second knob 33 are locked. At the same time, the left side of the connecting rod 23 presses the left side of the second limiting hole 323 of the locking sleeve 32, thereby causing the second tooth 321 of the locking sleeve 32 to engage and press the first tooth 151 of the toothed sleeve 15. The second knob 33 presses against the elastic element 34, causing the elastic element 34 to contact the end of the locking shaft 31, thus compressing the elastic element 34. At this time, the connecting rod 23 is fixed in position and locked, and the toothed sleeve 15, connecting rod 23, locking shaft 31, locking sleeve 32, elastic element 34, threaded rod 35, and second knob 33 are all locked together.

[0052] refer to Figure 10In this embodiment, the relaxation process of stabilizer component 3 is as follows:

[0053] Assuming the second clamping part 12 remains fixed, rotate the second knob 33 in the direction of thread loosening. The length of the threaded engagement between the locking shaft 31 and the threaded rod 35 gradually decreases. The second limiting part 152 inside the gear sleeve 15 no longer presses against the first limiting part 311 on the locking shaft 31 and separates. The end of the threaded rod 35 no longer presses against the connecting rod 23 and separates. The connecting rod 23 no longer presses against the first limiting hole 312 on the locking shaft 31 and the second limiting hole 323 on the locking sleeve 32 and separates from the second tooth 321 of the locking sleeve 32 and the first tooth 151 of the gear sleeve 15. At this time, the connecting rod 23 can move along its own axis, rotate around its own axis, and rotate with the locking sleeve 32 to adjust the angle and position of the reference frame 2. As the second knob 33 rotates in the direction of thread loosening, the compression of the elastic element 34 gradually decreases, and its length gradually lengthens. The end of the locking sleeve 32 gradually moves outward from the inner cavity of the second knob 33 until the third limiting part 331 catches the fourth limiting part 322 at the end of the locking sleeve 32. At this time, the elastic element 34 is slightly compressed, and the elastic element 34 squeezes the locking shaft 31, achieving mechanical self-locking. Due to the restraint of the third limiting part 331 on the fourth limiting part 322 at the end of the locking sleeve 32, when the threaded rod 35 is rotated to the maximum extent in the direction of thread loosening, the threaded rod 35 cannot be completely rotated out of the locking shaft 31. Therefore, the locking shaft 31, the second knob 33, the threaded rod 35, and the locking sleeve 32 cannot be separated as a whole. Since the first limiting part 311 of the locking shaft 31 catches the second limiting part 152 inside the toothed sleeve 15, the toothed sleeve 15 also cannot be separated from the above-mentioned overall structure.

[0054] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A reference frame fixing device, characterized in that, include: The bone clip (1) includes a first clamping part (11) and a second clamping part (12) rotatably connected by a rotating shaft (13). The top of the second clamping part (12) is provided with a first knob (14) for locking the first clamping part (11) and the second clamping part (12). The second clamping part (12) is also provided with a toothed sleeve (15), and the end face of the toothed sleeve (15) is provided with a first tooth (151). The reference frame (2) includes a frame (21), a marker ball (22) fixed on the frame (21), and a connecting rod (23) connected to the bottom of the frame (21). The stabilizer assembly (3) includes a locking shaft (31), a locking sleeve (32), a second knob (33), and an elastic element (34). One end of the locking shaft (31) is movably installed in the toothed sleeve (15), and the other end is sleeved in the locking sleeve (32). The connecting rod (23) passes laterally through the locking shaft (31) and the locking sleeve (32). The end face of the locking sleeve (32) is provided with a second tooth (321), which cooperates with the first tooth (151) to adjust the circumferential position of the locking sleeve (32) relative to the toothed sleeve (15). The second knob (33) is sleeved in the locking sleeve. (32) In addition, the second knob (33) is provided with a threaded rod (35), which is axially threaded to the locking shaft (31); the elastic element (34) is installed in the inner cavity of the locking sleeve (32) and the second knob (33), and the two ends of the elastic element (34) abut against the locking shaft (31) and the second knob (33) respectively, and the elastic element (34) is sleeved on the threaded rod (35); by rotating the second knob (33), the end of the threaded rod (35) can be pressed against the connecting rod (23), and the second tooth (321) is pressed against the first tooth (151); The top of the first clamping part (11) is provided with a slope (111). By tightening the first knob (14), the bottom end of the first knob (14) is pressed against the slope (111), which can form a torque that makes the first clamping part (11) clamp the object to be clamped relative to the rotating shaft (13). One end of the locking shaft (31) is provided with a first limiting part (311), and the inner cavity of the toothed sleeve (15) is provided with a second limiting part (152). The first limiting part (311) and the second limiting part (152) cooperate to limit the position of the locking shaft (31) relative to the toothed sleeve (15). The second knob (33) is provided with a third limiting part (331), and one end of the locking sleeve (32) is provided with a fourth limiting part (322). The third limiting part (331) and the fourth limiting part (322) cooperate to limit the position of the second knob (33) relative to the locking sleeve (32).

2. The reference frame fixing device according to claim 1, characterized in that, When the threaded rod (35) reaches its limit position along the thread loosening direction, the locking shaft (31) is still threadedly connected to the threaded rod (35).

3. The reference frame fixing device according to claim 1, characterized in that, The connecting rod (23) is threaded to the frame (21) and fixed by a fixing pin (24) passing through the frame (21) and the connecting rod (23); and / or, The bone clip (1) also includes a knob anti-disengagement pin (16), which is fixed to the second clamping part (12) to prevent the first knob (14) from being screwed out of the second clamping part (12) in the direction of thread loosening.

4. The reference frame fixing device according to claim 1, characterized in that, The locking shaft (31) is provided with a first limiting hole (312), the locking sleeve (32) is provided with a second limiting hole (323), the connecting rod (23) passes through both the first limiting hole (312) and the second limiting hole (323), and the first limiting hole (312) is an oblong hole.

5. The reference frame fixing device according to claim 1, characterized in that, The clamping surfaces of the first clamping part (11) and the second clamping part (12) are provided with a pyramidal structure (17).

6. The reference frame fixing device according to claim 1, characterized in that, The elastic element (34) is a compression spring.

7. The reference frame fixing device according to claim 1, characterized in that, The second knob (33) and the threaded rod (35) are fixed together by welding; and / or, the two ends of the rotating shaft (13) are fixed to the second clamping part (12) by welding.

8. The reference frame fixing device according to any one of claims 1-7, characterized in that, The frame (21) is provided with a plurality of marker balls (22), which are asymmetrically distributed with respect to the center (211) of the frame. The distance from each marker ball (22) to the center (211) of the frame is different, and the angle between the line connecting each marker ball (22) to the center (211) of the frame and the connecting rod (23) is different.

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