Tray fixation device and surgical robot

Abstract

A tracer frame fixing device and a surgical robot. The tracer frame fixing device is used for adjusting the position of the tracer frame, comprising: a box body formed with a first accommodating space and a first through hole extending in a first direction; a plurality of bone pins passing through the first through hole to a surgical osteotomy surface; a first rotating rod connected with the box body, the first rotating rod rotating in a plane perpendicular to the first direction; one end of a second rotating rod is rotatably connected with the first rotating rod, the other end is used for mounting the tracer frame, the second rotating rod rotates around an axis perpendicular to the first direction; the bone pin locking assembly comprises: two bone pin pressing rods arranged in the first accommodating space; a baffle is arranged in the first accommodating space and located on the side of the bone pin opposite to the bone pin pressing rod; a locking piece extends from the outer wall of the box body to the baffle in the first accommodating space; the bone pin pressing rods are cross arranged, the baffle pushes the bone pin pressing rods under the pushing of the locking piece, so that one end of the bone pin pressing rod abuts against the bone pin, and the other end abuts against the baffle.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to the field of medical devices, and more particularly to a tracer fixation device and a surgical robot suitable for adjusting the position of a tracer. Background Technology

[0002] The tracer plays a role in positioning and guidance during surgery. It is usually installed in the area near the patient's surgical site and is an important tool in orthopedic surgical navigation. Therefore, adjusting the position of the tracer is very important.

[0003] Current tracer holder fixing devices require direct clamping of the screw and bone pin, which can cause irreversible damage to the bone pin. They also have drawbacks such as long operation time, inconvenience of operation, and insufficient locking force. Summary of the Invention

[0004] To address the existing technical problems, this disclosure provides a tracer fixation device and a surgical robot. The tracer fixation device allows for flexible and convenient adjustment of the tracer's position, and provides a stable fixation.

[0005] Embodiments of this disclosure provide a tracer fixing device configured to adjust the position of the tracer. The tracer fixing device includes: a housing having a first receiving space and a first through hole extending along a first direction; multiple bone pins configured to pass through the first through hole and extend to a surgical osteotomy surface; a first rotating rod rotatably mounted on the housing via a first connecting portion, the first rotating rod rotating in a plane perpendicular to the first direction; and a second rotating rod, one end of the second rotating rod rotatably connected to the first rotating rod via a second connecting portion, the other end of the second rotating rod being configured... For mounting the tracer frame, the second rotating rod rotates about an axis perpendicular to the first direction; and a bone pin locking assembly includes: two bone pin clamping rods disposed within the first receiving space; a baffle disposed within the first receiving space and located on the side of the bone pin opposite to the bone pin clamping rods; and a locking member extending from the outer wall of the housing towards the first receiving space to the baffle; wherein the bone pin clamping rods are arranged crosswise, and the baffle pushes the bone pin clamping rods under the push of the locking member, so that one end of the bone pin clamping rod abuts against the bone pin and the other end abuts against the baffle.

[0006] In this embodiment of the present disclosure, the bone pin locking assembly further includes: two clamping rod rotating shafts, which are respectively disposed in the second through holes of the bone pin clamping rods, and the bone pin clamping rods rotate around the clamping rod rotating shafts when the baffle pushes the bone pin clamping rods.

[0007] In this embodiment, the first rotating rod includes: a first turntable, on the first surface of which a first concave-convex structure is formed; the first connecting portion includes: a first mounting platform, mounted on the outer wall of the housing, on which a first connecting shaft extending parallel to a first direction is formed; a first elastic member, sleeved on the first connecting shaft; a first adjusting member, sleeved on the first connecting shaft and located on the side of the first elastic member opposite to the first mounting platform, on the second surface of the first adjusting member a second concave-convex structure that cooperates with the first concave-convex structure; the first turntable is sleeved on the first connecting shaft, and the first surface and the second surface are in contact; wherein, by rotating the first adjusting member until the first concave-convex structure cooperates with the second concave-convex structure, the first rotating rod and the first adjusting member are in a loosened state where they can rotate freely together; by rotating the first adjusting member, the first concave-convex structure and the second concave-convex structure are disengaged, so that the first rotating rod and the first adjusting member are in a locked state where they cannot rotate freely.

[0008] In this embodiment of the present disclosure, the first rotating rod further includes: a first connecting rod connected to the first turntable; and a second mounting platform disposed on the side of the first connecting rod opposite to the first turntable, wherein a second connecting shaft extending perpendicular to the first direction is formed on the second mounting platform.

[0009] In this embodiment of the present disclosure, the second rotating rod includes: a second turntable, on the third surface of which a third concave-convex structure is formed; a second connecting rod connected to the second turntable; and a third mounting platform disposed on the side of the second connecting rod opposite to the second turntable, wherein the mounting surface of the third mounting platform is configured to mount the tracer frame.

[0010] In this embodiment, the second connecting portion includes: a second elastic member sleeved on the second connecting shaft; a second adjusting member sleeved on the second connecting shaft and located on the side of the second elastic member opposite to the second mounting platform; a fourth concave-convex structure that mates with the third concave-convex structure is formed on the fourth surface of the second adjusting member; the second turntable is sleeved on the second connecting shaft, and the third surface and the fourth surface are in contact; wherein, by rotating the second adjusting member until the third concave-convex structure mates with the fourth concave-convex structure, the second rotating rod and the second adjusting member are in a loosened state where they can rotate freely together; by rotating the second adjusting member, the third concave-convex structure and the fourth concave-convex structure are disengaged, so that the second rotating rod and the second adjusting member are in a locked state where they cannot rotate freely.

[0011] In this embodiment of the present disclosure, the first connecting portion further includes: a first pressure plate, which is installed on the side of the first adjusting member opposite to the second surface; wherein, the end of the first connecting shaft opposite to the first mounting platform is provided with a first groove, and the first pressure plate is provided with a first protrusion that matches the first groove, and when the first pressure plate is installed on the first adjusting member, the first groove and the first protrusion are engaged.

[0012] In this embodiment of the present disclosure, the first connecting part further includes a first marking disk, which is sleeved on the first connecting shaft. The first marking disk has a first marking pointer pointing to the first turntable to determine the position of the first turntable.

[0013] In this embodiment of the present disclosure, the first adjusting member is provided with a first wrench, and the first adjusting member is rotated by pushing the first wrench.

[0014] Embodiments of this disclosure also provide a surgical robot, including: a tracer fixation device as shown above; and a tracer mounted on the tracer fixation device.

[0015] According to the embodiments of this disclosure, by setting two bone needle clamping rods that cross each other, with each end of the bone needle clamping rod close to a baffle or a bone needle respectively, during the process of the locking member extending to the baffle and pushing the baffle towards the bone needle, the baffle pushes the end of the bone needle clamping rod close to the baffle, which can change the size of the angle formed between the baffle and the bone needle clamping rod, so that the end of the bone needle clamping rod close to the bone needle abuts against the bone needle, thereby locking the bone needle. Furthermore, by combining and adjusting the rotation angle of the first rotating rod and the second rotating rod, the tracer frame can be fixed. The fixing process is simple and flexible to operate, and can avoid damage to the bone needle. Attached Figure Description

[0016] Figure 1 A perspective view schematically illustrating a tracer holder fixing device and a tracer holder after installation according to an embodiment of the present disclosure;

[0017] Figure 2 A perspective view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically;

[0018] Figure 3 An exploded view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically;

[0019] Figure 4 A partial perspective view of a tracer fixing device according to an embodiment of the present disclosure is shown schematically, in which the bone pin locking assembly has not yet locked the bone pin;

[0020] Figure 5A partial perspective view of a tracer fixation device according to an embodiment of the present disclosure is schematically shown, in which the bone pin locking assembly has not locked the bone pin;

[0021] Figure 6 A perspective view of a first rotating rod according to an embodiment of the present disclosure is shown schematically;

[0022] Figure 7 A partial exploded view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically, including a first connecting portion;

[0023] Figure 8 A perspective view of a first adjusting member according to an embodiment of the present disclosure is shown schematically;

[0024] Figure 9 A perspective view of a first pressure plate according to an embodiment of the present disclosure is shown schematically;

[0025] Figure 10 A partial enlarged view schematically illustrates a tracer holder fixing device according to an embodiment of the present disclosure; and

[0026] Figure 11 A partial exploded view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically, including a second connecting portion.

[0027] Figure Labels

[0028] 1: Tracer frame fixing device;

[0029] 11: Box;

[0030] 111: First containment space;

[0031] 112: First through hole;

[0032] 12: Bone needles;

[0033] 13: First rotating rod;

[0034] 131: First turntable;

[0035] 1311: First concave-convex structure;

[0036] 1312: First identification benchmark;

[0037] 132: First link;

[0038] 133: Second mounting platform;

[0039] 1331: Second connecting shaft;

[0040] 13311: Second groove;

[0041] 14: First connecting part;

[0042] 141: First mounting platform;

[0043] 1411: First connecting shaft;

[0044] 14111: First groove;

[0045] 142: First elastic element;

[0046] 143: First adjusting component;

[0047] 1431: Second concave-convex structure;

[0048] 1432: The First Wrench;

[0049] 144: First pressure plate;

[0050] 1441: First protrusion;

[0051] 145: First indicator panel;

[0052] 1451: First identifier pointer;

[0053] 146: First screw;

[0054] 15: Second rotating rod 15;

[0055] 151: Second turntable;

[0056] 1511: Third concave-convex structure;

[0057] 1512: Second identification benchmark;

[0058] 152: Second link;

[0059] 153: Third mounting platform;

[0060] 16: Second connecting part;

[0061] 161: Second elastic element;

[0062] 162: Second adjusting element;

[0063] 1621: Fourth concave-convex structure;

[0064] 1622: The second wrench;

[0065] 163: Second pressure plate;

[0066] 1631: Second protrusion;

[0067] 164: Second indicator panel;

[0068] 1641: Second identifier pointer;

[0069] 165: Second screw;

[0070] 17: Bone pin locking assembly;

[0071] 171: Bone needle clamping rod;

[0072] 1711: Second through hole;

[0073] 172: Baffle;

[0074] 173: Locking component;

[0075] 174: The rotating shaft of the clamping rod;

[0076] 2: Tracer frame. Detailed Implementation

[0077] To make the objectives, technical solutions and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0078] The present disclosure describes structural embodiments and methods. It should be understood that this is not intended to limit the present disclosure to the specific embodiments disclosed, and the present disclosure can be implemented using other features, elements, methods, and embodiments. Similar elements in different embodiments are typically designated with similar numbers.

[0079] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0080] In the description of this disclosure, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this disclosure.

[0081] Figure 1 A perspective view schematically illustrating the tracer holder fixing device and the tracer holder after installation according to an embodiment of the present disclosure. Figure 2 A perspective view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically. Figure 3 An exploded view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically. Figure 4A partial perspective view of a tracer fixation device according to an embodiment of the present disclosure is shown schematically, in which the bone pin locking assembly has not yet locked the bone pin. Figure 5 A partial perspective view of a tracer fixation device according to an embodiment of the present disclosure is shown schematically, in which the bone pin locking assembly has not locked the bone pin.

[0082] like Figures 1 to 5 As shown, this disclosure provides a tracer holder fixing device 1. The tracer holder fixing device 1 is configured to adjust the position of a tracer holder 2. The tracer holder fixing device 1 includes a housing 11, multiple bone pins 12, a first rotating rod 13, a second rotating rod 15, and a bone pin locking assembly 17. The adjustment of the tracer holder position may include adjusting the locking of the bone pins, adjusting the rotation of the first rotating rod 13, and adjusting the rotation of the second rotating rod 15.

[0083] Specifically, the housing 11 forms a first receiving space 111 and a first through hole 112 extending along a first direction. Multiple bone pins 12 are configured to pass through the first through hole 112 and extend to the surgical osteotomy surface. Each bone pin 12 may include a detachably connected extension and tip for replacement in case of damage to the extension or tip. A first rotating rod 13 is rotatably mounted on the housing 11 via a first connecting part 14. The first rotating rod 13 rotates in a plane perpendicular to the first direction, and the rotation angle range of the first rotating rod 13 can be 0° to 180°. A second rotating rod 15 has one end rotatably connected to the first rotating rod 13 via a second connecting part 16, and the other end of the second rotating rod 15 is configured to mount the tracer 2. The second rotating rod 15 rotates about an axis perpendicular to the first direction, and the rotation angle range of the second rotating rod 15 can be 0° to 300°. The bone pin locking assembly 17 includes two bone pin clamping rods 171, a baffle 172, and a locking member 173.

[0084] Furthermore, such as Figures 1 to 5 As shown, two bone needle clamping rods 171 are arranged crosswise within the first receiving space 111. The bone needle clamping rods 171 may have U-shaped openings, and the two bone needle clamping rods 171 are arranged crosswise based on these U-shaped openings. Figure 4 and Figure 5 As shown, baffle 172 is disposed within the first receiving space 111 and located on the side of the bone needle 12 opposite to the bone needle clamping rod 171. Baffle 172 abuts against the end of bone needle clamping rod 171 away from bone needle 12, and each bone needle 12 is located within the angle range formed by baffle 172 and bone needle clamping rod 171. Locking member 173 extends from the outer wall of housing 11 into the first receiving space 111 to baffle 172. Locking member 173 and outer wall of housing 11 can be threadedly connected. By rotating locking member 173, locking member 173 is pushed into the first receiving space 111.

[0085] Furthermore, under the push of the locking member 173, the baffle 172 pushes the end of the bone needle clamping rod 171 that abuts against the baffle 172, thereby changing the size of the included angle formed by the bone needle clamping rod 171 and the baffle 172, so that the end of the bone needle clamping rod 171 near the bone needle 12 abuts against the bone needle 12, and the other end abuts against the baffle 172, as shown. Figure 5 As shown, the left end of the left bone pin clamping rod 171 abuts against the bone pin 12, and the right end of the left bone pin clamping rod 171 abuts against the baffle 172; the right end of the right bone pin clamping rod 171 abuts against the bone pin 12, and the left end of the right bone pin clamping rod 171 abuts against the baffle 172.

[0086] According to the embodiments of this disclosure, by setting two bone needle clamping rods 171 to cross each other, with each end of the bone needle clamping rod 171 close to the baffle 172 or the bone needle 12 respectively, during the process of the locking member 173 extending to the baffle 172 and pushing the baffle 172 to move towards the bone needle 12, the baffle 172 pushes the end of the bone needle clamping rod 171 close to the baffle 172, which can change the size of the angle formed between the baffle 172 and the bone needle clamping rod 171, so that the end of the bone needle clamping rod 171 close to the bone needle 12 abuts against the bone needle 12, thereby locking the bone needle 12. Furthermore, by combining and adjusting the rotation angle of the first rotating rod 13 and the second rotating rod 15, the tracer frame 2 can be fixed. The fixing process is simple and flexible to operate, and can avoid damage to the bone needle 12.

[0087] In some illustrative embodiments, the bone pin locking assembly 17 further includes two clamping rod rotating shafts 174. Specifically, the clamping rod rotating shafts 174 are respectively disposed within the second through holes 1711 of the bone pin clamping rod 171, and extend along the axis of the second through holes 1711 toward the inner wall of the housing 11, so that the clamping rod rotating shafts 174 can be embedded in the housing 11. When the baffle 172 pushes the bone pin clamping rod 171, the bone pin clamping rod 171 rotates around the clamping rod rotating shafts 174. The bone pin 12, the bone pin clamping rod 171, and the baffle 172 can form a lever structure. The second through hole 1711 can be disposed at the end of the bone pin clamping rod 171 near the bone pin 12, so that the lever arm at the end of the baffle 172 is greater than the lever arm at the end of the bone pin 12. Thus, a smaller pushing force can be applied to the bone pin clamping rod 171 by the baffle 172, and a larger locking force can be obtained from the bone pin clamping rod 171 to the bone pin 12.

[0088] Figure 6 A perspective view of a first rotating rod according to an embodiment of the present disclosure is shown schematically. Figure 7 A partial exploded view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically, including a first connecting portion. Figure 8 A perspective view of a first adjusting member according to an embodiment of the present disclosure is shown schematically. Figure 9 A perspective view of a first pressure plate according to an embodiment of the present disclosure is shown schematically. Figure 10 A partial enlarged view of the tracer holder fixing device according to an embodiment of the present disclosure is shown schematically.

[0089] like Figures 1 to 10 As shown, in some illustrative embodiments, the first rotating rod 13 includes a first turntable 131. A first concave-convex structure 1311 is formed on the first surface of the first turntable 131.

[0090] In some illustrative embodiments, the first connecting portion 14 includes a first mounting platform 141, a first elastic member 142, and a first adjusting member 143. The first mounting platform 141 is mounted on the outer wall of the housing 11, such as... Figure 7 As shown, the first mounting platform 141 extends to the left from the outer wall of the housing 11. A first connecting shaft 1411 extending parallel to the first direction is formed on the first mounting platform 141. A first elastic member 142 is sleeved on the first connecting shaft 1411. A first adjusting member 143 is sleeved on the first connecting shaft 1411 and is located on the side of the first elastic member 142 opposite to the first mounting platform 141. A second concave-convex structure 1431 that mates with the first concave-convex structure 1311 is formed on the second surface of the first adjusting member 143. The first turntable 131 is sleeved on the first connecting shaft 1411, and the first surface and the second surface are in contact and connected, as shown. Figure 7 As shown, the first turntable 131 is sleeved between the first elastic member 142 and the first adjusting member 143. Further, the first adjusting member 143 can be sleeved between the first pressure plate 144 and the first turntable 131.

[0091] Furthermore, by rotating the first adjusting member 143 until the first concave-convex structure 1311 and the second concave-convex structure 1431 are engaged, the structure jointly formed by the first concave-convex structure 1311 and the second concave-convex structure 1431 occupies less longitudinal space (the longitudinal space can be...) compared to the case where the first concave-convex structure 1311 and the second concave-convex structure 1431 are not engaged. Figure 7In the vertical direction, a gap can be created, allowing the first elastic element 142 to be in a relaxed state, meaning it will not be compressed or deformed. This allows the first rotating rod 13 and the first adjusting element 143 to be in a loosened state where they can rotate freely together. By rotating the first adjusting element 143, the first concave-convex structure 1311 and the second concave-convex structure 1431 are disengaged. The longitudinal space occupied by the structure formed by the first concave-convex structure 1311 and the second concave-convex structure 1431 increases, causing the first elastic element 142 to be compressed and deformed. This results in the first rotating rod 13 and the first adjusting element 143 being in a locked state where they cannot rotate freely. When the first rotating rod 13 and the first adjusting element 143 are in a loosened state where they can rotate freely together, they can be rotated relatively easily. This allows the rotation angle of the first rotating rod 13 to be adjusted, thereby driving the second rotating rod 15 and the tracer 2 to rotate, thus adjusting the angle of the tracer 2 in the plane perpendicular to the first direction. Furthermore, with the first rotating rod 13 and the first adjusting member 143 in a locked state where they cannot rotate freely, the tracer 2 is locked in a plane perpendicular to the first direction.

[0092] In some illustrative embodiments, the first rotating rod 13 further includes a first connecting rod 132 and a second mounting platform 133. Specifically, the first connecting rod 132 is connected to the first turntable 131. The second mounting platform 133 is disposed on the side of the first connecting rod 132 opposite to the first turntable 131. A second connecting shaft 1331 extending perpendicular to the first direction is formed on the second mounting platform 133. The axis of the second mounting platform 133 is perpendicular to the axis of the first turntable 131. The axes of the second connecting shaft 1331 and the first connecting shaft 1411 are perpendicular, thereby causing the second rotating rod 15 mounted on the second connecting shaft 1331 to rotate about an axis perpendicular to the first direction.

[0093] Figure 11 A partial exploded view of a tracer holder fixing device according to an embodiment of the present disclosure is shown schematically, including a second connecting portion.

[0094] In some illustrative embodiments, the second rotating rod 15 includes a second turntable 151, a second connecting rod 152, and a third mounting platform 153. Specifically, a third concave-convex structure 1511 is formed on the third surface of the second turntable 151. The second connecting rod 152 is connected to the second turntable 151. The third mounting platform 153 is disposed on the side of the second connecting rod 152 opposite to the second turntable 151, and the mounting surface of the third mounting platform 153 is configured to mount the tracer 2.

[0095] In some illustrative embodiments, the second connecting portion 16 includes a second elastic element 161 and a second adjusting element 162. The first elastic element 161 and the second elastic element 162 may be gaskets.

[0096] Furthermore, the second elastic member 161 is sleeved on the second connecting shaft 1331. The second adjusting member 162 is sleeved on the second connecting shaft 1331 and located on the side of the second elastic member 161 opposite to the second mounting platform 133. A fourth concave-convex structure 1621 that mates with the third concave-convex structure 1511 is formed on the fourth surface of the second adjusting member 162. The second turntable 151 is sleeved on the second connecting shaft 1331, and the third surface and the fourth surface are in contact and connected, such as... Figure 11 As shown, the second turntable 151 is sleeved between the second elastic member 161 and the second adjusting member 162. Further, the second adjusting member 162 can be sleeved between the second pressure plate 163 and the second turntable 151.

[0097] Furthermore, by rotating the second adjusting member 162 until the third concave-convex structure 1511 and the fourth concave-convex structure 1621 are engaged, the structure jointly formed by the third concave-convex structure 1511 and the fourth concave-convex structure 1621 occupies less longitudinal space (the longitudinal space can be...) compared to the case where the third concave-convex structure 1511 and the fourth concave-convex structure 1621 are not engaged. Figure 11 In the lower spatial direction, a gap can be created in the longitudinal direction, allowing the second elastic element 161 to be in a relaxed state, i.e., the second elastic element 161 will not undergo compression deformation. This allows the second rotating rod 15 and the second adjusting element 162 to be in a loosened state where they can rotate freely together. By rotating the second adjusting element 162, the third concave-convex structure 1511 and the fourth concave-convex structure 1621 disengage, increasing the longitudinal space occupied by the structure formed by the third concave-convex structure 1511 and the fourth concave-convex structure 1621. This causes the second elastic element 161 to undergo compression deformation, thereby placing the second rotating rod 15 and the second adjusting element 162 in a locked state where they cannot rotate freely. With the second rotating rod 15 and the second adjusting element 162 in a loosened state where they can rotate freely together, the second rotating rod 15 and the second adjusting element 162 can be rotated relatively easily, thereby adjusting the rotation angle of the second rotating rod 15 and thus adjusting the angle of rotation of the tracer 2 around an axis perpendicular to the first direction. Furthermore, when the second rotating rod 15 and the second adjusting member 162 are in a locked state where they cannot rotate freely, the tracer 2 is locked to rotate about an axis perpendicular to the first direction, that is, locked in a plane perpendicular to the axis of the second mounting shaft.

[0098] In some illustrative embodiments, the first connecting portion 14 further includes a first pressure plate 144. For example... Figure 7As shown, the first pressure plate 144 is installed on the side of the first adjusting member 143 opposite to the second surface. The first pressure plate 144 can be threadedly connected to the first connecting shaft 1411 by the first screw 146, thereby fixing the first connecting part 14 and the first connecting rod 132.

[0099] Furthermore, a first groove 14111 is provided at the end of the first connecting shaft 1411 opposite to the first mounting platform 141, and a first protrusion 1441 matching the first groove 14111 is provided on the first pressure plate 144. When the first pressure plate 144 is installed on the first adjusting member 143, the first groove 14111 and the first protrusion 1441 are engaged to prevent the first pressure plate 144 from rotating relative to the first connecting shaft 1411.

[0100] In some illustrative embodiments, such as Figures 1 to 7 As shown, the first connecting part 14 also includes a first marking disk 145, which is sleeved on the first connecting shaft 1411. A first marking pointer 1451 pointing to the first turntable 131 is formed on the first marking disk 145 to determine the position of the first turntable 131. A first marking reference 1312 is provided on the first turntable 131. When the first marking pointer 1451 on the first marking disk 145 points to the first marking reference 1312, it can be indicated that the first turntable 131 is located at the target position.

[0101] In some illustrative embodiments, such as Figure 8 As shown, a first wrench 1432 is provided on the first adjusting member 143. By pushing the first wrench 1432 to rotate the first adjusting member 143, the first wrench 1432 can extend vertically downward from the edge of the first adjusting member 143. Furthermore, the first wrench 1432 can also extend vertically upward from the edge of the first adjusting member 143 to facilitate the rotation of the first adjusting member 143.

[0102] In some illustrative embodiments, the second connecting portion 16 further includes a second pressure plate 163. For example... Figure 11 As shown, the second pressure plate 163 is installed on the side of the second adjusting member 162 opposite to the fourth surface. The second pressure plate 163 can be threadedly connected to the second connecting shaft 1331 by the second screw 165, thereby fixing the second connecting part 16 and the second connecting rod 152.

[0103] In some illustrative embodiments, a second groove 13311 is provided at the end of the second connecting shaft 1331 opposite to the second mounting platform 133, and a second protrusion 1631 matching the second groove 13311 is provided on the second pressure plate 163. When the second pressure plate 163 is mounted on the second adjusting member 162, the second groove 13311 and the second protrusion 1631 are engaged to prevent the second pressure plate 163 from rotating relative to the second connecting shaft 1331.

[0104] In some illustrative embodiments, such as Figures 1 to 11 As shown, the second connecting part 16 also includes a second marking disk 164, which is sleeved on the second connecting shaft 1331. A second marking pointer 1641 is formed on the second marking disk 164 to point to the second turntable 151 to determine the position of the second turntable 151. A second marking reference 1512 is provided on the first turntable 131. When the second marking pointer 1641 on the second marking disk 164 points to the second marking reference 1512, it can be indicated that the second turntable 151 is located at the target position.

[0105] In some illustrative embodiments, a second wrench 1622 is provided on the second adjusting member 162. By pushing the second wrench 1622 to rotate the second adjusting member 162, the second wrench 1622 can extend vertically downward from the edge of the second adjusting member 162. Furthermore, the second wrench 1622 can also extend vertically upward from the edge of the second adjusting member 162 to facilitate the rotation of the second adjusting member 162.

[0106] This disclosure also proposes a surgical robot. The surgical robot includes a tracer holder 1 and a tracer 2 as shown above. The tracer 2 is mounted on the tracer holder 1, and the tracer 2 transmits position information to an external device by reflecting a light beam through a reflective sphere on the tracer 2.

[0107] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of this disclosure. It should be understood that the above are only specific embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A tracer holder fixing device, characterized in that, Configured to adjust the position of the tracer, the tracer fixing device includes: The housing has a first receiving space and a first through hole extending in a first direction; Multiple bone pins are configured to pass through the first through-hole and extend to the surgical osteotomy surface; The first rotating rod is rotatably mounted on the housing via the first connecting part, and the first rotating rod rotates in a plane perpendicular to the first direction; A second rotating rod, one end of which is rotatably connected to the first rotating rod via a second connecting portion, and the other end of which is configured to mount the tracer frame, the second rotating rod rotating about an axis perpendicular to the first direction; and The bone pin locking assembly includes: Two bone needle clamping rods are positioned within the first accommodating space; A baffle is disposed within the first receiving space and located on the side of the bone needle opposite to the bone needle clamping rod; and A locking element extends from the outer wall of the housing towards the first accommodating space and to the baffle. Two clamping rod rotating shafts are respectively installed in the second through hole of the bone needle clamping rod; The bone needle clamping rods are arranged in a cross pattern. The baffle pushes the bone needle clamping rods under the push of the locking member. The bone needle clamping rods rotate around the clamping rod rotation axis so that one end of the bone needle clamping rod abuts against the bone needle and the other end abuts against the baffle.

2. The tracer holder fixing device according to claim 1, characterized in that: The first rotating rod includes: A first turntable, wherein a first concave-convex structure is formed on the first surface of the first turntable; The first connecting part includes: A first mounting platform is mounted on the outer wall of the housing, and a first connecting shaft extending parallel to a first direction is formed on the first mounting platform; The first elastic element is sleeved on the first connecting shaft; The first adjusting member is sleeved on the first connecting shaft and located on the side of the first elastic member opposite to the first mounting platform. A second concave-convex structure is formed on the second surface of the first adjusting member to cooperate with the first concave-convex structure. The first turntable is sleeved on the first connecting shaft, and the first surface and the second surface are in contact and connected. Specifically, by rotating the first adjusting member until the first concave-convex structure engages with the second concave-convex structure, the first rotating rod and the first adjusting member are in a loosened state where they can rotate freely together. By rotating the first adjusting member, the first concave-convex structure and the second concave-convex structure are disengaged, so that the first rotating rod and the first adjusting member are in a locked state where they cannot rotate freely.

3. The tracer holder fixing device according to claim 2, characterized in that, The first rotating rod further includes: The first link is connected to the first turntable; A second mounting platform is disposed on the side of the first connecting rod opposite to the first turntable, and a second connecting shaft extending perpendicular to the first direction is formed on the second mounting platform.

4. The tracer holder fixing device according to claim 3, characterized in that, The second rotating rod includes: The second turntable has a third concave-convex structure formed on its third surface; The second link is connected to the second turntable; A third mounting platform is located on the side of the second connecting rod opposite to the second turntable, and the mounting surface of the third mounting platform is configured to mount the tracer frame.

5. The tracer holder fixing device according to claim 4, characterized in that, The second connecting part includes: The second elastic element is sleeved on the second connecting shaft; The second adjusting member is sleeved on the second connecting shaft and located on the side of the second elastic member opposite to the second mounting platform. A fourth concave-convex structure that cooperates with the third concave-convex structure is formed on the fourth surface of the second adjusting member. The second turntable is sleeved on the second connecting shaft, and the third surface and the fourth surface are in contact and connected. Specifically, by rotating the second adjusting member until the third concave-convex structure engages with the fourth concave-convex structure, the second rotating rod and the second adjusting member are in a loosened state where they can rotate freely together. By rotating the second adjusting member, the third concave-convex structure is disengaged from the fourth concave-convex structure, so that the second rotating rod and the second adjusting member are in a locked state where they cannot rotate freely.

6. The tracer holder fixing device according to claim 2, characterized in that, The first connecting part further includes: The first pressure plate is installed on the side of the first adjusting member opposite to the second surface; The first connecting shaft has a first groove at one end opposite to the first mounting platform, and the first pressure plate has a first protrusion that matches the first groove. When the first pressure plate is installed on the first adjusting member, the first groove and the first protrusion are engaged.

7. The tracer holder fixing device according to claim 6, characterized in that, The first connecting part further includes a first marking disk, which is sleeved on the first connecting shaft. The first marking disk has a first marking pointer pointing to the first turntable to determine the position of the first turntable.

8. The tracer holder fixing device according to claim 2, characterized in that, The first adjusting member is provided with a first wrench, and the first adjusting member is rotated by pushing the first wrench.

9. A surgical robot, characterized in that, include: The tracer holder fixing device as described in any one of claims 1 to 8 above; The tracer frame is mounted on the tracer frame fixing device.

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