Tracing positioning device for surgical robot

Abstract

The present application provides a tracing and positioning device for a surgical robot, which includes: a spinous process clamp, suitable for clamping the spinous process part of any surgical object; a positioning frame, suitable for positioning the current position; a fastening structure, which is connected to the spinous process clamp and the positioning frame; the fastening structure, in a locked state, synchronously fixes the relative position with the spinous process clamp and the positioning frame, and the fastening structure, in a relaxed state, is variable in relative position with the spinous process clamp and the positioning frame. In the present application, a fastening structure is provided, so that the relative position and angle of the spinous process clamp and the positioning frame are adjusted in a relaxed state, and the spinous process clamp and the positioning frame are locked in a fastened state, so that the adjustable function of the positioning frame is realized while maintaining the positioning accuracy of the tracing and positioning device.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a tracing and positioning device for a surgical robot. Background Art

[0002] The surgical robot system is a complex that integrates a number of modern high-tech means. It has a wide range of uses and has a large number of clinical applications. With the vigorous development of medical robot technology, surgical robot assistants have been widely used. For example, in spinal surgery, surgical robots can accurately navigate and assist the patient's surgical site.

[0003] In spinal surgery, one of the key steps is positioning marking, which requires frequent use of tracer positioning devices to clamp the spinous process for positioning. However, each patient has 26 vertebrae, and the position of each vertebra is different. If you want to achieve a better positioning effect, the positioning frame needs to be aligned with the external visual detection equipment, which requires the positioning frame of the tracer positioning device to be adjusted. Existing tracer positioning devices do not have an adjustment function and cannot be adjusted. Summary of the invention

[0004] The problem solved by the present application is that the positioning frame of the existing tracing positioning device cannot be adjusted.

[0005] In order to solve the above problems, the present application provides a tracing and positioning device for a surgical robot, which comprises:

[0006] The spinous process clamp is suitable for clamping the spinous process of any surgical object;

[0007] A positioning frame, suitable for positioning the current position;

[0008] A fastening structure is connected to the spinous process clamp and the positioning frame; when the fastening structure is in a locked state, the relative position of the fastening structure, the spinous process clamp and the positioning frame is synchronously fixed; when the fastening structure is in a relaxed state, the relative position of the fastening structure, the spinous process clamp and the positioning frame is variable.

[0009] Furthermore, the positioning frame has a positioning rod, the spinous process clamp has a long handle, and the fastening structure includes a fastening cap, a fastening nail and a coupling member;

[0010] The fastening cap has an internal thread, the fastening nail has an external thread, the coupling piece is coupled to the long handle, and the fastening nail passes through the coupling piece and the positioning rod in sequence and is screwed and connected to the fastening cap.

[0011] Furthermore, the fastening cap has a cylindrical protrusion on one side facing the positioning rod, and a spring is arranged outside the cylindrical protrusion; one end of the spring abuts against the side of the positioning rod facing the fastening cap, and the other end abuts against the fastening cap.

[0012] Furthermore, the coupling is cylindrical, having a first through hole along the axial direction and a second through hole perpendicular to the axial direction; the fastening nail is provided with a long-shank through hole perpendicular to the axial direction; the fastening nail is inserted into the first through hole, the long shank is inserted into the second through hole and the long-shank through hole, and the cross-section of the long-shank through hole is oval.

[0013] Furthermore, the top end of the positioning rod is cylindrical, and the end surface of the cylindrical top end facing the coupling member has first teeth distributed in a circular shape. The end surface of the coupling member facing the positioning rod is also provided with second teeth distributed in a circular shape, and the first teeth are meshed with the second teeth.

[0014] Furthermore, the outer side surface of the long handle has a third tooth, the inner side surface of the second through hole has a fourth tooth, and the third tooth is meshed with the fourth tooth.

[0015] Furthermore, the long handle is cylindrical, the second through hole is circular, and the radius of the second through hole is larger than that of the long handle.

[0016] Furthermore, the spinous process clamp also includes a screwing handle, a first clamp and a second clamp, the long handle is arranged on the first clamp; the first clamp and the second clamp are rotationally connected, the screwing handle is inserted into the second clamp, and the clamping action and the releasing action of the first clamp and the second clamp are controlled by clockwise and counterclockwise screwing of the screwing handle.

[0017] Furthermore, a connecting piece is provided on the first clamp, and the connecting piece is rotatably connected around a connection; a third through hole is provided on the handle of the second clamp, and the screwing handle passes through the third through hole and is connected to a rotatable end of the connecting piece.

[0018] Furthermore, one end of the connecting piece that rotates is open and two opposite fourth through holes are arranged at the opening; the second clamp is hollow in the middle and sliding grooves are arranged on two opposite sides; a small cylinder is arranged at one end of the screwing handle that passes through the third through hole, and the middle part of the small cylinder is rotatably connected to the screwing handle, and after the two ends pass through the two fourth through holes at the opening of the connecting piece, they are respectively inserted into the opposite sliding grooves of the second clamp.

[0019] In the present application, a fastening structure is provided to adjust the relative position and angle of the spinous process clamp and the positioning frame in a relaxed state, and to lock the spinous process clamp and the positioning frame in a fastened state, thereby realizing the adjustable function of the positioning frame while maintaining the positioning accuracy of the tracing positioning device.

[0020] In the present application, when the fastening structure is switched to the locking state, the fastening structure and the spinous process clamp, and the fastening structure and the positioning frame are fixed synchronously, thereby achieving simultaneous fixation of relative positions and avoiding adverse consequences caused by asynchrony. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional diagram of the tracing and positioning device of this application;

[0022] Figure 2 An exploded view of one side of the tracing and positioning device of the present application;

[0023] Figure 3 An exploded view of the other side of the tracing and positioning device of this application;

[0024] Figure 4 A schematic diagram of the spinous process clamp of the tracing and positioning device of the present application in an open state;

[0025] Figure 5 A cross-sectional view of the tracing and positioning device of the present application;

[0026] Figure 6 A cross-sectional view of the fastening structure of the tracing and positioning device of the present application;

[0027] Figure 7 A cross-sectional view of the spinous process clamp of the tracing and positioning device of the present application in a closed state;

[0028] Figure 8 It is an enlarged view of the fastening structure in the aforementioned cross-sectional view of the tracing and positioning device of the present application;

[0029] Fig. 9 It is an enlarged view of the screwing part of the spinous process clamp in the aforementioned cross-sectional view of the tracing and positioning device of the present application;

[0030] Fig.10 This is a cross-sectional view of the positioning bowl of the tracing positioning device of the present application.

[0031] Explanation of the reference numerals: 1-spinous process clamp; 11-long handle; 12-third tooth; 13-screwing handle; 14-small cylinder; 15-first clamp; 16-connecting piece; 17-fourth through hole; 18-second clamp; 19-third through hole; 10-sliding groove; 2-fastening structure; 21-fastening cap; 22-cylindrical protrusion; 23-spring; 24-fastening nail; 25-long handle through hole; 26-binding piece; 27-first through hole; 28-second through hole; 29-second tooth; 20-fourth tooth; 3-positioning frame; 31-positioning rod; 32-first tooth; 33-positioning bowl; 34-protective cover; 35-reflective layer; 36-clamping piece. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0033] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0034] The present application embodiment provides a tracing and positioning device for a surgical robot. The structure of the device is combined with Figure 1-Figure 10 As shown, the tracing and positioning device comprises:

[0035] The spinous process clamp 1 is suitable for clamping the spinous process of any surgical object;

[0036] A positioning frame 3, suitable for positioning the current position;

[0037] The fastening structure 2 is connected to the spinous process clamp 1 and the positioning frame 3; when the fastening structure 2 is in a locked state, the relative position of the fastening structure 2, the spinous process clamp 1 and the positioning frame 3 is synchronously fixed; when the fastening structure 2 is in a relaxed state, the relative position of the fastening structure 2, the spinous process clamp 1 and the positioning frame 3 is changeable.

[0038] In the present application, a fastening structure is provided to adjust the relative position and angle of the spinous process clamp and the positioning frame in a relaxed state, and to lock the spinous process clamp and the positioning frame in a fastened state, thereby realizing the adjustable function of the positioning frame while maintaining the positioning accuracy of the tracing positioning device.

[0039] In one embodiment, the spinous process clamp can be connected to the fastening structure through a screw nut, and the positioning frame can be connected to the fastening structure through another screw nut, and a structure that can simultaneously screw the two nuts is provided (for example, the nuts are distributed with clamps, and the user holds a clamp with both hands for synchronous rotation when screwing), thereby achieving simultaneous screwing of the two nuts, that is, synchronous fixation and synchronous loosening of the spinous process clamp and the fastening structure, and the positioning frame and the fastening structure.

[0040] In the present application, when the fastening structure is switched to the locking state, the fastening structure and the spinous process clamp, and the fastening structure and the positioning frame are fixed synchronously, thereby achieving simultaneous fixation of relative positions and avoiding adverse consequences caused by asynchrony.

[0041] In one embodiment, the positioning frame 3 has a positioning rod 31, the spinous process clamp 1 has a long handle 11, and the fastening structure 2 includes a fastening cap 21, a fastening nail 24 and a coupling member 26;

[0042] The fastening cap 21 has an internal thread, the fastening nail 24 has an external thread, the coupling piece 26 is coupled to the long handle 11 , and the fastening nail 24 sequentially passes through the coupling piece 26 and the positioning rod 31 and is screwed to be connected with the fastening cap 21 .

[0043] In the present application, the fastening nail 24 is in the shape of a nail and has an external thread, and the fastening cap is adapted to the fastening nail and has an internal thread; the fastening nail and the fastening cap can be brought close to each other by screwing.

[0044] In the present application, by screwing the fastening cap 21, the relative distance between the fastening nail 24 and the fastening cap is made close, thereby squeezing the coupling member 26 and the positioning rod 31 through which the fastening nail 24 passes in sequence, thereby achieving the fastening of the coupling member / long handle and the positioning rod.

[0045] In the present application, the locking state and the loosening state of the fastening structure are switched by tightening and loosening the fastening cap, and the switching is synchronous, and the fixing and loosening of the positioning frame and the spinous process clamp are achieved at the same time.

[0046] In one embodiment, the fastening cap 21 has a cylindrical protrusion 22 on the side facing the positioning rod 31 , and a spring 23 is arranged on the outside of the cylindrical protrusion 22 ; one end of the spring 23 abuts against the side of the positioning rod 31 facing the fastening cap 21 , and the other end abuts against the fastening cap 21 .

[0047] In the present application, the fastening cap 21 abuts against the positioning rod 31. Since the fastening cap is continuously moved forward by screwing, a spring is provided between the fastening cap 21 and the positioning rod 31 to prevent the position of the positioning rod from changing due to continued screwing of the fastening cap after the fastening cap abuts against the positioning rod.

[0048] In the present application, a spring is provided so that when the fastening cap does not abut against the positioning rod, the spring first abuts against and is compressed to form a pre-tightening force, thereby preventing the positioning rod from being completely loosened and causing the position to be unable to be fixed.

[0049] In the present application, a cylindrical protrusion is provided on the fastening cap to guide the sleeved spring and directly abut against the positioning rod in the locked state for locking.

[0050] As shown in the combined figure, the side where the positioning rod 31 abuts against the cylindrical protrusion 22 is concave, forming an end face that matches the cylindrical protrusion 22; the spring 23 is sleeved on the cylindrical protrusion 22, with one end abutting against the fastening cap 21 and the other end abutting against the concave end face, thereby pushing the positioning rod 31 through the elastic force, so that the positioning rod 31 has a pre-tightening force.

[0051] In one embodiment, the coupling member 26 is cylindrical and has a first through hole 27 along the axial direction and a second through hole 28 perpendicular to the axial direction; the fastening nail 24 is provided with a long-shank through hole 25 perpendicular to the axial direction; the fastening nail 24 is inserted into the first through hole 27, and the long shank 11 is inserted into the second through hole 28 and the long-shank through hole 25, and the cross-section of the long-shank through hole 25 is an oval shape.

[0052] In the present application, the first through hole 27 is an axial through hole of the coupling, and the fastening nail is inserted into the first through hole and passes through; thereby, the coupling is strung on the fastening nail 24; the second through hole 28 is a radial through hole of the coupling, and the long handle is inserted into the second through hole and passes through, thereby, the coupling is strung on the long handle 11.

[0053] In the present application, the long handle 11 and the fastening nail 24 are both inserted into the coupling 26, and their paths are intersecting, so a long handle through hole 25 is set on the fastening nail 24. At this time, when the fastening nail 24 is inserted into the first through hole 27, the long handle through hole 25 is aligned with the second through hole 28, and the long handle 11 passes through the long handle through hole 25 and the second through hole 28 to complete the intersection with the fastening nail 24.

[0054] It should be noted that the first through hole 27 and the second through hole 28 also intersect in the coupling. Since the diameter of the first through hole is larger than that of the second through hole, the first through hole 27 cuts the second through hole 28 into two upper and lower circular holes. It can also be considered that there are two second through holes 28, which are distributed on the upper and lower sides corresponding to the first through hole 27.

[0055] When in use, the long handle 11 is inserted into the second through hole 28 at the lower side, then into the long handle through hole 25, and then into the second through hole 28 at the upper side, and then out of the coupling piece.

[0056] In the present application, a waist circle refers to a closed figure formed by dividing a circle into two semicircular arcs through the center of the circle and translating them in opposite directions, and connecting the endpoints of the two semicircular arcs with two equal-length parallel lines.

[0057] In the present application, the long handle through hole is set to an oval shape, so that the long handle 11 can be accommodated while having the freedom for the fastening nail 24 to translate, so that when the long handle 11 is inserted, it will not be strictly limited by the position of the fastening nail 24.

[0058] In the present application, the first through hole has no internal thread, so that the fastening nail 24 can freely pass through the first through hole.

[0059] In the present application, the end of the coupling away from the positioning rod 31 has a groove, which is adapted to the shape of the top end of the fastening nail 24. Under the action of the pre-tightening force, the top end of the fastening nail 24 is embedded in the groove, thereby combining the coupling with the top end of the fastening nail 24 to limit the fastening nail.

[0060] In one embodiment, the top end of the positioning rod 31 is cylindrical, and the end face of the cylindrical top end facing the coupling 26 has a circularly distributed first tooth 32. The end face of the coupling 26 facing the positioning rod 31 is also provided with a circularly distributed second tooth 29, and the first tooth 32 and the second tooth 29 are meshed.

[0061] As shown in the figure, the positioning rod is a long rod, and its top end is a cylinder perpendicular to the axis of the positioning rod, and the axis of the cylinder is perpendicular to the axis of the positioning rod; the positioning rod and the cylinder at the top end can be an integrated structure or a combination of split structures.

[0062] In the present application, the cylindrical top of the positioning rod has a through hole, and the fastening nail 24 is inserted into and passes through the through hole to be combined with the fastening cap 21. The through hole does not have an internal thread, so that the fastening nail 24 is easy to insert and pass through.

[0063] In the present application, the cylindrical top of the positioning rod 31 is adjacent to the coupling member 26, and abutting relationship is formed by the extrusion of the fastening cap 21 (the spring 23 of the fastening cap 21) and the fastening nail 24. The end face of the cylindrical abutment is provided with a first tooth 32, which is distributed in a circular shape; the end face of the coupling abutment is provided with a second tooth 29, which is distributed in a circular shape and meshes with the first tooth 32.

[0064] Furthermore, the first teeth and the second teeth are conical teeth, thereby facilitating relative sliding of the gears.

[0065] Furthermore, the first tooth / second tooth is a crown gear; the crown gear is also called a crown wheel. The teeth of the crown wheel are distributed on the end surface, and the crown wheel is named because of its crown-like shape.

[0066] It should be noted that, in the present application, the purpose of setting the first and second teeth is to make the positioning rod 31 and the coupling member 26 relatively fixed in angle, rather than the first teeth driving the second teeth to rotate. In fact, the first and second teeth are set to prevent the positioning rod 31 from rotating relative to the coupling member 26 (in a fastened state). Therefore, the first and second teeth in the present application can also be directly set as a rough surface with texture, so that no relative displacement occurs after the first and second teeth are combined (in a stable state).

[0067] In the present application, due to the provision of a spring 23, the positioning rod 31 and the coupling 26 squeezed by the spring and the fastening nail 24 are always in a pre-tightened state. The pre-tightening force is provided by the spring 23 in a compressed state. Under the action of the pre-tightening force, the positioning rod 31 and the coupling 26 are in a relatively fixed state. In this state, they will remain relatively fixed in the absence of external force, and only under the action of a larger external force will the positioning rod 31 rotate. When the fastening cap 21 is screwed until the end face directly abuts against the positioning rod 31, the pre-tightening force reaches its maximum, forming a fastened state, at which time the positioning rod 31 and the coupling 26 are fixed.

[0068] In one embodiment, the outer side surface of the long handle 11 has third teeth 12 , and the inner side surface of the second through hole 28 has fourth teeth 20 , and the third teeth 12 and the fourth teeth 20 are meshed.

[0069] As shown in the combined figure, the long handle 11 passes through the second through hole 28, and the outer side of the long handle 11 passing through the second through hole 28 has a third tooth 13, and the second through hole 28 has a fourth tooth 20, and the third tooth 12 and the fourth tooth 20 are meshed.

[0070] Furthermore, the third tooth and the fourth tooth are conical teeth, thereby facilitating relative sliding of the gears.

[0071] It should be noted that, similarly, the purpose of setting the third and fourth teeth is to make the long handle 11 and the coupling 26 form a relatively fixed angle, rather than the third teeth driving the fourth teeth to rotate. In fact, the third and fourth teeth are set to prevent the long handle 11 from rotating relative to the coupling 26 (in a fastened state). Therefore, the third and fourth teeth in the present application can also be directly set as a rough surface with texture, so that no relative displacement occurs after the third and fourth teeth are combined (in a stable state).

[0072] In the present application, due to the provision of the spring 23, the positioning rod 31 and the coupling 26 squeezed by the spring and the fastening nail 24 are always in a pre-tightened state. At this time, the fastening nail 24 drives the long handle 11 passing through the long handle through hole 25 to move in the direction of the positioning rod 31, so that the part of the long handle 11 combined with the second through hole 28 is squeezed due to the movement of the long handle 11, that is, the long handle and the side of the second through hole 28 close to the positioning rod 31 are abutted and squeezed under the action of the pre-tightening force to form a relative fixation. Only under the action of a larger external force, the long handle 11 will produce a rotation movement; when the fastening cap 21 is screwed until the end face directly abuts against the positioning rod 31, the pre-tightening force reaches the maximum, forming a tightening state, at which the long handle 11 and the coupling 26 are fixed.

[0073] In one embodiment, the long handle 11 is cylindrical, the second through hole 28 is circular, and the radius of the second through hole 28 is larger than that of the long handle 11 .

[0074] In the present application, by setting the second through hole to have a radius larger than the long handle 11, when the long handle 11 passes through the second through hole, radial movement can occur in the second through hole, thereby facilitating the long handle 11 to pass through and out of the second through hole on the one hand, and facilitating the long handle 11 to be rotated vigorously when necessary, so as to produce relative rotation between it and the coupling / second through hole.

[0075] Furthermore, under the action of the pre-tightening force, the distance of the long handle 11 inserted into the second through hole can be changed by pulling out or inserting the long handle 11, thereby adjusting the distance between the spinous process clamp and the positioning frame.

[0076] In one embodiment, the spinous process clamp 1 also includes a screwing handle 13, a first clamp 15 and a second clamp 18, the long handle 11 is set on the first clamp 15; the first clamp 15 and the second clamp 18 are rotationally connected, and the screwing handle 13 is inserted into the second clamp 18, and the clamping action and the release action of the first clamp 15 and the second clamp 18 are controlled by clockwise and counterclockwise screwing of the screwing handle 13.

[0077] In one embodiment, the middle parts of the first clamp 15 and the second clamp 18 are rotationally connected, and the screwing handle passes through the upper part of the second clamp 18 and is screwed together with the upper part of the first clamp 15. The relative position between the upper parts of the first clamp 15 and the second clamp 18 is controlled by screwing clockwise and counterclockwise, thereby controlling the clamping action and the releasing action of the first clamp 15 and the second clamp 18.

[0078] In the present application, the clamping action and the releasing action of the first clamp 15 and the second clamp 18 are controlled by twisting, which actually means controlling the opening and closing angles of the first clamp and the second clamp to control the clamping action and the releasing action; in this way, while controlling the clamping action and the releasing action, the specific opening and closing angles of the first clamp and the second clamp can also be controlled (if the twisting stops, the first clamp 15 and the second clamp 18 will be controlled to remain unchanged at the current angle).

[0079] It should be noted that the tracing and positioning device is used to clamp the spinous process of the spine. Since the shapes of the spinous processes are different, it is difficult for conventional tracing and positioning devices to quickly and stably clamp different types of spinous processes.

[0080] In the present application, the opening and closing angles of the first clamp and the second clamp can be controlled at any angle by twisting, thereby achieving rapid and stable clamping of the spinous process.

[0081] Specifically, during the clamping process, the screwing handle is rotated to open the first clamp and the second clamp; then the opening is placed at the spinous process to be clamped, and the screwing handle is rotated in the opposite direction to clamp the first clamp and the second clamp. At this time, the opening and closing angles of the first clamp and the second clamp gradually decrease until the spinous process is clamped and the opening and closing angles no longer decrease. At this time, the screwing handle is stopped, and the opening and closing angles of the first clamp and the second clamp remain unchanged, that is, the spinous process is stably clamped.

[0082] In this way, the spinous process can be quickly clamped by simply rotating the screw handle; after clamping, the opening and closing angle / clamping action can be kept unchanged by simply stopping the rotation of the screw handle, thereby achieving stable clamping.

[0083] In one embodiment, a connecting member 16 is provided on the first clamp 15, and the connecting member 16 is rotatably connected around a connection; a third through hole 19 is provided on the handle of the second clamp 18, and the screw handle 13 passes through the third through hole 19 and is connected to one end of the connecting member 16 that rotates.

[0084] In one embodiment, one rotating end of the connecting member 16 is open and two opposite fourth through holes 17 are arranged at the opening; the second clamp 18 is hollow in the middle and two opposite sides are provided with sliding grooves 10; a small cylinder 14 is arranged at one end of the screwing handle 13 passing through the third through hole 19, and the middle part of the small cylinder 14 is rotatably connected to the screwing handle 13, and after the two ends pass through the two fourth through holes 17 at the opening of the connecting member 16, they are respectively inserted into the opposite sliding grooves 10 of the second clamp 18.

[0085] As shown in the combined figure, one end of the connecting member 16 is rotationally connected to the handle of the first clamp 15, and the other end can rotate around the connection; the other end of the connecting member 16 is rotationally connected to the top of the screw handle 13 through a small cylinder 14, and the small cylinder 14 is stuck in the sliding groove 10 of the second clamp 18 and can slide along the sliding groove 10.

[0086] In this way, when the small cylinder 14 slides toward the top along the sliding groove 10, it will simultaneously drive the end of the connecting member 16 connected to the small cylinder 14 to slide toward the top of the second clamp 18; at this time, since the two ends of the connecting member 16 are respectively connected to the handle of the first clamp 15 and the handle of the second clamp 18, the small cylinder 14 slides toward the top of the second clamp 18, which will drive the handle of the second clamp to approach the first clamp, that is, the opening and closing angle of the first clamp and the second clamp gradually increases; conversely, when the small cylinder 14 slides toward the middle along the sliding groove 10, it will drive the handle of the second clamp away from the handle of the first clamp, that is, the opening and closing angle of the first clamp and the second clamp gradually decreases. Thus, the axial movement of the small cylinder along the sliding groove is converted into the lateral movement of the second clamp 18 rotating toward the first clamp 15.

[0087] It can be seen that the difference between axial movement and lateral movement is that after a long axial movement, a short lateral movement is performed, thereby amplifying the clamping action control of the first clamp 15 and the second clamp 18 to achieve higher control accuracy.

[0088] Among them, a through hole is provided on the small cylinder 14, and after the top end of the screwing handle 13 is inserted into the through hole, it forms a rotating connection with the small cylinder 14 that is axially fixed (axially of the screwing handle) and circumferentially rotatable; the distance between the screwing handle 13 and the small cylinder 14 along the axial direction of the screwing handle 13 remains fixed (the fixed distance can be a method of setting a blocking block at the top end of the screwing handle 13 that passes through the small cylinder 14), but the screwing handle 13 can rotate along the circumference of the screwing handle.

[0089] In the present application, a third through hole 19 is provided at the top end of the handle of the second clamp 18, and the axial direction of the third through hole 19 is parallel to the axial direction of the handle of the second clamp 18. After the screwing handle 13 passes through the third through hole, it is connected to the small cylinder 14; the inner wall of the third through hole 19 is provided with an internal thread that is compatible with the external thread of the screwing handle 13, so that the screwing handle 13 after being screwed will be displaced along the third through hole, and the displacement pushes the small cylinder 14 to slide along the sliding groove 10; thereby, the rotational motion of the screwing handle 13 is converted into the clamping and opening and closing motion of the first clamp 15 and the second clamp 18.

[0090] In the present application, the screwing-opening-closing mapping structure is used to reduce the clamping magnification ratio (the ratio of the thread progress-the final opening and closing angle) during the clamping control process, and avoid the use of overly fine threads (the larger the magnification ratio, the more fine threads are required for control).

[0091] In the present application, by arranging the screwing handle along the axial direction of the second clamp 18, sufficient space can be left for screwing the screwing handle while the spine is clamped, which is convenient for control.

[0092] In this application, the combination of the thread and the sliding member (small cylinder and sliding groove) is mutually fixed to achieve better precision;

[0093] As shown in the figure, in the present application, the positioning frame 3 includes a group of positioning bowls 33.

[0094] Furthermore, the positioning frame 3 includes at least three positioning bowls.

[0095] For the NDI device, it directly identifies the small bright spots within the field of view (each bright spot corresponds to a positioning bowl), and comprehensively judges the position and posture of the tracer positioning device through the identified bright spots; if there are only two positioning bowls, the two positioning bowls in the same position correspond to at least two different positions and postures of the tracer positioning device, so that the NDI device cannot determine the true position of the tracer positioning device.

[0096] In the present application, at least three positioning bowls are provided so that the tracing positioning device can be positioned.

[0097] It should be noted that the three positioning bowls are irregularly arranged; if the number of positioning bowls in a group exceeds three, the group of positioning bowls is irregularly arranged.

[0098] In the present application, the irregular setting means that the figure with the positioning bowl as the top is an irregular figure, and the irregular figure does not overlap with the original figure after moving or folding in space; through the irregular setting, it can be avoided that the figure composed of the positioning balls is similar to or overlaps with the original figure after moving or folding in space, thereby interfering with the positioning.

[0099] Furthermore, the number of positioning bowls on the two positioning surfaces is four.

[0100] In the present application, the number of positioning bowls is restricted to avoid overcrowding caused by too many positioning bowls.

[0101] It should be noted that the reflective layer in the positioning bowl is planar and coated with a retroreflective coating; however, the reflective layer is best at reflecting vertically irradiated infrared light, and the smaller the angle between the infrared light and the plane, the worse the reflection effect.

[0102] In the present application, the positioning bowl 33 includes a protective cover 34 and a reflective layer 35 . The reflective layer 35 is a circular plane, and the reflective area is increased by the plane structure. The protective cover 34 is sleeved on the reflective layer 35 and is open to protect the reflective layer 35 .

[0103] In the present application, the reflective area and the reflective light intensity of the circular plane reflective layer within a preset reflective range are greatly increased, thereby greatly increasing the accuracy of recognition.

[0104] It can be seen that the preset reflection range / visible range is a conical range of a certain angle with the perpendicular line of the reflection layer as the axis. When the device for detecting the reflected light is located within the conical range, its recognition effect on the positioning bowl is greatly enhanced.

[0105] In the present application, the combination of the protective cover 34 and the reflective layer 35 is bowl-shaped, the reflective layer 35 is a flat bowl bottom, and the protective cover 34 is a bowl wall / inner wall. This arrangement allows the protective cover to protect the reflective layer and prevent the positioning bowl from contacting other components during transportation, storage, and use.

[0106] The cavity of the combination of the protection cover 34 and the reflection layer 35 is in the shape of an inverted truncated cone, thereby reducing the shielding range of the reflection layer while achieving the protection effect.

[0107] Furthermore, the positioning bowl 33 further includes a snap-fitting member 36 , which is in close contact with the bottom surface of the reflective layer 35 and snap-fitted with the protective cover 34 .

[0108] In the present application, the reflective layer 35 is engaged in the protective cover 34 by the engaging member 36 , thereby preventing the reflective layer and the protective cover from being unstable.

[0109] In the present application, by providing a clamping piece, on the one hand, the reflective layer is clamped between the clamping piece and the protective cover to fix it; on the other hand, the clamping piece is close to the reflective layer and can provide additional protection, thereby preventing external forces from affecting the reflective layer.

[0110] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0111] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0112] In this application, unless otherwise clearly specified and limited, the terms "disposed", "connected", "connected", "connected" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0113] In the present application, unless otherwise clearly specified and limited, a first feature being “on” or “under” a second feature may mean that the first and second features are in direct contact with each other, or the first and second features are in indirect contact with each other through an intermediate medium.

[0114] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0115] It should be noted that in the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some embodiments, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0116] The above is only the embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A tracing and positioning device for a surgical robot, characterized in that: include: The spinous process clamp is suitable for clamping the spinous process of any surgical object; A positioning frame, suitable for positioning the current position; A fastening structure connected to the spinous process clamp and the positioning frame; the fastening structure, in a locked state, synchronously fixes the relative position of the fastening structure, the spinous process clamp and the positioning frame, and the fastening structure, in a relaxed state, can change the relative position of the fastening structure, the spinous process clamp and the positioning frame; The positioning frame has a positioning rod, the spinous process clamp has a long handle, and the fastening structure includes a fastening cap, a fastening nail and a coupling piece; The fastening cap has an internal thread, the fastening nail has an external thread, the coupling piece is coupled to the long handle, and the fastening nail passes through the coupling piece and the positioning rod in sequence and is screwed and connected to the fastening cap; The spinous process clamp also includes a screwing handle, a first clamp and a second clamp, the long handle is arranged on the first clamp; the first clamp and the second clamp are rotatably connected, the screwing handle is inserted into the second clamp, and the clamping action and the releasing action of the first clamp and the second clamp are controlled by screwing the screwing handle clockwise and counterclockwise; The first clamp is provided with a connecting piece, and the connecting piece is connected by rotation around the connection; the handle of the second clamp is provided with a third through hole, and the screw handle passes through the third through hole and is connected to the rotating end of the connecting piece; The rotating end of the connecting piece is open and two fourth through holes are arranged opposite to each other at the opening; the second clamp is hollow in the middle and two opposite sides are arranged with sliding grooves; the end of the screwing handle passing through the third through hole is provided with a small cylinder, the middle part of the small cylinder is rotatably connected with the screwing handle, and the two ends are respectively inserted into the opposite sliding grooves of the second clamp after passing through the two fourth through holes at the opening of the connecting piece; A through hole is arranged on the small cylinder, and after the top end of the screwing handle is inserted into the through hole, a rotation connection is formed with the small cylinder in an axially fixed and circumferentially rotatable manner.

2. The tracing and positioning device according to claim 1, characterized in that: The fastening cap has a cylindrical protrusion on one side facing the positioning rod, and a spring is arranged outside the cylindrical protrusion; one end of the spring abuts against the side of the positioning rod facing the fastening cap, and the other end abuts against the fastening cap.

3. The tracing and positioning device according to claim 1, characterized in that: The combining piece is cylindrical and has a first through hole along the axial direction and a second through hole perpendicular to the axial direction; the fastening nail is provided with a long-shank through hole perpendicular to the axial direction; the fastening nail is inserted into the first through hole, the long shank is inserted into the second through hole and the long-shank through hole, and the cross-section of the long-shank through hole is an oval shape.

4. The tracing and positioning device according to claim 1, characterized in that: The top end of the positioning rod is cylindrical, and the end surface of the cylindrical top end facing the coupling member has first teeth distributed in a circular shape. The end surface of the coupling member facing the positioning rod is also provided with second teeth distributed in a circular shape, and the first teeth are meshed with the second teeth.

5. The tracing and positioning device according to claim 3, characterized in that: The outer side surface of the long handle has a third tooth, the inner side surface of the second through hole has a fourth tooth, and the third tooth is meshed with the fourth tooth.

6. The tracing and positioning device according to claim 3, characterized in that: The long handle is cylindrical, the second through hole is circular, and the radius of the second through hole is larger than that of the long handle.

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