A collaborative orthopedic surgery tool auxiliary device and a collaborative method

Abstract

The present invention relates to the field of medical device technology, and specifically to a collaborative orthopedic surgical tool auxiliary device and a collaborative method, comprising an auxiliary robot, a mechanical arm installed on the auxiliary robot, and a positioning sleeve installed at the end of the mechanical arm, wherein the positioning sleeve is used to position the surgical tool; with this collaborative orthopedic surgical tool auxiliary device and a collaborative method, when a doctor performs orthopedic surgery on a patient, the doctor can pre-install a support sleeve on the outside of the positioning sleeve, and after the positioning sleeve is used to position the surgical position of the patient through the operation of the mechanical arm of the auxiliary robot, the pushing component on the support sleeve is operated, thereby achieving the effect of accurately positioning and marking the surgical position of the patient, so that when the doctor inserts the surgical tool into the surgical position of the patient through the positioning sleeve, the marked position of the patient's skin can be used for the doctor to perform secondary positioning when inserting the surgical tool, thereby preventing deviation of the surgical tool when it is inserted.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a collaborative orthopedic surgery tool auxiliary device and a collaborative method. Background Art

[0002] Orthopedics is one of the most common departments in major hospitals. It mainly studies the anatomy, physiology and pathology of the musculoskeletal system, and uses drugs, surgery and physical methods to maintain and develop the normal form and function of this system. With the changes of the times and society, the spectrum of orthopedic injuries has changed significantly. For example, diseases such as bone and joint tuberculosis, osteomyelitis, and polio have decreased significantly, while trauma caused by traffic accidents has increased significantly. The changes in the spectrum of orthopedic injuries require orthopedics to keep pace with the times. Orthopedics is also known as orthopedic surgery. It is a specialty or discipline in medicine that specializes in the anatomy, physiology and pathology of the musculoskeletal system, and uses drugs, surgery and physical methods to maintain and develop the normal form and function of this system, as well as treat injuries and diseases of this system.

[0003] In existing orthopedic surgeries, surgical robots are often used to collaborate with and assist the surgeon in the orthopedic surgery. For example, patent application number: CN202311073132.2 discloses: a surgical robot for orthopedic surgery;

[0004] Although existing surgical robots have passed rigorous testing to ensure their positioning accuracy and ensure that the robot can accurately locate the part of the patient's surgery, for example, in existing pelvic fixation surgery, the auxiliary robot accurately locates the surgical tool to the surgical site and inserts it into the predetermined surgical site at a preset angle. However, during the operation, even if the patient is under deep anesthesia, the patient's breathing, heartbeat and the doctor's surgical operation will cause the patient's body to shake. Therefore, the doctor strictly monitors the patient's movement during the entire operation.

[0005] During this process, if the doctor is slightly distracted, the patient may move without being noticed, especially after the positioning sleeve of the auxiliary robot has been positioned. Since there is still a certain distance between the positioning sleeve and the actual surgical position, when the surgeon inserts the surgical tool into the patient's surgical position through the positioning sleeve, it is very easy for the patient to move without being observed, resulting in the deviation of the surgical tool and affecting the accuracy of the patient's surgery. For this reason, we propose a collaborative orthopedic surgical tool auxiliary device and collaborative method. Summary of the invention

[0006] The object of the present invention is to provide a collaborative orthopedic surgery tool auxiliary device and a collaborative method to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: a collaborative orthopedic surgical tool auxiliary device, comprising an auxiliary robot, a mechanical arm mounted on the auxiliary robot, and a positioning sleeve mounted at the end of the mechanical arm, wherein the positioning sleeve is used to position the surgical tool, and further comprising:

[0008] A support sleeve, which is detachably mounted on the outside of the positioning sleeve, and a hollow cavity is provided inside the support sleeve, and the hollow cavity extends to the bottom of the support sleeve;

[0009] A pushing component, wherein the pushing component is installed at the bottom of the hollow cavity;

[0010] A marking component, wherein the marking component is connected to the pushing component, and after the auxiliary robot locates the surgical position of the patient by controlling the positioning sleeve on the mechanical arm, the positioning sleeve further marks the patient's skin through the marking component;

[0011] The stabilizing component is driven synchronously by the pushing component to fix the positioning sleeve and the surgical position of the patient, thereby preventing the patient from moving and causing the surgical position to deviate.

[0012] Wherein, the pushing assembly comprises a pushing ring slidably sleeved on the hollow cavity, and a driving member for driving the pushing ring is installed on the hollow cavity;

[0013] A push rod, wherein a plurality of push rods are provided, and one end of each of the plurality of push rods is fixedly connected to the push ring;

[0014] A pushing sleeve, the pushing sleeve is slidably sleeved on the hollow cavity, and one end of the plurality of pushing rods is fixedly connected to the pushing sleeve;

[0015] A plurality of annular grooves are equidistantly arranged on the outside of the pushing sleeve, the stabilizing component is connected to the annular grooves, and the marking component is connected to the pushing sleeve.

[0016] Wherein, the driving member comprises a rotating sleeve rotatably connected to the inner wall of the hollow cavity, the inner side of the rotating sleeve is provided with an internal thread, the rotating sleeve is threadedly connected to a moving sleeve through the internal thread on the inner side thereof, the moving sleeve is slidably connected to the hollow cavity, and one end of the moving sleeve is fixedly connected to the pushing ring;

[0017] The supporting sleeve is provided with a rotating member for rotating the rotating sleeve, and the driving member is provided to drive the pushing ring.

[0018] Wherein, the support sleeve is provided with an opening at a position corresponding to the rotating part, and the opening is connected with the hollow cavity;

[0019] The rotating member includes a rotating gear that passes through the opening, and an outer gear ring is meshedly connected to the outer side of the rotating gear, and the outer gear ring is fixedly sleeved on the outer side of the protrusion at one end of the rotating sleeve;

[0020] A protective shell is fixedly installed on the outside of the support sleeve, and a rotating motor is fixedly installed inside the protective shell. The output end of the rotating motor is fixedly connected to the rotating gear, and the rotating sleeve is driven by a rotating member.

[0021] The marking assembly includes two extension tubes penetrating the push sleeve, the two extension tubes are slidably connected to the push sleeve, one end of the two extension tubes is matched and connected with a liquid storage tube, an annular liquid storage shell is connected between the two liquid storage tubes, and the annular liquid storage shell is fixedly installed inside the hollow cavity and is located at one end of the rotating sleeve;

[0022] One end of the two extending tubes is connected to a ring-shaped marking shell, and a marking block is installed at the marking shell;

[0023] The push sleeve is provided with an adjusting member for adjusting the extension position of the extension tube, and the marking component is provided to mark the surgical position of the patient.

[0024] Wherein, the adjusting member comprises an adjusting rod penetrating through the pushing sleeve, the adjusting rod is slidably connected to the pushing sleeve, and one end of the adjusting rod is fixedly connected to the marking shell;

[0025] A fixing plate is fixedly mounted on one end of the push sleeve located inside the hollow cavity, a fixing motor is mounted on the fixing plate, and an adjusting gear is fixedly connected to the output end of the fixing motor;

[0026] The adjusting rod is provided with a plurality of tooth grooves at equal distances, and the adjusting gear is meshedly connected with the tooth grooves, so that the extending tube can be adjusted through the provided adjusting piece.

[0027] Among them, there are multiple stabilizing components, and the multiple stabilizing components are equidistantly distributed on the outside of the supporting sleeve. The supporting sleeve is provided with moving openings at the positions corresponding to the stabilizing components. Through the multiple stabilizing components, the positioning sleeve and the patient's surgical position are relatively fixed.

[0028] Among them, a liquid injection tube is installed on the annular liquid storage shell, and the liquid injection tube passes through the supporting sleeve. A joint is fixedly installed at one end of the liquid injection tube located on the outside of the supporting sleeve, and a sealing plug is installed at the joint. Through the provided liquid injection tube, the inside of the annular liquid storage shell can be filled with liquid.

[0029] Wherein, the stabilizing assembly comprises two connecting plates fixedly mounted on the outside of the moving port, a connecting shaft is rotatably connected between the two connecting plates, a connecting gear is fixedly sleeved on the outside of the connecting shaft, and the connecting gear is meshed and connected with the ring-shaped groove;

[0030] A contact claw is fixedly mounted on the connecting gear, and a contact pad is mounted on one end of the contact claw. The patient and the positioning sleeve are relatively fixed by means of a stabilizing component.

[0031] A collaborative method of a collaborative orthopedic surgery tool auxiliary device, comprising the following steps:

[0032] Step 1: When performing pelvic fixation surgery on a patient, the patient is first anesthetized. While anesthetized, the position of the auxiliary robot is adjusted and moved to the position where the patient needs surgery through the base;

[0033] Step 2: When the patient enters an anesthetized state, the auxiliary robot uses the optical tracking camera on it to penetrate the epidermal tissue at the pelvis and identify the location of the required surgery. At this time, the controller controls the robot arm to move the positioning sleeve to the location of the required surgery.

[0034] Step 3: At this time, the push component is operated. When the push component is operated, the marking block is pushed to the surgical site of the patient, and contacts with the patient's skin and marks the patient. At the same time, a plurality of contact claws fix the periphery of the surgical site of the patient through the contact pad.

[0035] Step 4: The surgeon then positions the cannula and the marks, and accurately inserts the surgical tools into the surgical site before performing the operation.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] When the present invention is in use, by installing a support sleeve on the outside of the positioning sleeve, the doctor can pre-install the support sleeve on the outside of the positioning sleeve when performing orthopedic surgery on the patient, and after the positioning sleeve is used to locate the surgical position of the patient through the operation of the mechanical arm of the auxiliary robot, the pushing component on the support sleeve is operated, thereby achieving the effect of accurately positioning and marking the surgical position of the patient, so that when the doctor inserts the surgical tool through the positioning sleeve into the surgical position of the patient, the marked position of the patient's skin can be used for secondary positioning of the doctor when inserting the surgical tool, thereby preventing deviation of the surgical tool when it is inserted.

[0038] When the present invention is in use, while the pushing component is running, it drives the stabilizing component to open, thereby achieving the function of re-positioning the periphery of the patient's surgical position, and at the same time, the positioning sleeve at the mechanical arm of the auxiliary robot is fixed relative to the patient's surgical position, and at the same time, the patient is auxiliary fixed relative to the operating bed, to prevent the patient's breathing, heartbeat and the doctor's surgical operation from causing the patient to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 This is a schematic diagram of the positioning sleeve structure of the present invention;

[0041] Figure 3 This is a schematic diagram of the internal structure of the support sleeve of the present invention;

[0042] Figure 4 This is a structural diagram of Embodiment 2 of the present invention;

[0043] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of the middle A area;

[0044] Figure 6 It is a schematic diagram of the cross-sectional structure of the support sleeve of the present invention;

[0045] Figure 7 This is a schematic diagram of the explosion structure of the support sleeve of the present invention;

[0046] Figure 8 It is a schematic diagram of the structure of the movable sleeve of the present invention;

[0047] Fig. 9 For the present invention Figure 8 Schematic diagram of the enlarged structure of the middle B area;

[0048] Fig.10 It is a schematic diagram of the structure of the adjusting member of the present invention;

[0049] Fig.11 This is a structural diagram of Embodiment 3 of the present invention;

[0050] Fig.12 This is a structural diagram of embodiment 4 of the present invention.

[0051] In the figure: 1-assisting robot; 11-mechanical arm; 2-positioning sleeve; 3-support sleeve; 31-hollow cavity; 32-positioning bolt; 4-pushing assembly; 41-pushing ring; 42-driving member; 421-rotating sleeve; 422-moving sleeve; 43-pushing rod; 44-pushing sleeve; 441-ring-shaped groove; 45-positioning plate; 46-electric push rod; 5-marking assembly; 51-extending tube; 52-liquid storage tube; 53-ring-shaped liquid storage shell; 531-injection Liquid pipe; 532-connector; 533-sealing plug; 54-marking shell; 541-sealing disinfection cover; 55-adjusting member; 551-adjusting rod; 5511-tooth groove; 552-fixing plate; 553-fixing motor; 554-adjusting gear; 6-stabilizing assembly; 61-connecting plate; 62-connecting shaft; 63-connecting gear; 64-contact claw; 65-contact pad; 7-rotating member; 71-rotating gear; 72-external gear ring; 73-protective shell; 74-rotating motor. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] See also Figure 1-10 , Embodiment 1

[0054] A collaborative orthopedic surgical tool assisting device and a collaborative method, comprising an assisting robot 1, a mechanical arm 11 mounted on the assisting robot 1, and a positioning sleeve 2 mounted at the end of the mechanical arm 11, wherein the positioning sleeve 2 is used to position the surgical tool. In the present invention, the assisting robot 1 is an existing robot, and an optical tracking camera is also mounted on it to identify the surgical position of the patient, and further comprises:

[0055] A support sleeve 3, which is detachably mounted on the outside of the positioning sleeve 2, and a hollow cavity 31 is provided inside the support sleeve 3, and the hollow cavity 31 extends to the bottom of the support sleeve 3;

[0056] A push assembly 4, which is installed at the bottom of the hollow cavity 31. The push assembly 4 includes a push ring 41 which is slidably sleeved on the hollow cavity 31, and a driving member 42 for driving the push ring 41 is installed on the hollow cavity 31;

[0057] A push rod 43, wherein a plurality of push rods 43 are provided, and one end of each of the plurality of push rods 43 is fixedly connected to the push ring 41;

[0058] A push sleeve 44 is slidably sleeved on the hollow cavity 31, and one end of a plurality of push rods 43 is fixedly connected to the push sleeve 44;

[0059] A plurality of annular grooves 441 are equidistantly disposed on the outer side of the pushing sleeve 44 , the stabilizing component 6 is connected to the annular grooves 441 , and the marking component 5 is connected to the pushing sleeve 44 .

[0060] The driving member 42 includes a rotating sleeve 421 rotatably connected to the inner wall of the hollow cavity 31, an inner side of the rotating sleeve 421 is provided with an internal thread, and the rotating sleeve 421 is threadedly connected to a moving sleeve 422 through the inner internal thread of the rotating sleeve 421, and the moving sleeve 422 is slidably connected to the hollow cavity 31, and one end of the moving sleeve 422 is fixedly connected to the push ring 41;

[0061] A rotating member 7 for rotating the rotating sleeve 421 is mounted on the supporting sleeve 3 .

[0062] The support sleeve 3 is provided with an opening at a position corresponding to the rotating member 7, and the opening is connected to the hollow cavity 31;

[0063] The rotating member 7 includes a rotating gear 71 that passes through the opening, and an outer gear ring 72 is meshedly connected to the outer side of the rotating gear 71. The outer gear ring 72 is fixedly sleeved on the outer side of the protrusion at one end of the rotating sleeve 421.

[0064] A protective shell 73 is fixedly installed on the outside of the support sleeve 3, and a rotating motor 74 is fixedly installed inside the protective shell 73. The output end of the rotating motor 74 is fixedly connected to the rotating gear 71. The protective shell 73 simultaneously protects the rotating gear 71 and protects the opening.

[0065] The marking component 5 is connected to the pushing component 4, and after the auxiliary robot 1 locates the surgical position of the patient by controlling the positioning sleeve 2 on the mechanical arm 11, the positioning sleeve 2 further marks the patient's skin through the marking component 5;

[0066] The stabilizing component 6 and the pushing component 4 synchronously drive the stabilizing component 6 to fix the positioning sleeve 2 and the surgical position of the patient to prevent the patient from moving and causing the surgical position to deviate.

[0067] The marking assembly 5 includes two extending tubes 51 that pass through the pushing sleeve 44. The two extending tubes 51 are slidably connected to the pushing sleeve 44. One end of the two extending tubes 51 is matched with a liquid storage tube 52. A liquid storage sponge is installed inside the liquid storage tube 52. The extending tube 51 and the liquid storage tube 52 are connected in a matched manner, so that a relatively sealed effect is maintained at the connection between the extending tube 51 and the liquid storage tube 52 to prevent the marking liquid from leaking from the connection between the extending tube 51 and the liquid storage tube 52. An annular liquid storage shell 53 is connected between the two liquid storage tubes 52. The annular liquid storage shell 53 is fixedly installed inside the hollow cavity 31 and is located at one end of the rotating sleeve 421. The annular liquid storage shell 53 stores a marking liquid that is safe and non-toxic to the human body, so that the marking block can be replenished with liquid in time.

[0068] An injection tube 531 is installed on the annular liquid storage shell 53, and the injection tube 531 passes through the support sleeve 3. A joint 532 is fixedly installed at one end of the injection tube 531 located outside the support sleeve 3, and a sealing plug 533 is installed at the joint 532, so that when the annular liquid storage shell 53 is filled with liquid, the sealing plug 533 is opened to inject the marking liquid into the annular liquid storage shell 53;

[0069] One end of the two extension tubes 51 is connected to a ring-shaped marking shell 54, and a marking block is installed on the marking shell 54. The marking block is a soft structure and can be detachably installed on the marking shell 54. After marking a patient, the marking block can be taken out and replaced when the next patient is used to prevent cross infection of the patient.

[0070] An adjusting member 55 for adjusting the extending position of the extending tube 51 is installed on the pushing sleeve 44 .

[0071] The adjusting member 55 includes an adjusting rod 551 penetrating through the pushing sleeve 44, the adjusting rod 551 is slidably connected to the pushing sleeve 44, and one end of the adjusting rod 551 is fixedly connected to the marking shell 54;

[0072] A fixed plate 552 is fixedly installed at one end of the push sleeve 44 located inside the hollow cavity 31, a fixed motor 553 is installed on the fixed plate 552, and an adjusting gear 554 is fixedly connected to the output end of the fixed motor 553;

[0073] The adjusting rod 551 is provided with a plurality of tooth grooves 5511 at equal intervals, and the adjusting gear 554 is meshedly connected with the tooth grooves 5511 .

[0074] There are multiple stabilizing components 6 , which are evenly distributed outside the supporting sleeve 3 , and the supporting sleeve 3 is provided with moving openings at positions corresponding to the stabilizing components 6 .

[0075] The stabilizing assembly 6 includes two connecting plates 61 fixedly mounted on the outer side of the moving port, a connecting shaft 62 is rotatably connected between the two connecting plates 61, a connecting gear 63 is fixedly sleeved on the outer side of the connecting shaft 62, and the connecting gear 63 is meshed and connected with the annular groove 441;

[0076] A contact claw 64 is fixedly mounted on the connecting gear 63, and a contact pad 65 is mounted on one end of the contact claw 64. The contact claw 64 in the present invention can be set in a retractable form or in an elastic form, so as to fix the periphery of the patient's surgical position.

[0077] Specific implementation process: After the positioning sleeve 2 is positioned by the mechanical arm 11 on the auxiliary robot 1, the positioning sleeve 2 moves to the set distance from the surgery, which is exactly the distance at which the marking block on the marking shell 54 moves to the position of the patient's surgery;

[0078] That is, the rotating motor 74 is running, thereby driving the outer gear ring 72 to rotate through the rotating gear 71, and when the outer gear ring 72 rotates, it synchronously drives the rotating sleeve 421 to rotate, and when the rotating sleeve 421 rotates, it provides driving force for the moving sleeve 422, and the moving sleeve 422 further moves along the inside of the hollow cavity 31 under the limiting action of the pushing sleeve 44, and when it moves, it synchronously drives the pushing sleeve 44 to move, and the pushing sleeve 44 makes the extension tube 51 extend synchronously with it, and when the extension tube 51 extends, the marking block at the marking shell 54 moves synchronously until the rotating motor 74 stops moving, and the marking block moves to the patient's surgical site, and makes a circular mark on the skin position outside the surgery, and when the marking is completed, the marking shell 54 can stay at the patient's surgical site, and a channel is formed between the marking shell 54 and the positioning sleeve 2 to assist the surgeon in inserting the surgical tool into the patient's surgical site;

[0079] When the marking is completed and the assistance of the marking shell 54 is not needed, the fixed motor 553 at the pushing sleeve 44 is operated, and the adjustment gear 554 is further operated. When the adjustment gear 554 rotates, it drives one end of the extension tube 51 to move along the inside of the liquid storage tube 52 through the adjustment rod 551, so as to achieve the function of retracting the marking shell 54, so as not to affect the surgical operation. When the extension tube 51 is retracted, it simultaneously compresses the liquid storage sponge inside the liquid storage tube 52, so as to introduce the marking liquid into it.

[0080] On the other hand, when the sleeve 44 is pushed to move, its outer annular groove 441 moves synchronously, thereby driving the multiple connecting gears 63 on the outside to rotate. When the multiple connecting gears 63 rotate, the contact claws 64 are driven to rotate, so that the multiple contact claws 64 fix the periphery of the patient's surgery, further preventing the patient from moving, and at the same time preventing the patient from moving relative to the positioning sleeve 2.

[0081] A collaborative method of a collaborative orthopedic surgery tool auxiliary device, comprising the following steps:

[0082] Step 1: When performing pelvic fixation surgery on a patient, first anesthetize the patient, and while anesthetizing, adjust the position of the auxiliary robot 1 and move it to the position where the patient needs surgery through the base;

[0083] Step 2: When the patient enters an anesthetized state, the auxiliary robot 1 uses the optical tracking camera on it to penetrate the epidermal tissue at the pelvis and identify the location of the required surgery. At this time, the controller controls the robot arm 11 to move the positioning sleeve 2 to the location of the required surgery.

[0084] Step 3: At this time, the pushing component 4 is in operation. When the pushing component 4 is in operation, the marking block is pushed to the surgical site of the patient, and contacts with the patient's skin and marks the skin. At the same time, the plurality of contact claws 64 fix the periphery of the surgical site of the patient through the contact pads 65.

[0085] Step 4: Then, the surgeon will position the cannula 2 and the marked position, and then accurately insert the surgical tools into the surgical position and perform the operation.

[0086] See also Figure 4 , Embodiment 2

[0087] What is different from the first embodiment is that the support sleeve 3 is slidably sleeved on the outside of the positioning sleeve 2, and two threaded holes are provided on the support sleeve 3, and positioning bolts 32 are threadedly connected to the two threaded holes. The support sleeve 3 is detachably mounted on the outside of the positioning sleeve 2 through the positioning bolts 32, so that when in use, the support sleeve 3 is inserted from the bottom of the positioning sleeve 2. When the top of the support sleeve 3 contacts the positioning sleeve 2, it only needs to rotate the positioning bolts 32 to achieve the locking and fixing effect between the support sleeve 3 and the positioning sleeve 2.

[0088] See also Fig.11 , Embodiment 3

[0089] Different from the first embodiment, the driving member 42 includes two positioning plates 45 fixedly installed inside the hollow cavity 31, one end of the positioning plate 45 is fixedly connected to an electric push rod 46, one end of the two electric push rods 46 are fixedly connected to the pushing ring 41, so that when the pushing sleeve 44 is pushed, the two electric push rods 46 operate. At this time, one end of the pushing sleeve 44 moves along the hollow cavity 31 to the outside of the positioning sleeve 2, so that the electric push rod 46 is adopted, and the pushing of the pushing sleeve 44 can be more convenient and quick.

[0090] See also Fig.12 , Embodiment 4

[0091] Further supplementing the first embodiment is that a sealing disinfection cover 541 is clamped on the outer side of the marking shell 54. When the auxiliary robot 1 is not in use, the sealing disinfection cover 541 is manually installed on the outer side of the marking shell 54, thereby sealing the marking shell 54 and preventing the marking liquid in the marking block inside the marking shell 54 from volatilizing.

[0092] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0093] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collaborative orthopedic surgical tool assisting device, comprising an assisting robot (1), a mechanical arm (11) mounted on the assisting robot (1), and a positioning sleeve (2) mounted at the end of the mechanical arm (11), wherein the positioning sleeve (2) is used to position a surgical tool, and is characterized in that: Also included are: A support sleeve (3), wherein the support sleeve (3) is detachably mounted on the outside of the positioning sleeve (2), and a hollow cavity (31) is provided inside the support sleeve (3), and the hollow cavity (31) extends to the bottom of the support sleeve (3); A pushing component (4), wherein the pushing component (4) is installed at the bottom of the hollow cavity (31); A marking component (5), wherein the marking component (5) is connected to the pushing component (4), and after the auxiliary robot (1) locates the surgical position of the patient by controlling the positioning sleeve (2) on the mechanical arm (11), the positioning sleeve (2) further marks the patient's skin through the marking component (5); A stabilizing component (6), wherein the pushing component (4) synchronously drives the stabilizing component (6) to fix the positioning sleeve (2) and the surgical position of the patient, thereby preventing the patient from moving and causing the surgical position to deviate; The pushing assembly (4) comprises a pushing ring (41) slidably sleeved on the hollow cavity (31), and a driving member (42) for driving the pushing ring (41) is installed on the hollow cavity (31); A push rod (43), wherein a plurality of the push rods (43) are provided, and one end of each of the plurality of push rods (43) is fixedly connected to the push ring (41); A pushing sleeve (44), wherein the pushing sleeve (44) is slidably sleeved on the hollow cavity (31), and one end of the plurality of pushing rods (43) is fixedly connected to the pushing sleeve (44); A plurality of annular grooves (441) are equidistantly arranged on the outside of the pushing sleeve (44), the stabilizing component (6) is connected to the annular grooves (441), and the marking component (5) is connected to the pushing sleeve (44); A plurality of the stabilizing components (6) are provided, and the plurality of the stabilizing components (6) are distributed at equal distances outside the supporting sleeve (3), and a moving opening is provided at a position of the supporting sleeve (3) corresponding to the stabilizing component (6); The stabilizing assembly (6) comprises two connecting plates (61) fixedly mounted on the outside of the moving port, a connecting shaft (62) being rotatably connected between the two connecting plates (61), a connecting gear (63) being fixedly sleeved on the outside of the connecting shaft (62), and the connecting gear (63) being meshingly connected to the annular groove (441); A contact claw (64) is fixedly mounted on the connecting gear (63), and a contact pad (65) is mounted on one end of the contact claw (64).

2. A collaborative orthopedic surgery tool auxiliary device according to claim 1, characterized in that: The driving member (42) comprises a rotating sleeve (421) rotatably connected to the inner wall of the hollow cavity (31), an inner side of the rotating sleeve (421) is provided with an internal thread, the rotating sleeve (421) is threadedly connected to a moving sleeve (422) via the internal thread on the inner side, the moving sleeve (422) is slidably connected to the hollow cavity (31), and one end of the moving sleeve (422) is fixedly connected to the push ring (41); A rotating member (7) for rotating the rotating sleeve (421) is mounted on the supporting sleeve (3).

3. A collaborative orthopedic surgery tool auxiliary device according to claim 2, characterized in that: The support sleeve (3) is provided with an opening at a position corresponding to the rotating member (7), and the opening is communicated with the hollow cavity (31); The rotating member (7) comprises a rotating gear (71) penetrating the opening, and the outer side of the rotating gear (71) is meshingly connected with an outer gear ring (72), and the outer gear ring (72) is fixedly sleeved on the outer side of a protrusion at one end of the rotating sleeve (421); A protective shell (73) is fixedly mounted on the outside of the support sleeve (3), and a rotating motor (74) is fixedly mounted inside the protective shell (73); an output end of the rotating motor (74) is fixedly connected to the rotating gear (71).

4. The collaborative orthopedic surgery tool auxiliary device according to claim 1, characterized in that: The marking assembly (5) comprises two extension tubes (51) penetrating the push sleeve (44), the two extension tubes (51) being slidably connected to the push sleeve (44), one end of the two extension tubes (51) being cooperatively connected to a liquid storage tube (52), an annular liquid storage shell (53) being connected between the two liquid storage tubes (52), the annular liquid storage shell (53) being fixedly mounted inside the hollow cavity (31) and being located at one end of the rotating sleeve (421); One end of the two extension tubes (51) is connected to a ring-shaped marking shell (54), and a marking block is installed on the marking shell (54); An adjusting member (55) for adjusting the extension position of the extension tube (51) is installed on the pushing sleeve (44).

5. A collaborative orthopedic surgery tool auxiliary device according to claim 4, characterized in that: The adjusting member (55) comprises an adjusting rod (551) penetrating through the pushing sleeve (44), the adjusting rod (551) being slidably connected to the pushing sleeve (44), and one end of the adjusting rod (551) being fixedly connected to the marking shell (54); A fixing plate (552) is fixedly mounted on one end of the pushing sleeve (44) located inside the hollow cavity (31), a fixing motor (553) is mounted on the fixing plate (552), and an adjusting gear (554) is fixedly connected to the output end of the fixing motor (553); The adjusting rod (551) is provided with a plurality of tooth grooves (5511) at equal intervals, and the adjusting gear (554) is meshingly connected with the tooth grooves (5511).

6. The collaborative orthopedic surgery tool auxiliary device according to claim 4, characterized in that: The annular liquid storage shell (53) is provided with a liquid injection pipe (531), and the liquid injection pipe (531) passes through the support sleeve (3); a joint (532) is fixedly installed at one end of the liquid injection pipe (531) located outside the support sleeve (3), and a sealing plug (533) is installed at the joint (532).

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