Guiding device and guiding apparatus

Abstract

The application relates to a guiding device and a guiding equipment. The device comprises a support, a positioning assembly and a limiting assembly. The positioning assembly comprises a clamping piece, the clamping piece is rotationally connected to the support around a first axis, a plurality of mounting holes with different sizes are arranged on the clamping piece in the circumferential direction, each mounting hole is used for penetrating a device with different sizes, the center line of each mounting hole is equal to the distance of the first axis and is parallel to the first axis, at least part of the hole wall of each mounting hole is configured to abut against the corresponding device, so as to fix the corresponding device, so that the center line of the device penetrating into the mounting hole coincides with the center line of the corresponding mounting hole; the limiting assembly is connected to the support, the limiting assembly can abut against the positioning assembly to limit the rotation of the clamping piece, so as to position the device penetrating into the mounting hole at a target position. When different sizes of devices are replaced, parts do not need to be replaced and the guiding device does not need to be repositioned, the disassembly, installation and positioning work are reduced, and the operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a guiding device and a guiding apparatus. BACKGROUND

[0002] During a surgery, surgical instruments need to be accurately aligned to a surgery site, and when different instruments are needed for the same surgery site, different instruments need to be positioned to the same site. The prior art generally positions a positioning channel first, and then loads an adapter with different inner hole sizes into the positioning channel to clamp surgical instruments with different diameters. However, when different adapters need to be replaced for different surgical instruments during a surgery, each adapter needs to be disassembled and assembled, which affects the efficiency of aligning different surgical instruments to the surgery site, and makes the surgery inefficient. SUMMARY

[0003] Therefore, it is necessary to provide a guiding device to solve the technical problem of low efficiency of aligning different surgical instruments to a surgery site, and low surgery efficiency.

[0004] A guiding device, comprising:

[0005] a support;

[0006] a positioning assembly comprising a clamping piece, the clamping piece being rotationally connected to the support about a first axis, the clamping piece being provided with a plurality of mounting holes of different sizes around a circumference, each mounting hole being used for passing an instrument of different size, a center line of each mounting hole being equal in distance to the first axis and parallel to the first axis, at least part of a hole wall of each mounting hole being configured to abut against the corresponding instrument to fix the corresponding instrument, so that a center line of the instrument passing through the mounting hole coincides with a center line of the corresponding mounting hole; and

[0007] a limiting assembly connected to the support, the limiting assembly being capable of abutting against the positioning assembly to limit rotation of the clamping piece, so as to position the center line of the instrument passing through the mounting hole to a target position.

[0008] In one of the embodiments, the clamping piece comprises a rotating disc and a limiting sleeve, the rotating disc is provided with a plurality of mounting slots around a circumference, each mounting slot being provided with a first slot opening on a slot wall for the instrument to extend into, the limiting sleeve is sleeved on the rotating disc and capable of shielding the first slot opening of each mounting slot, the slot wall of each mounting slot and part of the limiting sleeve together constitute a hole wall of each mounting hole.

[0009] In one of the embodiments, the limiting sleeve is rotationally connected to the rotating disc along a second axis which is parallel to the first axis and is spaced apart from the first axis. One side of the limiting sleeve is provided with an inlet which is in communication with a first slot of the mounting slot so as to allow the instrument to extend into the mounting slot.

[0010] In one of the embodiments, the positioning assembly further comprises a fastener which is arranged through the limiting sleeve and is in abutment with the rotating disc. The fastener is threadedly connected to the limiting sleeve and is configured to rotate relative to the limiting sleeve so as to abut against the rotating disc and restrict the rotation of the limiting sleeve relative to the rotating disc.

[0011] In one of the embodiments, each of the mounting slots comprises a first side wall which is arranged to abut against the instrument arranged through the mounting hole. Each of the first side walls is an arc, and the center of each of the arcs is located on the center line of the corresponding mounting hole. The distance between the limiting sleeve and the center of each of the arcs is equal to the radius of the corresponding arc. The limiting sleeve is arranged to cooperate with the first side wall to clamp the corresponding instrument.

[0012] In one of the embodiments, each of the mounting slots further comprises two second side walls. The two ends of each of the first side walls are sequentially connected to one of the second side walls so as to guide the instrument extending into each of the mounting slots.

[0013] In one of the embodiments, the positioning assembly further comprises a rotating member which is connected to the clamping member. The support is provided with a connecting hole, and the rotating member is arranged through the connecting hole and is rotationally connected to the support along the first axis. The limiting assembly is arranged to abut against the rotating member so as to restrict the rotation of the clamping member.

[0014] In one of the embodiments, the clamping member is provided with a profiled hole which extends along the extension direction of the first axis. The rotating member is inserted into the profiled hole, and at least one end of the rotating member extends out of the rotating member and is rotationally connected to the support. The rotating member is configured to rotate relative to the support along the first axis so as to synchronously rotate the clamping member.

[0015] In one of the embodiments, the positioning assembly further comprises a cooperating disc which is connected to the portion of the rotating member extending out of the connecting hole and is arranged to abut against the side of the support which is away from the clamping member.

[0016] The limiting assembly comprises an abutting end which is configured to abut against the side of the cooperating disc which is away from the clamping member when the limiting assembly restricts the rotation of the clamping member relative to the support so as to restrict the rotating member from being detached from the clamping member.

[0017] In one of the embodiments, the bracket comprises a first support plate, a second support plate and a third support plate, the first support plate and the second support plate are spaced apart along the extension direction of the first axis and are both connected to the third support plate, the clamping member is located between the first support plate and the second support plate and abuts against the first support plate and the second support plate respectively.

[0018] In one of the embodiments, the first support plate and the second support plate cover at least part of each of the mounting holes, and each of the first support plate and the second support plate is provided with a avoiding slot for avoiding the instrument passing through the mounting hole at the target position.

[0019] In one of the embodiments, at least one side of the clamping member along the first axis is provided with a size mark corresponding to each of the mounting holes, and the bracket is provided with an observation hole corresponding to each of the size marks, and each of the size marks is exposed to the outside through the corresponding observation hole.

[0020] In one of the embodiments, the positioning assembly is provided with a limiting slot corresponding to each of the mounting holes, and the limiting assembly is provided with a limiting end for plug-in cooperation with the corresponding limiting slot to limit the rotation of the positioning assembly for positioning the instrument passing through the mounting hole at the target position.

[0021] In one of the embodiments, the limiting assembly comprises:

[0022] an acting member, one side of the acting member facing the limiting slot is provided with a first boss, and the first boss is configured as the limiting end; and

[0023] a resilient member, one end of the resilient member is connected to the bracket, and the other end of the resilient member is connected to the side of the acting member away from the first boss, and the resilient member is used to apply an acting force to the acting member towards the limiting slot to make the limiting end plug-in cooperate with the corresponding limiting slot.

[0024] In one of the embodiments, the limiting assembly further comprises a fixing seat, the fixing seat is connected to the bracket, and the fixing seat is provided with a fitting hole, and the acting member passes through the fitting hole.

[0025] In one of the embodiments, the acting member is provided with a stop block near the side of the resilient member, and the fitting hole is provided with a notch on the hole wall near the side of the resilient member, and the notch is used to avoid the stop block;

[0026] the acting member is configured to be able to rotate around the axis of the fitting hole to make the stop block located outside the notch and abut against the fixing seat to limit the insertion of the limiting end into each of the limiting slots.

[0027] The application also provides a guiding device, comprising the pose adjusting device and the guiding device, the pose adjusting device is connected to the guiding device, and the pose adjusting device is used to drive the guiding device to move so as to adjust the position of the guiding device. The guiding device can solve at least one of the above technical problems.

[0028] Beneficial effects:

[0029] The guiding device provided by the embodiment of the application comprises a support, a positioning assembly and a limiting assembly. The positioning assembly comprises a clamping piece, the clamping piece is rotationally connected to the support about a first axis, the clamping piece is circumferentially provided with a plurality of mounting holes of different sizes, each mounting hole is used for penetrating a device of different size, the center line of each mounting hole is equal in distance to the first axis and is parallel to the first axis, and at least part of the hole wall of each mounting hole is configured to abut against the corresponding device, so as to fix the corresponding device, so that the center line of the device penetrating into the mounting hole coincides with the center line of the corresponding mounting hole. The limiting assembly is connected to the support and can abut against the positioning assembly to limit the rotation of the clamping piece, so as to position the device penetrating into the mounting hole at a target position. According to the application, the clamping piece is provided with a plurality of mounting holes of different sizes, and at least part of the hole wall of each mounting hole can abut against the corresponding device, so that the devices of different sizes can be stably fixed in the corresponding mounting holes, so that the center line of the device of different sizes coincides with the center line of the corresponding mounting hole. The center line of each mounting hole is equal in distance to the first axis and is parallel to the first axis. If the center line of one of the mounting holes is defined as the target position, the center line of each mounting hole can rotate to the target position during the rotation of the clamping piece about the first axis relative to the support, so that the center line of the device penetrating into the mounting hole can be rotated to the target position to accurately align with the surgical site. The limiting assembly limits the rotation of the positioning assembly, so that the device is stably positioned at the target position, facilitating the surgery. Compared with the prior art, the application does not need to replace parts and reposition the guiding device when replacing devices of different sizes, reduces the work of disassembly, installation and positioning adjustment, and improves the surgical efficiency.

[0030] The application also provides a guiding device, comprising the pose adjusting device and the guiding device, the pose adjusting device is connected to the guiding device, and the pose adjusting device is used to drive the guiding device to move so as to adjust the position of the guiding device. The guiding device can solve at least one of the above technical problems. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The schematic view of the guiding device provided by the embodiment of the application.

[0032] Figure 2The first schematic view of the guiding device cooperating with the instrument according to an embodiment of the present application.

[0033] Figure 3 The second schematic view of the guiding device cooperating with the instrument according to an embodiment of the present application.

[0034] Figure 4 The top view of the clamping member of the guiding device according to an embodiment of the present application.

[0035] Figure 5 The partial exploded view of the clamping member of the guiding device according to an embodiment of the present application.

[0036] Figure 6 The partial exploded view of the guiding device according to an embodiment of the present application.

[0037] Figure 7 The Figure 6 The enlarged view of A in the figure.

[0038] Figure 8 The Figure 1 The enlarged view of B in the figure.

[0039] Figure 9 The Figure 3 The enlarged view of C in the figure.

[0040] Figure 10 The schematic view of the guiding device according to an embodiment of the present application.

[0041] Reference Signs:

[0042] 10 - guiding device; 100 - support; 110 - first support plate; 111 - connecting hole; 120 - observation hole; 140 - avoiding groove; 150 - second support plate; 160 - third support plate; 161 - fourth boss; 200 - positioning assembly; 210 - rotating disc; 211 - mounting groove; 212 - first side wall; 213 - second side wall; 214 - first notch; 215 - size mark; 216 - special-shaped hole; 217 - index circle; 220 - limiting sleeve; 221 - inlet; 222 - fastener; 223 - protruding block; 224 - operating end; 225 - first recess; 230 - mounting hole; 240 - rotating member; 241 - limiting groove; 242 - cooperating disc; 243 - operating part; 244 - second recess; 250 - clamping member; 300 - limiting assembly; 310 - fixed seat; 311 - cooperating hole; 312 - notch; 320 - acting member; 321 - limiting end; 322 - stop block; 323 - abutting end; 324 - third boss; 330 - elastic member; 410 - first axis; 420 - contour line; 430 - second axis; 500 - instrument; 20 - pose adjusting device. DETAILED DESCRIPTION

[0043] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without using some or all of these specific details, and that the present application is not limited to the specific embodiments disclosed below.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0045] In addition, the terms "first", "second", "third" and the like are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0046] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] In the present disclosure, unless specifically stated and limited otherwise, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact with a medium in between. Also, the first feature "over", "above" and "on top of" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0048] It is noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In addition, the term "connected" as used herein means the element is either directly connected to the other element or an intervening element can be present. As used herein, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions are used for explanation only and are not intended to be limiting.

[0049] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 a schematic view of a guiding device according to an embodiment of the present disclosure; Figure 2 a first schematic view of a guiding device according to an embodiment of the present disclosure in cooperation with an instrument; Figure 3 a second schematic view of a guiding device according to an embodiment of the present disclosure in cooperation with an instrument; Figure 4 a top view of a clamping member of a guiding device according to an embodiment of the present disclosure. The guiding device 10 according to an embodiment of the present disclosure comprises a bracket 100, a positioning assembly 200 and a limiting assembly 300. The positioning assembly 200 comprises a clamping member 250, which is rotatably connected to the bracket 100 about a first axis 410. The clamping member 250 is provided with a plurality of mounting holes 230 of different sizes in a circumferential direction. Each mounting hole 230 is configured to receive an instrument 500 of a corresponding size. The center line of each mounting hole 230 is parallel to the first axis 410 and has an equal distance to the first axis 410. At least part of the wall of each mounting hole 230 is configured to abut against the corresponding instrument 500 to fix the corresponding instrument 500, so that the center line of the instrument 500 received in the mounting hole 230 coincides with the center line of the corresponding mounting hole 230. The limiting assembly 300 is connected to the bracket 100 and can abut against the positioning assembly 200 to limit the rotation of the clamping member 250, so as to position the center line of the instrument 500 received in the mounting hole 230 at a target position.

[0050] The guiding device 10 in the present application is applied to a guiding apparatus. The guiding apparatus further comprises a pose adjusting device 20 connected to the guiding device 10, which is used to drive the guiding device 10 to move so as to adjust the position of the guiding device 10, thereby accurately aligning a surgical instrument 500 fixed on the guiding device 10 to a surgical site. In the prior art, different adapters need to be replaced for different surgical instruments 500, which involves the disassembly and assembly of some parts, resulting in low positioning efficiency of the instrument 500 and affecting the surgical efficiency.

[0051] Specifically, the present application is characterized in that a plurality of mounting holes 230 of different sizes are arranged on the clamping piece 250, and at least part of the hole walls of each mounting hole 230 can abut against the corresponding instrument 500, so that different size instruments 500 can be stably fixed in the corresponding mounting hole 230, so that the center line of the instrument 500 of different sizes coincides with the center line of the corresponding mounting hole 230, and the center line of each mounting hole 230 is equal in distance to the first axis 410 and parallel to the first axis 410. If the center line of one of the mounting holes 230 is defined as the target position, then during the rotation of the clamping piece 250 relative to the support 100 around the first axis 410, the center line of each mounting hole 230 can be rotated to the target position, so that the center line of the instrument 500 inserted in the mounting hole 230 can be rotated to the target position to accurately align with the surgical site, and the rotation of the positioning assembly 200 is limited by the limiting assembly 300, so that the instrument 500 is stably positioned at the target position, facilitating the operation. Compared with the prior art, the present application does not need to replace parts and reposition the guiding device 10 when replacing different size instruments 500, reducing the work of disassembly, assembly and positioning adjustment, and improving the surgical efficiency.

[0052] It should be noted that before the surgical preparation work, the guiding device 10 will be adjusted by the pose adjusting device 20, so that the center line of the instrument 500 inserted in the preselected mounting hole 230 can be aligned with the surgical site, and the position where the center line of the preselected mounting hole 230 is located is defined as the target position. Since the action end structures of different instruments 500 can be different, the center line of each instrument 500 is taken as the standard, that is, when the center line of the instrument 500 is located at the target position, the instrument 500 can be considered to be aligned with the surgical site.

[0053] Reference is made to Figure 1 and Figure 5 , Figure 5Partially exploded view of the clamping member of the guiding device according to an embodiment of the present application. In one embodiment, the clamping member 250 comprises a rotating disc 210 and a limiting sleeve 220, the rotating disc 210 is provided with a plurality of mounting grooves 211 around the circumference, the groove wall of each mounting groove 211 is provided with a first notch 214 for the insertion of the instrument 500, the limiting sleeve 220 is sleeved on the rotating disc 210 and can shield the first notch 214 of each mounting groove 211, and the groove wall of each mounting groove 211 and part of the limiting sleeve 220 jointly form the hole wall of each mounting hole 230.

[0054] Specifically, the two sides of the mounting groove 211 along the extension direction of the first axis 410 have openings for the insertion of the instrument 500, the first notch 214 on the groove wall of the mounting groove 211 facilitates the insertion of each instrument 500, and the limiting sleeve 220 sleeved on the rotating disc 210 shields the first notch 214 of each mounting groove 211 to limit the instrument 500 inserted into the mounting hole 230 from falling out, so that the instrument 500 is stably fixed in the mounting hole 230, and the adaptability of the guiding device 10 is improved.

[0055] Further, the first notch 214 of each mounting groove 211 is arranged on the side of the groove wall of the corresponding mounting groove 211 away from the first axis 410, so as to shorten the path of the instrument 500 inserted into the mounting groove 211 and improve the positioning efficiency of the instrument 500.

[0056] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , in one embodiment, the limiting sleeve 220 is rotationally connected to the rotating disc 210 around the second axis 430, the second axis 430 is parallel to the first axis 410 and relatively spaced apart, one side of the limiting sleeve 220 is provided with an inlet 221, the inlet 221 can communicate with the first notch 214 of one mounting groove 211 to allow the insertion of the instrument 500.

[0057] Specifically, since the second axis 430 is parallel to the first axis 410, and the inlet 221 communicates with the first notch 214 of one mounting groove 211, during the rotation of the limiting sleeve 220 around the second axis 430 relative to the rotating disc 210, the inlet 221 rotates around the second axis 430 relative to the rotating disc 210, so that the inlet 221 can correspond to each first notch 214 of the mounting groove 211, thereby facilitating the insertion of the instrument 500 of different sizes from each inlet 221 and into the corresponding mounting groove 211 through the first notch 214 of the mounting groove 211.

[0058] When the center line of the instrument 500 is aligned with the surgical site, the control of the limiting sleeve 220 rotates relative to the rotating disc 210 around the second axis 430 so that the entrance 221 communicates with the first slot 214 of the mounting groove 211 at the target position, which can withdraw the guide device 10 from the side and leave the instrument 500 at the target position, so as to facilitate the operation of the instrument 500 and improve the operation efficiency. In addition, when the instrument 500 needs to be replaced or disassembled, the instrument 500 can be withdrawn from the side, which improves the positioning efficiency of the guide device 10 on the instrument 500.

[0059] Further, the second axis 430 coincides with the axis of the rotating disc 210 and is spaced from the first axis 410, so that the limiting sleeve 220 rotates synchronously with the rotating disc 210 during the rotation of the rotating disc 210 relative to the support 100. During the rotation of the limiting sleeve 220 relative to the rotating disc 210, the rotation of the rotating disc 210 is limited because the rotation axis of the rotating disc 210 does not coincide with the rotation axis of the limiting sleeve 220, thereby reducing the interference with the rotating disc 210, allowing the mounting hole on the rotating disc 210 to be stably maintained at the current position, and improving the adaptability of the guide device 10.

[0060] Further, the size of the entrance 221 is not less than the size of the first slot 214 corresponding to the largest mounting groove 211 on the rotating disc 210, thereby avoiding interference when the instrument 500 extends into the first slot 214, and improving the adaptability of the guide device 10. Preferably, the size of the entrance 221 is the same as the size of the first slot 214 corresponding to the largest mounting groove 211 on the rotating disc 210.

[0061] In other embodiments, the limiting sleeve 220 is detachably arranged relative to the rotating disc 210, the instrument 500 is arranged in the mounting groove 211, and the limiting sleeve 220 is arranged on the rotating disc 210 to limit the instrument 500.

[0062] Referring to Figure 1 and Figure 5 In one embodiment, the positioning assembly 200 further comprises a fastener 222, which is arranged through the limiting sleeve 220 and abuts against the rotating disc 210, and the fastener 222 is threadedly connected to the limiting sleeve 220. The fastener 222 is configured to rotate relative to the limiting sleeve 220 to abut against the rotating disc 210 to limit the rotation of the limiting sleeve 220 relative to the rotating disc 210.

[0063] Specifically, the fastener 222 is screwed to the limiting sleeve 220, and the fastener 222 is arranged through one end of the limiting sleeve 220 and abuts against the rotating disc 210. By rotating the fastener 222, the fastener 222 is moved relative to the rotating disc 210, the pressing force of the fastener 222 on the rotating disc 210 is increased, the friction force is increased, and the rotation of the limiting sleeve 220 relative to the rotating disc 210 is limited. When the limiting sleeve 220 blocks the first notch 214 at the target position, the rotation of the limiting sleeve 220 relative to the rotating disc 210 is limited by rotating the fastener 222, so that the limiting sleeve 220 can stably block the first notch 214 at the target position, the instrument 500 is prevented from being taken out of the corresponding first notch 214, and the stability of the guide device 10 is improved. Preferably, the fastener 222 extends in the radial direction of the rotating disc 210.

[0064] Further, the side of the limiting sleeve 220 away from the rotating disc 210 is provided with a protrusion 223, the fastener 222 is arranged through the protrusion 223 and is screwed to the limiting sleeve 220, so that the stability of the connection between the fastener 222 and the limiting sleeve 220 can be increased.

[0065] Further, the side of the fastener 222 away from the rotating disc 210 is further provided with an operation end 224, a plurality of first grooves 225 are arranged on the operation end 224 in a circumferential direction, so that when the operation end 224 is manually rotated to control the rotation of the fastener 222, the friction force can be increased, and the rotation of the fastener 222 is facilitated.

[0066] Referring to Figure 1 , Figure 3 and Figure 4 , Figure 5 is a top view of the cooperation between the limiting sleeve and the rotating disc in the guide device provided by an embodiment of the application. In one of the embodiments, each mounting groove 211 comprises a first side wall 212, the first side wall 212 is used for abutting against the instrument 500 arranged through the mounting hole 230, each first side wall 212 is a circular arc, and the center of each circular arc falls on the center line of the corresponding mounting hole 230. The distance between the limiting sleeve 220 and the center of each circular arc is equal to the radius of the corresponding circular arc, and the limiting sleeve 220 is used for cooperating with the first side wall 212 to clamp the corresponding instrument 500.

[0067] Specifically, each instrument 500 is at least partially a cylindrical segment, the instrument 500 is arranged in the mounting hole 230 in the cylindrical segment, and the instrument 500 forms a circular contour line 420 in the extension direction of the first axis 410, and the center of the contour line 420 falls on the center line of the corresponding mounting hole 230. Since the center line of the instrument 500 coincides with the center line of the corresponding mounting hole 230, and the center of each circular arc falls on the center line of the corresponding mounting hole 230, the center of each contour line 420 coincides with the center of the corresponding first side wall 212, and the outer periphery of the cylindrical segment of the instrument 500 is attached to the first side wall 212. At the same time, the limiting sleeve 220 is circumscribed by the center of each circular arc, that is, the limiting sleeve 220 is circumscribed by the circle formed by the contour line 420 of the instrument 500, so that the area corresponding to the first slot 214 of the limiting sleeve 220 can abut against the instrument 500, thereby cooperating with the first side wall 212 to stably clamp the instrument 500 and improve the accuracy of the accurate positioning of the instrument 500 by the guide device 10.

[0068] In the plane perpendicular to the first axis 410, a first axis 410 is taken as the center, and the distance from the center line of the mounting groove 211 to the first axis 410 is taken as the radius to make a division circle 217, and the center of the circular arc formed by each first side wall 212 falls on the division circle 217, so that during the rotation of the turntable 210 around the first axis 410, the center line of each mounting hole 230 can be rotated to the target position.

[0069] It should be noted that after the instrument 500 is inserted into the mounting groove 211 at the target position from the entrance 221 side of the limiting sleeve 220, the limiting sleeve 220 is rotated to block the entrance 221 and clamp the instrument 500 in cooperation with the first side wall 212. At this time, since the frictional resistance of the instrument 500 is small, the instrument 500 can be manually pushed to move in the extension direction of the mounting hole 230, thereby playing a guiding role and further assisting the doctor to position the instrument 500 at the surgical site. After the position of the instrument 500 in the extension direction of the first axis 410 is determined, the fastener 222 can be adjusted to abut the limiting sleeve 220 against the instrument 500, thereby stably limiting the movement of the instrument 500.

[0070] Referring to Figure 1 and Figure 4 In one embodiment, each mounting groove 211 further includes two second side walls 213, and each first side wall 212 is continuous with a second side wall 213 at both ends, for guiding the instrument 500 inserted into each mounting groove 211.

[0071] Further, each first side wall 212 is a π radian, so as to increase the contact area between the first side wall 212 and the instrument 500 without affecting the extension of the instrument 500 into the first notch 214, and improve the stability of clamping the instrument 500.

[0072] Further, the second side wall 213 is tangent to the circular arc formed by the first side wall 212, that is, the mounting groove 211 is U-shaped, so as to reduce the size of the mounting groove 211 in the circumferential direction of the turntable 210, and further more, more mounting grooves 211 of different sizes can be arranged on the turntable 210 to adapt to more instruments 500, and the adaptability of the guide device 10 is improved.

[0073] Referring to Figure 1 and Figure 6 , Figure 6 is a partial exploded view of the guide device provided by an embodiment of the present application. In one of the embodiments, the positioning assembly 200 further comprises a rotating member 240 connected to the clamping member 250, the support 100 is provided with a connecting hole 111, the rotating member 240 is arranged through the connecting hole 111 and is rotationally connected with the support 100 about the first axis 410, and the limiting assembly 300 is used for abutting against the rotating member 240 to limit the rotation of the clamping member 250.

[0074] Specifically, by arranging the rotating member 240, the positioning assembly 200 is stably rotationally connected with the support 100, and by abutting the limiting assembly 300 against the rotating member 240, the interference with the relative position of the limiting sleeve 220 and the turntable 210 can be reduced, and the stability of the guide device 10 is improved.

[0075] Referring to Figure 1 and Figure 6 In one of the embodiments, the clamping member 250 is provided with a special-shaped hole 216 penetrating along the extension direction of the first axis 410, the rotating member 240 is arranged through the special-shaped hole 216, and at least one end of the rotating member 240 extends out of the special-shaped hole 216 and is rotationally connected with the support 100, and the rotating member 240 is configured to be able to rotate relative to the support 100 about the first axis 410 to drive the clamping member 250 to rotate synchronously.

[0076] Specifically, the irregular hole 216 is disposed on the turntable 210, and the rotating member 240 is shaped to fit the irregular hole 216. The rotating member 240 and the hole wall of the irregular hole 216 are slidably connected along the extension direction of the first axis 410, so that when the rotating member rotates relative to the bracket 100, it can drive the clamping member 250 to rotate synchronously to adjust the position of the mounting hole 230. In this embodiment, the arrangement of the rotating member 240 inserted into the clamping member 250 facilitates the disassembly and installation of the clamping member 250 relative to the bracket 100, thereby facilitating the replacement of the clamping member 250 and improving the adaptability of the guide device 10. The projection of the irregular hole 216 in the extension direction of the first axis 410 is a non-circular pattern such as a triangle, quadrilateral, or ellipse.

[0077] See Figure 1 , Figure 6 , Figure 7 , Figure 8 and Figure 9 , Figure 7 for Figure 6 Send a larger image from point A in the middle; Figure 8 yes Figure 1 Enlarged view of point B in the middle; Figure 9 yes Figure 3 Enlarged view at point C. In one embodiment, the positioning component 200 further includes a mating disc 242, which is connected to the portion of the rotating member 240 extending beyond the connecting hole 111, and abuts against the side of the bracket 100 opposite to the clamping member 250; the limiting component 300 further includes an abutting end 323, which is configured to abut against the side of the mating disc 242 opposite to the clamping member 250 when the limiting component 300 restricts the clamping member 250 from rotating relative to the bracket 100, so as to restrict the rotating member 240 from disengaging relative to the clamping member 250.

[0078] Specifically, when the limiting component 300 restricts the clamping member 250 from rotating relative to the bracket 100, the abutting end 323 abuts against the mating disc 242 on the side away from the clamping member 250, applying a force toward the clamping member 250 to the rotating member 240. Meanwhile, the mating disc 242 abuts against the side of the bracket 100 away from the clamping member 250, thereby restricting the displacement of the rotating member 240 in the extension direction of the first axis 410. This allows the rotating member 240 to be stably inserted into the irregular hole 216 and stably connected with the clamping member 250, improving the adaptability of the guide device 10.

[0079] The mating disc 242 can be sleeved and connected to the rotating component 240, or it can be integrally formed with the rotating component 240, as long as the positions of the mating disc 242 and the rotating component 240 in the extension direction of the first axis 410 are fixed.

[0080] Further, the connecting hole 111 is a circular hole, the outer contour of the rotating member 240 is a D-shaped contour, and the arc-shaped section of the rotating member 240 is in sliding connection with the partial hole wall of the connecting hole 111, so that the rotating member 240 is stably connected in rotation with the support 100.

[0081] In other embodiments, the rotating member 240 comprises a cylindrical section and a profiled section connected to each other, the profiled section is configured to cooperate with the profiled hole 216, and the cylindrical section is configured to cooperate with the connecting hole 111 and is connected in rotation with the hole wall of the connecting hole 111.

[0082] Referring to Figure 1 and Figure 6 In one of the embodiments, the rotating member 240 further comprises an operating portion 243, the operating portion 243 is located on the side of the cooperating disc 242 facing away from the rotating disc 210, and a plurality of second grooves 244 are arranged circumferentially on the operating portion 243, so that when the operating portion 243 is manually rotated to control the rotating member 240 to rotate the rotating disc 210, the friction force can be increased, and the rotation of the rotating member 240 can be easily controlled.

[0083] Referring to Figure 1 and Figure 6 In one of the embodiments, the support 100 comprises a first support plate 110, a second support plate 150 and a third support plate 160, the first support plate 110 and the second support plate 150 are arranged in a spaced apart manner along the extension direction of the first axis 410 and are connected to the third support plate 160, the clamping member 250 is located between the first support plate 110 and the second support plate 150 and abuts against the first support plate 110 and the second support plate 150, respectively.

[0084] Specifically, at least one of the first support plate 110 and the second support plate 150 is provided with a connecting hole 111 and abuts against the cooperating disc 242. The first support plate 110 and the second support plate 150 abut against the two ends of the clamping member 250, respectively, so that the movement of the clamping member 250 along the extension direction of the first axis 410 can be limited, and the clamping member 250 can be stably kept at the current position by the limiting assembly 300, thereby ensuring the stability of the positioning of the clamping member 250 to the instrument 500.

[0085] Further, the first support plate 110 and the second support plate 150 are both provided with a connecting hole 111, and the two ends of the rotating member 240 protrude out of the profiled hole 216 and are connected in rotation with the first support plate 110 and the second support plate 150, thereby improving the stability of the connection between the clamping member 250 and the support 100.

[0086] Referring to Figure 1 , Figure 2 and Figure 6In one embodiment, the first support plate 110 and the second support plate 150 cover at least part of each mounting hole 230, and each of the first support plate 110 and the second support plate 150 is provided with an avoiding slot 140 for avoiding interference of the instrument 500 passing through the mounting hole 230 at the target position.

[0087] Specifically, the avoiding slot 140 is arranged at the target position. The arrangement of the first support plate 110 and the second support plate 150 covering at least part of each mounting hole 230 increases the contact area of the first support plate 110 and the second support plate 150 with the clamping piece 250, thereby improving the supporting and limiting effect on the clamping piece 250. By arranging the avoiding slot 140, interference of the instrument 500 passing through the mounting slot 211 at the target position can be avoided, and the adaptability of the guiding device 10 is improved.

[0088] Further, the avoiding slot 140 is located away from the third support plate 160, that is, in the embodiment, the target position is located away from the third support plate 160, thereby reducing the interference of other components on the instrument 500 and improving the adaptability of the guiding device 10.

[0089] Referring to Figure 1 , Figure 4 and Figure 6 In one embodiment, the clamping piece 250 is provided with a size mark 215 corresponding to each mounting hole 230 on at least one side along the extension direction of the first axis 410, which is exposed to the outside through the corresponding observation hole 120.

[0090] Specifically, the first support plate 110 is located above the second support plate 150, the observation hole 120 is arranged on the first support plate 110, and the size mark 215 is located on the side of the turntable 210 facing the first support plate 110. Each size mark 215 is the outer contour size of the instrument 500 adapted to the corresponding mounting hole 230, so that according to the viewing of each size mark 215 through the observation hole 120, the mounting hole 230 corresponding to the instrument 500 can be quickly found, and the mounting hole 230 is adjusted to the target position, thereby improving the positioning efficiency of the guiding device 10 on the instrument 500.

[0091] Further, each size mark 215 is located on the side of the corresponding mounting slot 211 inward along the radial direction of the turntable 210, thereby facilitating the quick determination of the position of the corresponding mounting hole 230 according to the size mark 215.

[0092] In other embodiments, the first support plate 110 can be located below the second support plate 150, the observation hole 120 is arranged on the second support plate 150, and the size mark 215 is located on the side of the turntable 210 facing the second support plate 150.

[0093] Referring toFigure 1 and Figure 6 In one of the embodiments, the observation hole 120 located on the side away from the third support plate 160 is communicated with the avoiding groove 140, so as to facilitate the machining and reduce the machining process.

[0094] Referring to Figure 1 , Figure 3 , Figure 6 , Figure 7 , Figure 8 and Figure 9 In one of the embodiments, the positioning assembly 200 is provided with a limiting groove 241 corresponding to each mounting hole 230, and the limiting assembly 300 is provided with a limiting end 321, which is used for plug-in cooperation with the corresponding limiting groove 241 to limit the rotation of the positioning assembly 200, so as to position the instrument 500 passing through the mounting hole 230 at the target position.

[0095] Specifically, the limiting groove 241 is circumferentially arranged on the cooperation disc 242, and by arranging the limiting groove 241 corresponding to each mounting hole 230, the limiting end 321 can be plug-in cooperated with the corresponding limiting groove 241 when the limiting end 321 is inserted into the corresponding limiting groove 241, so as to stably position the mounting hole 230 of the required size at the target position, thereby reducing the repositioning operation of the mounting hole 230 and improving the efficiency of the positioning device 10 in positioning the instrument 500.

[0096] When it is necessary to adjust the mounting hole 230 at the target position, the limiting end 321 is located outside the limiting groove 241, so that the rotation of the rotating disc 210 relative to the support 100 around the first axis 410 can be controlled, and after the rotation is completed, the limiting end 321 is inserted into the corresponding limiting groove 241 and abuts against the groove wall of the corresponding limiting groove 241, so as to limit the rotation of the rotating member 240, and the instrument 500 passing through the mounting hole 230 can be stably kept at the target position.

[0097] Referring to Figure 1 , Figure 3 , Figure 7 , Figure 8 and Figure 9 In one of the embodiments, the limiting assembly 300 includes an acting member 320 and an elastic member 330; the acting member 320 is provided with a first boss on the side facing the limiting groove 241, and the first boss is configured as the limiting end 321; one end of the elastic member 330 is connected to the support 100, and the other end is connected to the side of the acting member 320 away from the first boss, and the elastic member 330 is used to apply an acting force to the acting member 320 towards the limiting groove 241, and plug-in cooperation with the corresponding limiting groove 241.

[0098] Specifically, one end of the elastic member 330 away from the acting member 320 is connected to the third support plate 160, and the limiting end 321 is matched with the limiting groove 241 close to the third support plate 160. Through the setting of the elastic member 330, the acting member 320 can be stably clamped with the limiting groove 241, and at the same time, through the contraction of the elastic member 330, the limiting end 321 can be conveniently moved out of the limiting groove 241, releasing the matching disc 242, so as to release the rotating disc 210. Preferably, the elastic member 330 is a spring.

[0099] Referring to Figure 7 , Figure 8 and Figure 9 , in one of the embodiments, the limiting assembly 300 further comprises a fixing seat 310, the fixing seat 310 is connected to the support 100, and the fixing seat 310 is provided with a matching hole 311, and the acting member 320 is arranged through the matching hole 311.

[0100] Specifically, the fixing seat 310 is arranged on the first support plate 110, and the acting member 320 is arranged through the matching hole 311, which can limit the acting member 320, so that the abutting end does not deflect under the reaction force of the groove wall of the limiting groove 241, and is always inserted and matched with the corresponding limiting groove 241, thereby improving the stability of the guide device 10.

[0101] Referring to Figure 7 , Figure 8 and Figure 9 , in one of the embodiments, the acting member 320 is provided with a stop block 322 close to the side of the elastic member 330, the hole wall of the matching hole 311 close to the side of the elastic member 330 is provided with a notch 312, and the notch 312 is used for avoiding the stop block 322; the acting member 320 is configured to rotate around the axis of the matching hole 311, so that the stop block 322 is located outside the notch 312 and abuts against the fixing seat 310, so as to limit the limiting end 321 from being inserted into each limiting groove 241.

[0102] Specifically, the matching hole 311 extends along the radial direction of the rotating disc 210. When it is needed to limit the rotation of the rotating disc 210, the acting member 320 is moved towards the corresponding limiting groove 241, so that the stop block 322 is arranged at the notch 312; when it is needed to control the rotation of the rotating disc 210 relative to the support 100, the acting member 320 is rotated, so that the stop block 322 is staggered with the notch 312 in the radial direction of the rotating disc 210, so that under the action of the elastic member 330, the stop block 322 abuts against the side of the fixing seat 310 close to the elastic member 330, and the acting member 320 can be limited from moving towards the corresponding limiting groove 241, so that the limiting end 321 is located outside the limiting groove 241, thereby releasing the hands and improving the adaptability of the guide device.

[0103] Further, the first boss is provided with a second boss on the side facing away from the rotary disc 210, the second boss has a size greater than the first boss in the plane perpendicular to the first axis 410, and the second boss is configured to abut against the end 323, when the first boss is inserted into the corresponding limiting slot 241, the second boss abuts against the matching disc 242 to limit the rotary member 240 from being pulled out.

[0104] Further, the acting member 320 is provided with a third boss 324 on the side facing the elastic member 330, and the third support plate 160 is provided with a fourth boss 161, and the two ends of the elastic member 330 are sleeved on the third boss 324 and the fourth boss 161 respectively, so as to facilitate the rotation of the acting member 320.

[0105] Referring to Figure 1 , Figure 3 and Figure 10 , Figure 10 is a schematic view of a guiding device provided by an embodiment of the present application. The embodiment of the present application further provides a guiding device, which comprises a pose adjusting device 20 and the guiding device 10 described above, the pose adjusting device 20 is connected to the guiding device 10, and the pose adjusting device 20 is used to drive the guiding device 10 to move, so as to adjust the position of the guiding device 10.

[0106] Specifically, in the embodiment, the guiding device 10 is positioned to the surgical site by the pose adjusting device 20 to complete the guiding of the instrument 500, when the same surgical site needs to replace the instrument 500 with different cross-sectional sizes to continue the surgery, only need to place the limiting end 321 in the state shown in Figure 1 again, and then adjust the position of the mounting hole 230, without the need to repeat the positioning operation again.

[0107] In the embodiment, the mounting hole 230 with different sizes is arranged on the positioning assembly 200, and at least part of the side wall of each mounting hole 230 can abut against the corresponding instrument 500, so that the instrument 500 with different sizes can be stably fixed in the corresponding mounting hole 230, so that the center line of the instrument 500 with different sizes coincides with the center line of the corresponding mounting hole 230, and the center line of each mounting hole 230 is equal to and parallel to the first axis 410, so that in the process of rotating the clamping member 250 around the first axis 410 relative to the support 100, the center line of each mounting hole 230 can be rotated to the target position, so that the center line of the instrument 500 penetrating the mounting hole 230 can be rotated to the target position to accurately align with the surgical site, and the rotation of the positioning assembly 200 is limited by the limiting assembly 300, so that the instrument 500 is stably positioned at the target position, facilitating the surgery. Compared with the prior art, in the present application, when the instrument 500 with different sizes is replaced, the parts do not need to be replaced and the guiding device 10 does not need to be repositioned, which reduces the work of disassembly, installation and positioning adjustment, and improves the surgical efficiency.

[0108] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as there is no conflict, any combination of the technical features should be considered within the scope of the present disclosure.

[0109] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that, for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A guide device, characterized in that The guiding device comprises: a support (100); a positioning assembly (200) comprising a clamping member (250) rotatably connected to the support (100) about a first axis (410), the clamping member (250) being provided with a plurality of mounting holes (230) of different sizes around a circumference, each of the mounting holes (230) being configured to receive an instrument (500) of a corresponding size, a center line of each of the mounting holes (230) being parallel to and equidistant from the first axis (410), at least part of a hole wall of each of the mounting holes (230) being configured to abut against the corresponding instrument (500) to fix the corresponding instrument (500) such that a center line of the instrument (500) received in the mounting hole (230) coincides with the center line of the corresponding mounting hole (230); and a limiting assembly (300) connected to the support (100), the limiting assembly (300) being capable of abutting against the positioning assembly (200) to limit rotation of the clamping member (250) to position the center line of the instrument (500) received in the mounting hole (230) at a target position; the clamping member (250) comprises a rotating disc (210) and a limiting sleeve (220), the rotating disc (210) being provided with a plurality of mounting slots (211) around a circumference, each of the mounting slots (211) being provided with a first slot opening (214) on a slot wall thereof for the instrument (500) to extend into, the limiting sleeve (220) being sleeved on the rotating disc (210) and capable of shielding the first slot opening (214) of each of the mounting slots (211), the slot wall of each of the mounting slots (211) and part of the limiting sleeve (220) together forming a hole wall of each of the mounting holes (230), the first slot opening (214) of each of the mounting slots (211) being disposed on a side of the slot wall of the corresponding mounting slot (211) away from the first axis (410); the limiting sleeve (220) is rotatably connected to the rotating disc (210) about a second axis (430) parallel to and spaced apart from the first axis (410), one side of the limiting sleeve (220) being provided with an inlet (221) capable of being in communication with the first slot opening (214) of one of the mounting slots (211) for the instrument (500) to extend into.

2. The guide device of claim 1, wherein, the positioning assembly (200) further comprises a fastener (222) extending through the limiting sleeve (220) and abutting against the rotating disc (210), the fastener (222) being threadedly connected to the limiting sleeve (220), the fastener (222) being configured to be rotatable relative to the limiting sleeve (220) to abut against the rotating disc (210) to limit rotation of the limiting sleeve (220) relative to the rotating disc (210).

3. The guide of claim 1, wherein, Each of the mounting slots (211) comprises a first side wall (212) for abutting the instrument (500) inserted into the mounting hole (230), each of the first side walls (212) is an arc, and the center of each of the arcs falls on the center line of the corresponding mounting hole (230), the distance between the limiting sleeve (220) and the center of each of the arcs is equal to the radius of the corresponding arc, and the limiting sleeve (220) is used in cooperation with the first side wall (212) to clamp the corresponding instrument (500).

4. The guide of claim 3, wherein, Each of the mounting slots (211) further comprises two second side walls (213), and each of the first side walls (212) is continuous with one of the second side walls (213) at both ends, so as to guide the instrument (500) inserted into each of the mounting slots (211).

5. The guide device according to any one of claims 1-4, characterized in that The positioning assembly (200) further comprises a rotating member (240) connected to the clamping member (250), the bracket (100) is provided with a connecting hole (111), the rotating member (240) is inserted into the connecting hole (111) and rotationally connected to the bracket (100) about the first axis (410), and the limiting assembly (300) is used for abutting the rotating member (240) to limit the rotation of the clamping member (250).

6. The guide of claim 5, wherein, The clamping member (250) is provided with a special-shaped hole (216) extending along the extension direction of the first axis (410), the rotating member (240) is inserted into the special-shaped hole (216), and at least one end of the rotating member (240) extends out of the rotating member (240) and is rotationally connected to the bracket (100), and the rotating member (240) is configured to be able to rotate relative to the bracket (100) about the first axis (410) to drive the clamping member (250) to rotate synchronously.

7. The guide device of claim 6, wherein, The positioning assembly (200) further comprises a cooperation disc (242) connected to the part of the rotating member (240) extending out of the connecting hole (111), and the cooperation disc (242) abuts the side of the bracket (100) away from the clamping member (250). The limiting assembly (300) comprises an abutting end (323) configured to abut the side of the cooperation disc (242) away from the clamping member (250) when the limiting assembly (300) limits the rotation of the clamping member (250) relative to the bracket (100), so as to limit the rotating member (240) from being pulled out of the clamping member (250).

8. The guide of claim 5, wherein, The support (100) comprises a first support plate (110), a second support plate (150) and a third support plate (160), the first support plate (110) and the second support plate (150) are arranged in the extension direction of the first axis (410) and are connected to the third support plate (160), and the clamping piece (250) is located between the first support plate (110) and the second support plate (150) and abuts against the first support plate (110) and the second support plate (150) respectively.

9. The guide device of claim 8, wherein, The first support plate (110) and the second support plate (150) cover at least part of each mounting hole (230), and the first support plate (110) and the second support plate (150) are each provided with a avoiding slot (140), the avoiding slot (140) is used for avoiding the instrument (500) arranged in the mounting hole (230) at the target position.

10. The guide device of any one of claims 1-4, wherein, The clamping piece (250) is provided with a size mark (215) corresponding to each mounting hole (230) on at least one side along the first axis (410), and the support (100) is provided with an observation hole (120) corresponding to each size mark (215), and each size mark (215) is exposed to the outside through the corresponding observation hole (120).

11. The guide device of any one of claims 1-4, wherein, The positioning assembly (200) is provided with a limiting slot (241) corresponding to each mounting hole (230), and the limiting assembly (300) is provided with a limiting end (321), the limiting end (321) is used for plug-in cooperation with the corresponding limiting slot (241) to limit the rotation of the positioning assembly (200), so as to position the instrument (500) arranged in the mounting hole (230) at the target position.

12. The guide device of claim 11, wherein, The limiting assembly (300) comprises: an acting piece (320), which is provided with a first boss on one side facing the limiting slot (241), and the first boss is configured as the limiting end (321); and a resilient piece (330), one end of which is connected to the support (100), and the other end is connected to one side of the acting piece (320) away from the first boss, the resilient piece (330) is used for exerting an acting force on the acting piece (320) towards the limiting slot (241), so that the limiting end (321) is plug-in cooperated with the corresponding limiting slot (241).

13. The guide device of claim 12, wherein, The limiting assembly (300) further comprises a fixing seat (310), the fixing seat (310) is connected to the support (100), and the fixing seat (310) is provided with a matching hole (311), and the acting piece (320) is arranged in the matching hole (311).

14. The guide device of claim 13, wherein, The acting piece (320) is provided with a stop block (322) on one side close to the resilient piece (330), and the hole wall of one side of the matching hole (311) close to the resilient piece (330) is provided with a notch (312), and the notch (312) is used for avoiding the stop block (322); The action piece (320) is configured to rotate around the axis of the fitting hole (311) so that the stop block (322) is located outside the gap (312) and abuts against the fixed seat (310) to limit the insertion of the limiting end (321) into each limiting groove (241).

15. A guiding device, characterized in that The guiding device (10) as claimed in any one of claims 1-14, comprising a pose adjusting device (20) connected to the guiding device (10), the pose adjusting device (20) being configured to move the guiding device (10) to adjust the position of the guiding device (10).

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