Joint surgical operation navigation device

Abstract

The invention relates to the technical field of medical equipment, and discloses a joint surgical navigation device which comprises a surgical navigation robot body and further comprises a movable base installed on the surgical navigation robot body, and four telescopic supporting legs are hinged to the movable base in a cross-shaped structure. One end of the telescopic supporting leg is hinged to a negative pressure adsorption mechanism. According to the navigation device for the joint surgical operation, when an adjusting rod moves towards the outer side of a rotating rod, a first sliding base is driven to move through a push rod, the adjusting rod rotates towards the lower side during moving, all negative pressure adsorption mechanisms expand outwards in a rectangular structure and descend to make contact with the ground, and meanwhile a piston plate descends to form negative pressure in a first fixing cylinder; and the first fixing barrel is stably adsorbed to the ground, the adsorption effect is achieved while the contact area of the surgical navigation robot body and the ground is increased, and therefore the working stability of the surgical navigation robot body is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a navigation device for joint surgery. Background Art

[0002] Joint replacement surgery is done by removing the patient's dysfunctional joint surface and replacing it with an artificial joint. Currently, joint replacement surgery is mainly based on the surgeon's personal experience and the patient's bone landmarks, so inaccurate positioning may occur, so robot navigation technology came into being.

[0003] Robotic surgical navigation equipment mainly consists of three parts: "hand", "eye" and "brain". The "hand" automatically completes positioning, drilling, puncture, lifting and other operations through the cooperation of a six-degree-of-freedom robotic arm and a surgical actuator installed at the end. At present, the "eye" is mainly installed on a mobile base for movement, and multiple bolt foot cups are installed on the mobile base to limit movement. However, the bolt foot cups are not convenient to adjust and have poor stability, which may cause the "hand" to move during the operation due to working vibration, causing the "eye" and "brain" to re-acquire the position of the "hand" and modify the surgical model, thus affecting the progress of the operation. Therefore, we propose a joint surgical navigation device. Summary of the invention

[0004] The present invention is proposed in view of the fact that the above-mentioned existing bolt foot cups are not convenient to adjust and have poor stability, which may cause the "hand" to be displaced due to working vibration during the operation, resulting in the "eyes" and "brain" needing to re-acquire the position of the "hand" and modify the surgical model, thereby affecting the progress of the operation.

[0005] Therefore, the purpose of the present invention is to provide a joint surgical navigation device, which aims to solve the problem that the bolt foot cup is inconvenient to adjust and has poor stability, which may cause the "hand" to be displaced due to working vibration during the operation, resulting in the "eyes" and "brain" needing to re-acquire the position of the "hand" and modify the surgical model, thereby affecting the progress of the operation.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a joint surgical navigation device, comprising a surgical navigation robot body, and also comprising a mobile base installed on the surgical navigation robot body, wherein the mobile base is hinged with four telescopic support legs in a cross-shaped structure, and one end of the telescopic support leg is hinged with a negative pressure adsorption mechanism;

[0007] The telescopic support leg comprises a rotating rod, an adjusting rod is slidably connected inside the rotating rod, a motor is fixedly mounted on the rotating rod, and the motor is used to drive the adjusting rod to move and drive the rotating rod to rotate;

[0008] The negative pressure adsorption mechanism includes a fixed cylinder 1, a sealing ring is fixedly connected to a lower end of the fixed cylinder, a fixed cylinder 2 is fixedly connected inside the fixed cylinder 1, the fixed cylinder 2 is communicated with the outside of the fixed cylinder 1, a plurality of piston rods are slidably connected to the fixed cylinder 1, one end of the piston rod passes into the fixed cylinder 2 and is fixedly connected to a piston plate, and the piston plate is slidably connected to the fixed cylinder 2.

[0009] As a preferred solution of the joint surgery navigation device of the present invention, the mobile base includes a connecting base plate, universal brake wheels are installed at the corners of the connecting base plate, and a chassis protection plate is fixedly connected to the lower side of the connecting base plate.

[0010] As a preferred solution of the joint surgical navigation device of the present invention, wherein: the motor output end is fixedly connected with a screw rod, the screw rod is slidably matched with a slider, the rotating rod is provided with a through hole penetrating up and down, and the slider passes through a through hole and is connected and fixed to the adjusting rod;

[0011] One end of the rotating rod is hinged with a driving rod, one end of the driving rod is hinged with a sliding seat, the sliding seat is slidably connected to the connecting base plate, and one end of the adjusting rod is fixedly connected with a push block, the push block passes through a through hole and abuts against the sliding seat.

[0012] As a preferred solution of the joint surgical navigation device described in the present invention, wherein: a guide rail is slidably connected to the slide seat 1, the guide rail is fixedly connected to the connecting substrate, and a spring 1 is sleeved on the guide rail, and the two ends of the spring 1 are respectively fixedly connected to the guide rail and the slide seat 1.

[0013] As a preferred solution of the joint surgical navigation device described in the present invention, wherein: the upper and lower ends of the second fixed tube are both provided with multiple air holes, the lower end of the second fixed tube is fixedly connected to multiple air tubes, one end of the air tube is connected to the air hole, and the other end passes through the first fixed tube and extends to the outside.

[0014] As a preferred solution of the joint surgical navigation device described in the present invention, wherein: a connecting piece is provided on the upper side of the fixed cylinder one, and the connecting piece includes a connecting seat, and the connecting seat is fixedly connected to the piston rod, and a slide seat two is slidably connected to the connecting seat, and springs two are elastically connected to the connecting seat on both sides of the slide seat two, and a connecting rod is hinged on the slide seat two, and the connecting rod is fixedly connected to the adjusting rod.

[0015] As a preferred solution of the joint surgical navigation device of the present invention, a spring three is sleeved on the piston rod located at the side, and two ends of the spring three are respectively connected and fixed to the fixing cylinder one and the piston rod.

[0016] As a preferred solution of the joint surgical navigation device described in the present invention, a sealing plate is fixedly connected to the piston rod, the sealing plate abuts and cooperates with a fixed cylinder, and a positioning component is elastically connected to the fixed cylinder, and the positioning component is used to abut and limit the sealing plate.

[0017] As a preferred solution of the joint surgical navigation device of the present invention, the positioning assembly includes a fixing seat connected and fixed to the fixing cylinder 1, a positioning rod is slidably connected in the fixing seat, one end of the positioning rod is connected and fixed to the fixing seat through a spring 4, and the other end is in abutment with the sealing plate;

[0018] The positioning rod is fixedly connected with a fixing rod, the chassis protection plate is fixedly connected with a guide plate, and the guide plate is in sliding contact with the fixing rod.

[0019] As a preferred solution of the joint surgical navigation device described in the present invention, a control module is fixedly connected to the chassis protection plate, a gravity sensor is fixedly installed on the bottom of the second fixed cylinder, and the gravity sensor and the motor are linearly connected to the control module.

[0020] Beneficial effects of the present invention:

[0021] 1. In the present invention, when the adjusting rod moves toward the outside of the rotating rod, the push rod drives the slide seat to move, so that the adjusting rod rotates downward during the movement, so that each negative pressure adsorption mechanism expands outward in a rectangular structure and descends to contact the ground. At the same time, the piston plate descends to form a negative pressure in the fixed cylinder one, so that the fixed cylinder one is stably adsorbed to the ground, increasing the contact area between the surgical navigation robot body and the ground while producing an adsorption effect, thereby ensuring the working stability of the surgical navigation robot body.

[0022] 2. In the present invention, the piston rod drives the sealing plate to abut against the fixed cylinder 1 and the positioning rod when it descends. On the one hand, the sealing plate improves the air tightness of the fixed cylinder 1 to prevent air exchange between the inside and the outside. On the other hand, it can limit the reaction force of the spring 3 to prohibit the piston plate from sliding in the fixed cylinder 2, thereby improving the air pressure stability in the fixed cylinder 1, thereby further improving the stable support effect on the main body of the surgical navigation robot.

[0023] 3. The present invention can monitor the gravity of the negative pressure adsorption mechanism through the gravity sensor. When the pressure of one or more negative pressure adsorption mechanisms is abnormal, the control module can control the rotation of a single or multiple motors, thereby fine-tuning the negative pressure adsorption mechanism to ensure that each negative pressure adsorption mechanism is in effective contact with the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0025] in:

[0026] Figure 1 It is a schematic diagram of the overall structure of the joint surgery navigation device of the present invention.

[0027] Figure 2 This is a schematic diagram of the disassembly of the mobile base structure of the joint surgery navigation device of the present invention.

[0028] Figure 3 It is a schematic diagram of the structure of the telescopic support legs and negative pressure adsorption mechanism of the joint surgery navigation device of the present invention.

[0029] Figure 4 This is a schematic diagram of the anatomical structure of the telescopic support legs of the joint surgery navigation device of the present invention.

[0030] Figure 5 This is a schematic anatomical diagram of the negative pressure adsorption structure of the joint surgery navigation device of the present invention.

[0031] Figure 6 It is a schematic diagram of the connecting component structure of the joint surgery navigation device of the present invention.

[0032] Figure 7 It is a schematic diagram of the positioning assembly and sealing plate structure of the joint surgery navigation device of the present invention.

[0033] Figure 8 It is a schematic diagram of the anatomical structure of the fixing seat of the joint surgery navigation device of the present invention.

[0034] Description of reference numerals:

[0035] 1. Surgical navigation robot body; 2. Mobile base; 201. Connecting base plate; 202. Universal brake wheel; 203. Chassis protection plate; 3. Telescopic support leg; 301. Rotating rod; 302. Screw rod; 303. Adjusting rod; 304. Motor; 305. Sliding block; 306. Driving rod; 307. Sliding seat 1; 308. Push block; 309. Guide rail; 310. Spring 1; 4. Negative pressure adsorption mechanism; 401. Fixed cylinder 1; 402 , fixed cylinder two; 403, air pipe; 404, piston rod; 405, piston plate; 406, spring three; 407, sealing ring; 5, connecting piece; 501, connecting seat; 502, sliding seat two; 503, spring two; 504, connecting rod; 6, sealing plate; 7, positioning assembly; 701, fixed seat; 702, positioning rod; 703, spring four; 704, fixed rod; 705, guide plate; 8, control module; 801, gravity sensor. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] Example 1

[0039] Reference Figure 1-6 , which is the first embodiment of the present invention, provides a joint surgical navigation device, which includes a surgical navigation robot body 1, and also includes a mobile base 2 installed on the surgical navigation robot body 1, and the mobile base 2 is hinged with four telescopic support legs 3 in a cross-shaped structure, and one end of the telescopic support leg 3 is hinged with a negative pressure adsorption mechanism 4.

[0040] Through the above technical solution, the surgical navigation robot body 1 can be moved and adjusted in the surgical position through the mobile base 2. The telescopic support legs 3 can rotate toward the ground when extended, driving the negative pressure adsorption mechanism 4 to adsorb to the ground, thereby increasing the contact area and increasing the support stability through the adsorption effect.

[0041] The telescopic support leg 3 includes a rotating rod 301 , an adjusting rod 303 is slidably connected inside the rotating rod 301 , and a motor 304 is fixedly mounted on the rotating rod 301 , and the motor 304 is used to drive the adjusting rod 303 to move and drive the rotating rod 301 to rotate.

[0042] In the above technical solution, the motor 304 can drive the adjustment rod 303 to slide in the rotating rod 301. When the adjustment rod 303 slides to a certain distance, it can drive the movable end of the rotating rod 301 to rotate downward, driving the negative pressure adsorption mechanism 4 to contact and adsorb with the ground.

[0043] The negative pressure adsorption mechanism 4 includes a fixed cylinder 401, a sealing ring 407 is fixedly connected to the lower end of the fixed cylinder 401, a fixed cylinder 402 is fixedly connected inside the fixed cylinder 401, the fixed cylinder 402 is communicated with the outside of the fixed cylinder 401, a plurality of piston rods 404 are slidably connected to the fixed cylinder 401, one end of a piston rod 404 passes into the fixed cylinder 402 and is fixedly connected to a piston plate 405, and the piston plate 405 is slidably connected to the fixed cylinder 402.

[0044] In the above technical solution, after the adjusting rod 303 drives the sealing ring 407 to contact the ground, the piston rod 404 continues to descend in the fixed cylinder 1 401 and the fixed cylinder 2 402, so that the piston plate 405 discharges the air in the fixed cylinder 2 402, so that negative pressure is formed in the fixed cylinder 1 401, thereby being closely adsorbed to the ground.

[0045] The mobile base 2 includes a connecting base plate 201 , and universal brake wheels 202 are installed at the corners of the connecting base plate 201 , and a chassis protection plate 203 is fixedly connected to the lower side of the connecting base plate 201 .

[0046] The connecting base plate 201 is fixedly installed on the bottom of the surgical navigation robot body 1. The surgical navigation robot body 1 can be moved and adjusted in any direction through the cooperation of the universal brake wheel 202. When the universal brake wheel 202 is braked, the movement of the surgical navigation robot body 1 can be restricted. When the telescopic support legs 3 are contracted, the negative pressure adsorption mechanism 4 is driven to be located on the chassis protection plate 203. The chassis protection plate 203 can protect the telescopic support legs 3 and the negative pressure adsorption mechanism 4.

[0047] A lead screw 302 is fixedly connected to the output end of the motor 304, and a slider 305 is slidably engaged with the lead screw 302. A through hole running through the upper and lower parts is opened on the rotating rod 301, and the slider 305 passes through a through hole and is fixedly connected to the adjusting rod 303; a driving rod 306 is hinged at one end of the rotating rod 301, and a slide seat 307 is hinged at one end of the driving rod 306, and the slide seat 307 is slidably connected to the connecting substrate 201, and a push block 308 is fixedly connected to one end of the adjusting rod 303, and the push block 308 passes through a through hole and abuts against the slide seat 307.

[0048] In the above technical scheme, the screw rod 302 is rotatably arranged at the bottom of the rotating rod 301. When the motor 304 drives the screw rod 302 to rotate, the screw rod 302 drives the slider 305 to move, and the slider 305 drives the adjustment rod 303 to slide from the inside to the outside of the rotating rod 301. When the push block 308 abuts against one side of the slide seat 307, the slide seat 307 translates and drives the movable end of the rotating rod 301 to rotate downward through the driving rod 306, so that each negative pressure adsorption mechanism 4 expands outward in a rectangular shape and descends to contact the ground.

[0049] A guide rail 309 is slidably connected to the slide 307, and the guide rail 309 is fixedly connected to the connecting substrate 201, and a spring 310 is sleeved on the guide rail 309, and the two ends of the spring 310 are respectively connected and fixed to the guide rail 309 and the slide 307, and the guide rail 309 and the spring 301 cooperate to slide and limit the slide 307. When the push block 308 is not in contact with the slide 307, the slide 307 is located on one side of the guide rail 309 under the action of the elastic force of the spring 310, driving the rotating rod 301 to be parallel to the connecting substrate 201, so that the negative pressure adsorption mechanism 4 is suspended.

[0050] The upper and lower ends of the second fixing tube 402 are both provided with a plurality of air holes, and the lower end of the second fixing tube 402 is fixedly connected with a plurality of air pipes 403, one end of the air pipe 403 is connected to the air hole, and the other end passes through the first fixing tube 401 and extends to the outside.

[0051] In the above technical solution, the fixed cylinder 2 402 is connected with the fixed cylinder 1 401 through the air hole at the upper end. When the piston plate 405 descends, the air in the fixed cylinder 2 402 is discharged to the outside through the air pipe 403, and part of the air in the fixed cylinder 1 401 flows into the fixed cylinder 2 402, so that the internal air pressure of the fixed cylinder 1 401 is lower than the normal air pressure, so that the negative pressure state in the fixed cylinder 401 can be closely adsorbed to the ground.

[0052] A spring three 406 is sleeved on the piston rod 404 located at the side, and two ends of the spring three 406 are respectively connected and fixed to the fixed cylinder one 401 and the piston rod 404.

[0053] In the actual work process, refer to Figure 5 When the piston plate 405 is moved downward by the middle piston rod 404, the side piston rod 404 stretches the spring three 406. When the fixed cylinder 1 401 is no longer in contact with the ground, the spring three 406 can be reset to drive the piston plate 405 back to the upper part of the fixed cylinder 2 402 to facilitate the next movement of the piston plate 405.

[0054] In some embodiments, reference Figure 5A rubber ring is fixedly provided at the sliding connection between the fixed cylinder 401 and the piston rod 404. The rubber ring is in close contact with the piston rod 404 to prevent air from flowing through the connection between the piston rod 404 and the fixed cylinder 401, thereby ensuring that the air pressure in the fixed cylinder 401 is stable.

[0055] The bottom height of the second fixing tube 402 is higher than the bottom height of the sealing ring 407 . The sealing ring 407 is made of a deformable rubber material, so that the sealing ring 407 is in close contact with the ground to perform air isolation.

[0056] A connecting member 5 is provided on the upper side of the fixed cylinder 401, and the connecting member 5 includes a connecting seat 501, and the connecting seat 501 is fixedly connected to the piston rod 404. A sliding seat 2 502 is slidably connected to the connecting seat 501, and springs 2 503 are elastically connected to the connecting seat 501 on both sides of the sliding seat 2 502, and a connecting rod 504 is hinged on the sliding seat 2 502, and the connecting rod 504 is fixedly connected to the adjusting rod 303.

[0057] In the above technical solution, the movement of the movable rod 303 can be compensated for by the sliding cooperation between the slide seat 2 502 and the connecting seat 501, so that when the fixed cylinder 1 401 drives the sealing ring 407 to contact the ground, the entire negative pressure adsorption mechanism 4 remains stationary. At the same time, the movement and rotation of the movable rod 303 can be self-adapted through the movement of the slide seat 2 502.

[0058] When the negative pressure adsorption mechanism 4 is not in contact with the ground, the second spring 503 can drive the second slide seat 502 to be centered in the middle of the connecting seat 501, which is convenient for the next use.

[0059] During use, after the surgical navigation robot body 1 is moved to a suitable surgical position through the mobile base 2, the universal brake wheel 202 is used to brake the surgical navigation robot body 1 to limit its movement, and then the motor 304 drives the screw rod 302 to rotate, and the slider 305 drives the adjustment rod 303 to slide from the inside to the outside of the rotating rod 301. When the push block 308 abuts against one side of the slide seat 307, the slide seat 307 translates and drives the movable end of the rotating rod 301 to rotate downward through the driving rod 306, so that each negative pressure adsorption mechanism 4 expands outward in a rectangular shape and descends to contact the ground.

[0060] When the sealing ring 407 contacts the ground, the adjusting rod 303 continues to move, and the vertical displacement of the adjusting rod 303 drives the piston rod 404 to descend, and the piston rod 404 drives the piston plate 405 to descend, so that the air in the fixed cylinder 402 is discharged to the outside through the air pipe 403, and part of the air in the fixed cylinder 401 flows into the fixed cylinder 402, so that the internal air pressure of the fixed cylinder 401 is lower than the normal air pressure, so that the negative pressure state in the fixed cylinder 401 can be closely adsorbed to the ground.

[0061] Example 2

[0062] Reference Figure 7-8 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that a sealing plate 6 is fixedly connected to the piston rod 404, the sealing plate 6 abuts and cooperates with the fixed cylinder 401, and a positioning component 7 is elastically connected to the fixed cylinder 401, and the positioning component 7 is used to abut and limit the sealing plate 6.

[0063] In the above technical scheme, the number of positioning components 7 is at least two, and they are arranged in a ring shape with equal intervals. A rubber sheet is fixed to the bottom surface of the sealing plate 6. When the piston rod 404 drops to the moving distance, it drives the sealing plate 6 to contact the top of the fixed cylinder 401, which can further improve the air tightness of the fixed cylinder 401 and prevent the outside air from entering the fixed cylinder 401 under a negative pressure state. At the same time, the positioning component 7 fixes and limits the piston plate 6, so that the sealing plate 6 is stably connected to the fixed cylinder 401, and the elastic force of the spring 406 can be prevented from driving the piston rod 404 to slide.

[0064] The positioning assembly 7 includes a fixed seat 701 connected and fixed to the fixed cylinder 401, a positioning rod 702 is slidably connected inside the fixed seat 701, one end of the positioning rod 702 is connected and fixed to the fixed seat 701 through a spring 703, and the other end is abutted against the sealing plate 6; a fixing rod 704 is fixedly connected to the positioning rod 702, and a guide plate 705 is fixedly connected to the chassis protection plate 203, and the guide plate 705 is in sliding contact with the fixing rod 704.

[0065] In the above technical solution, a slope is provided at one end of the positioning rod 702 close to the piston rod 404. When the sealing plate 6 descends and contacts the slope of the positioning rod 702, the positioning rod 702 is driven to slide into the fixed seat 701 and compress the spring four 703. Subsequently, when the sealing plate 6 abuts against the fixed cylinder 401, the top surface of the sealing plate 6 is lower than the bottom of the positioning rod 702, and the spring four 703 drives the positioning rod 702 to move in the opposite direction and abut against the top of the sealing plate 6 to limit it.

[0066] Reference Figure 2 and Figure 6 When the telescopic supporting leg 3 drives the negative pressure adsorption mechanism 4 to move into the movable base 2, the connecting rod 504 contacts the connecting seat 501 and the bottom of the connecting substrate 201, so that the fixed cylinder 401 maintains a horizontal state and moves horizontally. The end of the guide plate 705 is provided with an inclined surface. When the fixed rod 704 contacts the inclined surface of the guide plate 705, the positioning rod 702 moves into the fixed seat 701 again. Under the action of the spring three 406, the movable rod 404 drives the sealing plate 6 to rise to cancel the contact with the fixed cylinder 401.

[0067] Example 3

[0068] Reference Figure 2 and Figure 5 , which is the third embodiment of the present invention. This embodiment is different from the second embodiment in that a control module 8 is fixedly connected to the chassis protection plate 203, a gravity sensor 801 is fixedly installed on the bottom of the fixed cylinder 402, and the gravity sensor 801 and the motor 304 are linearly connected to the control module 8.

[0069] In the above technical scheme, when the negative pressure adsorption mechanism 4 contacts the ground, the gravity sensor 801 contacts the ground, and the gravity sensor 801 generates an electrical signal value when subjected to force. A value comparison unit is created in the control module, and the value is obtained and compared through the value comparison unit. When one or more gravity sensor values ​​are less than the set normal value range, a single or multiple motors 304 can be controlled to make the screw rod 302 fine-tune the slider 304, thereby ensuring that the negative pressure adsorption mechanism 4 is in stable contact with the ground, thereby further improving the support stability of the surgical navigation robot body 1.

[0070] The remaining structures are the same as those of Example 1.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A joint surgery navigation device, comprising a surgical navigation robot body (1), characterized in that: It also comprises a mobile base (2) mounted on the surgical navigation robot body (1), the mobile base (2) being hinged with four telescopic support legs (3) in a cross-shaped structure, and one end of the telescopic support leg (3) being hinged with a negative pressure adsorption mechanism (4); The telescopic supporting leg (3) comprises a rotating rod (301), an adjusting rod (303) is slidably connected inside the rotating rod (301), a motor (304) is fixedly mounted on the rotating rod (301), and the motor (304) is used to drive the adjusting rod (303) to move and drive the rotating rod (301) to rotate; The negative pressure adsorption mechanism (4) comprises a fixed cylinder 1 (401), the lower end of the fixed cylinder 1 (401) is fixedly connected to a sealing ring (407), the fixed cylinder 1 (401) is fixedly connected to a fixed cylinder 2 (402), the fixed cylinder 2 (402) is communicated with the outside of the fixed cylinder 1 (401), a plurality of piston rods (404) are slidably connected to the fixed cylinder 1 (401), one end of the piston rod (404) passes into the fixed cylinder 2 (402) and is fixedly connected to a piston plate (405), and the piston plate (405) is slidably connected to the fixed cylinder 2 (402).

2. The joint surgery navigation device according to claim 1, characterized in that: The mobile base (2) comprises a connecting base plate (201), the corners of the connecting base plate (201) are all equipped with universal brake wheels (202), and the lower side of the connecting base plate (201) is fixedly connected to a chassis protection plate (203).

3. The joint surgery navigation device according to claim 1, characterized in that: The output end of the motor (304) is fixedly connected with a screw rod (302), the screw rod (302) is slidably matched with a slider (305), the rotating rod (301) is provided with a through hole extending vertically, and the slider (305) passes through a through hole and is fixedly connected with the adjusting rod (303); One end of the rotating rod (301) is hinged with a driving rod (306), one end of the driving rod (306) is hinged with a sliding seat (307), the sliding seat (307) is slidably connected to the connecting base plate (201), and one end of the adjusting rod (303) is fixedly connected with a push block (308), the push block (308) passes through a through hole and abuts against the sliding seat (307).

4. The joint surgery navigation device according to claim 3, characterized in that: A guide rail (309) is slidably connected to the slide seat (307), and the guide rail (309) is connected and fixed to the connecting substrate (201). A spring (310) is sleeved on the guide rail (309), and two ends of the spring (310) are respectively connected and fixed to the guide rail (309) and the slide seat (307).

5. The joint surgery navigation device according to claim 1, characterized in that: The upper and lower ends of the second fixed tube (402) are both provided with a plurality of air holes, and the lower end of the second fixed tube (402) is fixedly connected with a plurality of air pipes (403), one end of the air pipe (403) is connected to the air hole, and the other end passes through the first fixed tube (401) and extends to the outside.

6. The joint surgery navigation device according to claim 1, characterized in that: A connecting member (5) is provided on the upper side of the fixed cylinder (401), and the connecting member (5) includes a connecting seat (501), and the connecting seat (501) is connected and fixed to the piston rod (404), and a sliding seat (502) is slidably connected to the connecting seat (501), and springs (503) are elastically connected to the connecting seat (501) on both sides of the sliding seat (502), and a connecting rod (504) is hinged on the sliding seat (502), and the connecting rod (504) is connected and fixed to the adjusting rod (303).

7. The joint surgery navigation device according to claim 1, characterized in that: A spring three (406) is sleeved on the piston rod (404) located at the side, and two ends of the spring three (406) are respectively connected and fixed to the fixed cylinder one (401) and the piston rod (404).

8. The joint surgery navigation device according to claim 1, characterized in that: A sealing plate (6) is fixedly connected to the piston rod (404), and the sealing plate (6) is in abutment with the fixed cylinder (401). A positioning assembly (7) is elastically connected to the fixed cylinder (401), and the positioning assembly (7) is used to abut and limit the sealing plate (6).

9. The joint surgery navigation device according to claim 8, characterized in that: The positioning assembly (7) comprises a fixing seat (701) connected and fixed to the fixing cylinder (401), a positioning rod (702) is slidably connected inside the fixing seat (701), one end of the positioning rod (702) is connected and fixed to the fixing seat (701) via a spring (703), and the other end is in abutment with the sealing plate (6); The positioning rod (702) is fixedly connected to a fixing rod (704), the chassis protection plate (203) is fixedly connected to a guide plate (705), and the guide plate (705) is in sliding contact with the fixing rod (704).

10. The joint surgery navigation device according to claim 2, characterized in that: The chassis protection plate (203) is fixedly connected to a control module (8), the bottom of the second fixed cylinder (402) is fixedly installed with a gravity sensor (801), and the gravity sensor (801) and the motor (304) are linearly connected to the control module (8).

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