Leg fixing device and fixing method thereof

Abstract

The invention relates to the technical field of medical instruments, and discloses a leg fixing device and a fixing method thereof.The leg fixing device comprises a clamping mechanism, a universal connecting assembly and a fixing assembly; the clamping mechanism is clamped at the knee of the leg, the clamping mechanism is connected with the fixing assembly through the universal connecting assembly so that the clamping mechanism can be clamped at different positions, and the fixing assembly is fixed to a treatment bed; the clamping mechanism comprises a first clamp, a second clamp and a sliding rail; the first clamp and the second clamp are oppositely arranged and are in sliding connection with the sliding rail so that the first clamp and the second clamp can get close to each other or get away from each other, the knee is clamped through the first clamp and the second clamp, the first clamp and the second clamp are fixed to a treatment bed through the fixing assembly, and therefore the knee is fixed. The technical problem that in the prior art, the surgical leg shakes, consequently, punching is inaccurate, and the surgical effect is affected is solved, and the technical effects that the surgical leg is firmly fixed, and drilling is accurate are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a leg fixing device and a fixing method thereof. Background Art

[0002] At present, in anterior cruciate ligament reconstruction surgery using a robotic system, the patient's operated leg is punched by a robotic arm. The system first identifies the leg position and plans the punching route. The robotic arm feeds in a straight line according to the planned route. In this process, the identification and effective fixation of the leg position play a decisive role in the position accuracy of the bone channel. In clinical surgery where the punching operation is not performed by a robotic arm, there is no surgical instrument that can fix and identify the position of the patient's operated leg. The common operation of clinicians is to let the patient's operated leg hang to the outside of the treatment bed, and the doctor's assistant supports the operated leg to ensure the stability of the leg.

[0003] However, the operated leg still has a certain degree of shaking, which leads to inaccurate drilling direction and affects the surgical effect. Summary of the invention

[0004] The purpose of the present invention is to provide a leg fixing device and a fixing method thereof, so as to solve the technical problem in the prior art that the operated leg shakes, resulting in inaccurate drilling and affecting the surgical effect.

[0005] In order to solve the above technical problems, the present invention provides a leg fixing device, comprising: a clamping mechanism, a universal connection assembly and a fixing assembly;

[0006] The clamping mechanism is clamped at the knee of the leg, the clamping mechanism is connected to the fixing assembly through the universal connection assembly, and the fixing assembly is fixed on the treatment bed;

[0007] The clamping mechanism comprises a first clamp, a second clamp and a slide rail;

[0008] The first clamp and the second clamp are arranged opposite to each other, and the first clamp and the second clamp are respectively slidably connected to the slide rail so that the first clamp and the second clamp can move closer to or farther away from each other, and the first clamp and the second clamp are used to clamp the knee.

[0009] In an optional embodiment, the clamping mechanism further includes a screw and a rotating wheel;

[0010] The rotating wheel is arranged on the screw rod, the axis of the rotating wheel coincides with the axis of the screw rod, and the rotating wheel is provided with depressions arranged at intervals along the circumferential surface;

[0011] The screw rod is provided with a first thread and a second thread in opposite directions, the first thread and the second thread are threadedly connected to the first clamp and the second clamp respectively, and the rotating wheel is arranged between the first thread and the second thread.

[0012] In an optional embodiment, a groove is provided on the slide rail, the groove is arranged corresponding to the rotating wheel, and the rotating wheel is embedded in the groove so that the rotating wheel is fixed along the axial direction.

[0013] In an optional embodiment, a tracking component and a navigation camera are also included;

[0014] The tracking component is fixed on the patient's leg. The tracking component is communicatively connected to the navigation camera. The navigation camera determines the position of the leg through the tracking component.

[0015] In an optional embodiment, the tracking assembly includes a bone needle, a guide, and a tracer;

[0016] The bone needle is fixed on the leg bone, the guide is sleeved on the bone needle, the tracer is connected to the guide, and the tracer is arranged opposite to the navigation camera.

[0017] In an optional embodiment, the universal connection assembly includes a locking portion, a first ball stud, a second ball stud, a first jacking rod, a second jacking rod, a first set rod, and a second set rod;

[0018] The locking portion is arranged at one end of the first sleeve rod and the second sleeve rod which are close to each other, the first sleeve rod is rotatably connected to the second sleeve rod through the locking portion, the other end of the first sleeve rod is rotatably connected to the first ball stud, and the other end of the second sleeve rod is rotatably connected to the second ball stud;

[0019] The first tension rod is arranged in the first sleeve rod and is slidably connected to the first sleeve rod, and the two ends of the first tension rod are respectively connected to the first ball stud and the locking portion, the second tension rod is arranged in the second sleeve rod and is slidably connected to the second sleeve rod, and the two ends of the second tension rod are respectively connected to the locking portion of the second ball stud box;

[0020] The locking portion can push the first pressing rod and the second pressing rod to compress the first ball stud and the second ball stud respectively, and can also make the first sleeve rod and the second sleeve rod compress and fix each other.

[0021] In an optional embodiment, the locking portion includes a knob, a first locking block, a second locking block and a locking shaft;

[0022] The first locking block is arranged at one end of the first pushing rod away from the first ball stud, the second locking block is arranged at one end of the second pushing rod away from the second ball stud, one end of the locking shaft is connected to the first locking block, the other end passes through the second locking block and is threadedly connected to the knob, and the locking shaft is slidably connected to the second locking block;

[0023] The first locking block is provided with a first inclined surface abutting against the first pushing rod, and the second locking block is provided with a second inclined surface abutting against the second pushing rod, and the heights of the first inclined surface and the second inclined surface are both proportional to the distance between the first inclined surface and the second inclined surface;

[0024] The wrench can move the first locking block and the second locking block closer or farther away, so that the first inclined surface and the second inclined surface can respectively tighten or loosen the first ball stud and the second ball stud through the first tightening rod and the second tightening rod.

[0025] In an optional embodiment, a gasket is provided between the first sleeve rod and the second sleeve rod, the gasket is sleeved on the locking shaft and spaced apart from the locking shaft, and the gasket is slidably connected to the first sleeve rod and the second sleeve rod respectively.

[0026] The present invention also provides a method for fixing the leg fixing device, comprising the following steps:

[0027] Place the legs on the treatment bed and adjust the position so that the leg position in the navigation camera coincides with the preset position;

[0028] Connect one end of the fixing assembly to the treatment bed, connect the other end to the clamping mechanism, and fix the clamping mechanism at the knee position;

[0029] By bringing the first clamp and the second clamp closer to each other, the first clamp and the second clamp are clamped on the knee to fix the knee.

[0030] In an optional embodiment, the method further comprises the following steps:

[0031] The navigation camera monitors the position of the legs in real time and plans the bone tunnel. When the position of the legs changes, the navigation camera will issue an alarm and re-plan the bone tunnel.

[0032] A leg fixing device provided by the present invention comprises: a clamping mechanism, a universal connection component and a fixing component; the clamping mechanism is clamped at the knee of the leg, and the clamping mechanism is connected to the fixing component through the universal connection component so that the clamping mechanism can be clamped at different positions, and the fixing component is fixed on the treatment bed; the clamping mechanism comprises a first clamp, a second clamp and a slide rail; the first clamp and the second clamp are arranged opposite to each other, and the first clamp and the second clamp are respectively slidably connected to the slide rail so that the first clamp and the second clamp can approach or move away from each other, and the knee is clamped by the first clamp and the second clamp, and fixed to the treatment bed by the fixing component so that the knee is fixed, which solves the technical problem in the prior art that the operated leg shakes, resulting in inaccurate drilling and affecting the surgical effect, and achieves the technical effect of firmly fixing the operated leg and accurately drilling holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of a leg fixing device mentioned in an embodiment of the present invention;

[0034] Figure 2 is another structural schematic diagram of the leg fixing device mentioned in an embodiment of the present invention;

[0035] Figure 3 is a schematic structural diagram of the clamping mechanism mentioned in an embodiment of the present invention;

[0036] Figure 4 is a cross-sectional view of the universal connection assembly mentioned in an embodiment of the present invention;

[0037] Figure 5 is a schematic structural diagram of a universal connection assembly mentioned in an embodiment of the present invention;

[0038] Figure 6 is a schematic structural diagram of a fixing assembly mentioned in an embodiment of the present invention;

[0039] Figure 7 It is a schematic diagram of the structure of the tracking component mentioned in the embodiment of the present invention.

[0040] In the figure, 1-clamping mechanism; 101-first clamp; 102-second clamp; 103-slide rail; 104-screw rod; 105-rotating wheel; 106-groove; 107-limiting pin; 108-first connecting seat; 109-second connecting seat; 110-buffer pad; 2-universal connection assembly; 201-locking part; 2011-knob; 2012-first locking block; 2013-second locking block; 2014-locking shaft; 2015-first inclined plane ; 2016-second inclined plane; 202-first ball stud; 203-second ball stud; 204-first tightening rod; 205-second tightening rod; 206-first set of rods; 207-second set of rods; 208-gasket; 3-fixing assembly; 301-bench vise seat; 302-clamping block; 303-stud; 304-guide column; 4-tracking assembly; 401-bone needle; 402-guide; 403-tracer; 404-tracer clamp; 5-treatment bed. DETAILED DESCRIPTION

[0041] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the related technology, the recognition and effective fixation of the leg position plays a decisive role in the position accuracy of the bone tunnel. In clinical operations where non-robotic arms are used to perform drilling operations, there is no surgical instrument that can fix and identify the position of the patient's operated leg. The common operation of clinicians is to let the patient's operated leg hang to the outside of the treatment bed, and the doctor's assistant supports the operated leg to ensure the stability of the leg. However, the operated leg still has a certain degree of shaking, resulting in inaccurate drilling direction and affecting the surgical effect.

[0044] In view of this, if Figure 1-Figure 7As shown, some embodiments of the present invention provide a leg fixing device, comprising: a clamping mechanism 1, a universal connection component 2 and a fixing component 3; the clamping mechanism 1 is clamped at the knee of the leg, the clamping mechanism 1 is connected to the fixing component 3 through the universal connection component 2, and the fixing component 3 is fixed on the treatment bed 5; the clamping mechanism 1 comprises a first clamp 101, a second clamp 102 and a slide rail 103; the first clamp 101 and the second clamp 102 are arranged opposite to each other, and the first clamp 101 and the second clamp 102 are respectively slidably connected to the slide rail 103, so that the first clamp 101 and the second clamp 102 can approach or move away from each other, and the first clamp 101 and the second clamp 102 are used to clamp the knee.

[0045] In the above embodiment, the first clamp 101, the second clamp 102 and the slide rail 103 can all be made of metal materials, the first clamp 101 and the second clamp 102 are arranged opposite to each other, one end of the first clamp 101 and the second clamp 102 are respectively sleeved on the slide rail 103 and slidably connected with the slide rail 103, wherein the slide rail 103 can be rectangular, and the slide rail 103 is provided with a track running through the length direction, that is, the thickness of the two sides of the slide rail 103 is less than the thickness in the middle, and the first clamp 101 and the second clamp 102 are sleeved on the slide rail 103 and fit with the slide rail 103, so that the first clamp 101 and the second clamp 102 are more secure, and the first clamp 101 and the second clamp 102 are arranged in parallel through the slide rail 103, the first When the clamp 101 and the second clamp 102 are close to each other, the first clamp 101 and the second clamp 102 are clamped at the patient's knee position, and the first clamp 101 or the second clamp 102 is connected to the universal connection component 2, and the other end of the universal connection component 2 is connected to the fixing component 3 that fixes the treatment bed 5. The clamping mechanism 1 can be adjusted along with the position of the knee through the universal connection component 2, and the clamping mechanism 1 can be fixed by locking the universal connection component 2, and the fixing component 3 can be set as a bench clamp, and the fixing component 3 can be clamped and fixed on the treatment bed 5. A threaded hole can be set above the fixing component 3, and the universal connection component 2 is fixed in the threaded hole above the fixing component 3 by the stud 303, so that the universal connection component 2 is connected to the fixing component 3.

[0046] Optionally, the fixing assembly 3 may include a vise seat 301, a clamping block 302, a stud 303, and a guide column 304, wherein a plurality of threaded holes are arranged above the vise seat 301, and the plurality of threaded holes are arranged at intervals along the length direction of the vise seat 301, and the universal connection assembly is selectively connected to one of the threaded holes, and an open horizontal clamping opening is arranged below the vise seat 301, and two guide columns 304 are arranged in the clamping opening along the height direction, and the two guide columns 304 are far away from each other and vertically arranged, and the clamping block 302 is arranged in the clamping opening and is slidably connected to the two guide columns 304 respectively, so that the guide columns 304 can limit the moving path of the clamping block 302, and further, below the clamping opening A stud 303 is vertically arranged on the vise seat 301, one end of the stud 303 passes through the vise seat 301 and is straightened in the clamping mouth and is rotatably connected to the clamping block 302, the other end of the stud 303 is arranged below the vise seat 301, and the stud 303 is threadedly connected to the vise seat 301, so that when the stud 303 rotates, it can drive the clamping block 302 to move up and down by cooperating with the thread of the vise seat 301, and a horizontal handle is arranged below the stud 303, the handle can pass through the stud 303 and be slidably connected to the stud 303, and the handle can be used to twist the stud 303, so that the stud 303 can drive the clamping block 302 to move upward until it is clamped on the edge of the treatment bed 5 with the vise seat 301.

[0047] Optionally, a clamping rail extending along the length direction is provided on the side of the treatment bed 5, and the fixing assembly 3 is selectively clamped on the clamping rail.

[0048] Some embodiments of the present invention provide a leg fixation device, comprising: a clamping mechanism 1 connected to a fixing component 3 via a universal connection component 2, so that the clamping mechanism 1 can be clamped at different positions, a first clamp 101 and a second clamp 102 can be close to or away from each other, the knee is clamped by the first clamp 101 and the second clamp 102, and fixed to a treatment bed 5 via the fixing component 3, so that the knee is fixed, thereby solving the technical problem in the prior art that the operated leg shakes, resulting in inaccurate drilling and affecting the surgical effect, and achieving the technical effect of firmly fixing the operated leg and accurately drilling holes.

[0049] In an optional embodiment, the clamping mechanism 1 also includes a screw rod 104 and a rotating wheel 105; the rotating wheel 105 is arranged on the screw rod 104, the axis of the rotating wheel 105 is arranged to coincide with the axis of the screw rod 104, and the rotating wheel 105 is provided with depressions arranged at intervals along the circumferential surface; the screw rod 104 is provided with a first thread and a second thread in opposite directions, the first thread and the second thread are threadedly connected to the first clamp 101 and the second clamp 102 respectively, and the rotating wheel 105 is arranged between the first thread and the second thread.

[0050] In the above embodiment, the screw rod 104 and the rotating wheel 105 can be arranged as an integral part or can be welded, wherein the rotating wheel 105 can be cylindrical, and the axis of the rotating wheel 105 and the axis of the screw rod 104 can be arranged parallel to the track surface, and the first connecting seat 108 and the second connecting seat 109 are respectively arranged on the first clamp 101 and the second clamp 102, the first connecting seat 108 is connected to the first clamp 101, and the second connecting seat 109 is connected to the second clamp 102, and the two sides of the screw rod 104 are respectively threadedly connected to the first connecting seat 108 and the second connecting seat 109, wherein the thread directions of the first thread and the second thread arranged on the two sides of the screw rod 104 are On the contrary, the first thread is threadedly connected to the first connecting seat 108, and the second thread is threadedly connected to the second connecting seat 109, so that when the rotating wheel 105 drives the screw rod 104 to rotate, the first connecting seat 108 and the second connecting seat 109 respectively drive the first clamp 101 and the second clamp 102, so that the movement directions of the first clamp 101 and the second clamp 102 are set in opposite directions. Furthermore, the outer surface of the rotating wheel 105 is provided with a plurality of recesses, and the plurality of recesses are evenly arranged on the outer diameter of the rotating wheel 105 along the axial direction of the rotating wheel 105 and extend in the axial direction. The plurality of recesses can increase the contact area of ​​the surface of the rotating wheel 105, and the operator can save more effort when rotating.

[0051] Optionally, the clamping mechanism 1 may further include a buffer pad 110; two buffer pads 110 are provided, and the two buffer pads 110 are respectively arranged on the first clamp 101 and the second clamp 102, and the two buffer pads 110 are arranged close to each other. The buffer pad 110 may be made of rubber material, and each buffer pad 110 may be provided with a plurality of anti-slip grooves, and the plurality of anti-slip grooves are arranged horizontally and evenly along the vertical direction, so that the buffer pad 110 can increase the friction between the first clamp 101 and the second clamp 102 and the knee, and at the same time, the anti-slip pad made of silicone material can be used to reduce the pressure on the patient's knee.

[0052] In an optional embodiment, a groove 106 is provided on the slide rail 103 , and the groove 106 is arranged corresponding to the rotating wheel 105 . The rotating wheel 105 is embedded in the groove 106 , so that the rotating wheel 105 is fixed along the axial direction.

[0053] In the above-mentioned embodiments, the groove 106 can be extended along the width direction of the slide rail 103, the groove 106 can be recessed in the axial direction away from the rotating wheel 105, and the rotating wheel 105 can be embedded in the groove 106 so that the side wall of the rotating wheel 105 can abut against the side wall of the groove 106. When the first clamp 101 and the second clamp 102 move in the same direction relative to the slide rail 103 at the same time, the rotating wheel 105 abuts against the side wall of the groove 106, thereby preventing the first clamp 101 and the second clamp 102 from continuing to move and causing clamping failure.

[0054] Optionally, the clamping mechanism 1 may further include a limit pin 107, which is disposed on the slide rail 103, wherein one limit pin 107 may be provided, or two limit pins 107 may be provided, the limit pin 107 may be provided on the side of the first connecting seat 108 away from the second connecting seat 109, or may be provided on the side of the second connecting seat 109 away from the first connecting seat 108, the limit pin 107 is provided perpendicular to the upper surface of the slide rail 103, and the limit pin 107 is used to limit the moving path of the first connecting seat 108, or to limit the second connecting seat 109. The moving path is to make the first connecting seat 108 and the second connecting seat 109 abut against the limit pin 107 when the distance between the first connecting seat 108 and the second connecting seat 109 is the largest, so as to avoid that the distance between the first connecting seat 108 and the second connecting seat 109 is too large, causing the first connecting seat 108 or the second connecting seat 109 to be separated from the screw rod 104, or to avoid that the distance between the first clamp 101 and the second clamp 102 is too large, causing the first clamp 101 or the second clamp 102 to be separated from the slide rail 103.

[0055] In an optional embodiment, it also includes a tracking component 4 and a navigation camera; the tracking component 4 is fixed to the patient's leg, the tracking component 4 is communicatively connected to the navigation camera, and the navigation camera determines the position of the leg through the tracking component 4.

[0056] In the above embodiment, two tracking components 4 may be provided, and the tracking component 4 may include a tibial tracker and a femoral tracker. The tibial tracker is fixed at a distance of 10 cm from the end surface of the tibia, and the femoral tracker is fixed at a distance of 10 cm from the end surface of the femur. The tibial tracker and the femoral tracker are arranged opposite to the navigation camera respectively. The navigation camera can illuminate the tibial tracker and the femoral tracker, and infer the position of the patient's tibia and femur through the tibial tracker and the femoral tracker. Further, it can also include a probe with a reflective ball, one end of the probe is provided with a plurality of reflective balls, and the other end is provided with an abutment end. The position and angle of the probe are inferred by illuminating the plurality of reflective balls on the probe with the navigation camera, and then converted into the position coordinates of the abutment end of the probe, and the abutment end of the probe is extended into the patient's knee and abutted against the end surface of the tibia or the end surface of the femur, and then the end surface information of the tibia and femur is judged by the position information of the abutment end obtained by the navigation camera, thereby simulating a three-dimensional model of the knee position.

[0057] In an optional embodiment, the tracking component 4 includes a bone needle 401, a guide 402 and a tracer 403; the bone needle 401 is fixed to the leg bone, the guide 402 is sleeved on the bone needle 401, the tracer 403 is connected to the guide 402, and the tracer 403 is arranged opposite to the navigation camera.

[0058] In the above embodiment, the bone needle 401 can be made of metal, and two bone needles 401 can be provided. The two bone needles 401 are arranged in parallel and fixed on the patient's tibia or femur at a preset distance. After the two bone needles 401 are fixed, the guide 402 is inserted into the two bone needles 401, and the front end of the guide 402 is abutted against the tibia or femur, and then the tracer clamp 404 is inserted into the two bone needles 401 and the tracer clamp 404 is locked, so that the two bone needles 401 and the guide 402 are both Fix, and then connect the tracer 403 to the tracer clamp 404, the tracer 403 may include a reflector and a support frame; at least four reflectors are arranged on the support frame, and the multiple reflectors are arranged at intervals along the surface of the support frame, the support frame is connected to the tracer clamp 404, the navigation camera establishes a coordinate system through the multiple reflectors and determines the positions of the two bone needles 401, thereby inferring the positions of the tibia and femur, and obtaining the position of the knee according to the results of the probe detection, and planning the bone channel according to the tibial end surface and the femoral end surface of the knee.

[0059] In an optional embodiment, the universal connection assembly 2 includes a locking portion 201, a first ball stud 202, a second ball stud 203, a first jacking rod 204, a second jacking rod 205, a first sleeve rod 206, and a second sleeve rod 207; the locking portion 201 is arranged at one end of the first sleeve rod 206 and the second sleeve rod 207 that are close to each other, the first sleeve rod 206 is rotatably connected to the second sleeve rod 207 through the locking portion 201, the other end of the first sleeve rod 206 is rotatably connected to the first ball stud 202, and the other end of the second sleeve rod 207 is rotatably connected to the second ball stud 203; the first jacking rod 204 is arranged at one end of the first sleeve rod 206 and the second sleeve rod 207 that are close to each other, the first sleeve rod 206 is rotatably connected to the second sleeve rod 207 through the locking portion 201, the other end of the first sleeve rod 206 is rotatably connected to the first ball stud 202, and the other end of the second sleeve rod 207 is rotatably connected to the second ball stud 203; It is arranged in the first set of rods 206 and is slidably connected to the first set of rods 206, the two ends of the first tightening rod 204 are respectively connected to the first ball stud 202 and the locking part 201, the second tightening rod 205 is arranged in the second set of rods 207 and is slidably connected to the second set of rods 207, the two ends of the second tightening rod 205 are respectively connected to the second ball stud 203 and the locking part 201; the locking part 201 can push the first tightening rod 204 and the second tightening rod 205 to squeeze the first ball stud 202 and the second ball stud 203 respectively, and at the same time can make the first set of rods 206 and the second set of rods 207 squeeze and fix each other.

[0060] In the above embodiment, the universal connection assembly 2 can be made of metal, and one end of the first rod 206 and the second rod 207 are close to each other and abutted, and a locking portion 201 is provided inside the end of the first rod 206 and the second rod 207 close to each other. The locking portion 201 is perpendicular to the length direction of the first rod 206 and the second rod 207. The locking portion 201 is slidably connected to the inner wall of the first rod 206 and the second rod 207 respectively, and the locking portion 201 is connected to the first tensioning rod 204 and the second tensioning rod 205 respectively. The length of the locking portion 201 can be changed. , so that the locking part 201 can drive the first tightening rod 204 and the second tightening rod 205 to move synchronously in the first set rod 206 and the second set rod 207. When the locking part 201 contracts, the first tightening rod 204 and the second tightening rod 205 move toward the first ball stud 202 and the second ball stud 203 respectively, so that the first tightening rod 204 and the second tightening rod 205 are squeezed on the first ball stud 202 and the second ball stud 203 respectively, so that the first ball stud 202 and the second ball stud 203 are fixed, thereby locking the universal connection assembly 2 and fixing the patient's knee.

[0061] The first ball stud 202 and the second ball stud 203 have the same shape and structure. Taking the first ball stud 202 as an example, a spherical ball is arranged on one side of the first ball stud 202, and a stud 303 with its axis pointing to the center of the sphere is arranged on the spherical ball, and the spherical ball is embedded in the first set of rods 206 and the second set of rods 207, and a fixing sleeve is arranged on the first set of rods 206 and the second set of rods 207, and the fixing sleeve is arranged on the spherical ball, and the two sides of the spherical ball abut against the inner wall of the first set of rods 206 or the second set of rods 207, and the side of the spherical ball away from the fixing sleeve abuts against the first tightening rod 204 or the second tightening rod 205, so that the first ball stud 202 and the second ball stud 203 are fixed, and at the same time, when the first tightening rod 204 and the second tightening rod 205 are not squeezed, the first ball stud 202 and the second ball stud 203 can rotate relative to the first set of rods 206 and the second set of rods 207, and cooperate with the rotation between the first set of rods 206 and the second set of rods 207 to realize the universal function.

[0062] Optionally, a locking screw can be provided on one side of the first ball stud 202 and the second ball stud 203. The locking screw enters through the outer sides of the first set rod 206 and the second set rod 207 through threaded engagement and abuts against the first ball stud 202 and the second ball stud 203. When the first ball stud 202 or the second ball stud 203 needs to be rotated, the locking screw can be loosened, and when the first ball stud 202 and the second ball stud 203 need to be locked, to prevent the first ball stud 202 or the second ball stud 203 from rotating alone, the locking screw can be used to lock it.

[0063] Furthermore, a connecting sleeve is provided at one end of the first rod 206 and the second rod 207 which are close to each other. The connecting sleeve is annular and perpendicular to the first rod 206 and the second rod 207. The connecting sleeve is provided on the locking portion 201 and is rotatably connected to the locking portion 201 to realize the mutual rotation of the first rod 206 and the second rod 207. When the locking member is locked, the locking member can press the connecting sleeves on the first rod 206 and the second rod 207 so that the first rod 206 and the second rod 207 are squeezed against each other, thereby fixing the first rod 206 and the second rod 207.

[0064] In an optional embodiment, the locking portion 201 includes a knob 2011, a first locking block 2012, a second locking block 2013 and a locking shaft 2014; the first locking block 2012 is arranged at one end of the first jacking rod 204 away from the first ball stud 202, the second locking block 2013 is arranged at one end of the second jacking rod 205 away from the second ball stud 203, one end of the locking shaft 2014 is connected to the first locking block 2012, and the other end passes through the second locking block 2013 and is threadedly connected to the knob 2011, and the locking shaft 2014 is slidably connected to the second locking block 2013; the first locking block 2012 A first inclined surface 2015 is provided on the top, which abuts against the first tightening rod 204, and a second inclined surface 2016 is provided on the second locking block 2013, which abuts against the second tightening rod 205. The heights of the first inclined surface 2015 and the second inclined surface 2016 are proportional to the distance between the first inclined surface 2015 and the second inclined surface 2016. The wrench can make the first locking block 2012 and the second locking block 2013 closer or farther away, so that the first inclined surface 2015 and the second inclined surface 2016 can respectively tighten or loosen the first ball stud 202 and the second ball stud 203 through the first tightening rod 204 and the second tightening rod 205.

[0065] In the above embodiment, the knob 2011, the first locking block 2012, the second locking block 2013 and the locking shaft 2014 can all be made of metal. The knob 2011 can be threadedly connected to the locking shaft 2014, and the knob 2011 can be set as a nut with three grips to facilitate the user to rotate the knob 2011. The knob 2011 is set at the end of the second rod 207 away from the first rod 206, and the knob 2011 abuts against one side of the connecting sleeve of the second rod 207, so that the knob 2011 can squeeze the connecting sleeve of the second rod 207, so that the connecting sleeve of the second rod 207 is pressed tightly on the connecting sleeve of the first rod 206. Further, the first locking block 2012 and the locking shaft 2014 can be integrated. The molding arrangement is that the first locking block 2012 is arranged in the connecting sleeve of the first sleeve rod 206, and the second locking block 2013 is arranged in the connecting sleeve of the second sleeve rod 207. The locking shaft 2014 passes through the first locking block 2012 and extends out of the second locking block 2013. One end of the locking shaft 2014 extending out of the second locking block 2013 is threadedly connected to the knob 2011, and the knob 2011 can also selectively extend into the hole of the second sleeve rod 207 without abutting against the second sleeve rod 207. The knob 2011 can abut against the end of the second locking block 2013 away from the first locking block 2012, so that the knob 2011 can make the first locking block 2012 and the second locking block 2013 close to each other with the cooperation of the locking shaft 2014.

[0066] The first locking block 2012 is provided with a first inclined surface 2015, and the second locking block 2013 is provided with a second inclined surface 2016. The height of the first inclined surface 2015 and the height of the second inclined surface 2016 are arranged in a decreasing manner along the direction in which the first locking block 2012 and the second locking block 2013 approach each other. The first pushing rod 204 and the second pushing rod 205 are respectively provided with inclined surfaces that match the first inclined surface 2015 and the second inclined surface 2016. When the knob 2011 rotates relative to the locking shaft 2014 to press the second locking block 2013, the distance between the first locking block 2012 and the second locking block 2013 is reduced. At this time, the first locking block 2012 and the second locking block 2013 are respectively connected. The first clamping rod 204 and the second clamping rod 205 are squeezed by the first inclined surface 2015 and the second inclined surface 2016, so that the first clamping rod 204 and the second clamping rod 205 squeeze the first ball stud 202 and the second ball stud 203 respectively, so that the first ball stud 202 and the second ball stud 203 are fixed. Since the first locking block 2012 and the second locking block 2013 squeeze the first clamping rod 204 and the second clamping rod 205 through the inclined surfaces, the connecting sleeves on the first set rod 206 and the second set rod 207 are squeezed against each other, so that the first set rod 206 and the second set rod 207 are firmly connected, so that the universal connection assembly 2 is fixed as a whole, and the universal connection assembly 2 can be firmly connected by the knob 2011.

[0067] Optionally, the first ball stud 202 can be connected to any threaded hole above the bench vise seat 301, and the second ball stud 203 can be connected to the threaded hole on the side wall of the first clamp 101 or the threaded hole on the side wall of the second clamp 102 to fix the clamping mechanism 1.

[0068] In an optional embodiment, a gasket 208 is provided between the first set of rods 206 and the second set of rods 207. The gasket 208 is sleeved on the locking shaft 2014 and spaced apart from the locking shaft 2014. The gasket 208 is slidably connected to the first set of rods 206 and the second set of rods 207 respectively.

[0069] In the above embodiment, the gasket 208 can be made of metal or rubber, and a through hole is set in the middle of the gasket 208. The gasket 208 is sleeved on the locking shaft 2014. The thickness of the gasket 208 set between the two connecting sleeves is smaller than the thickness of the gasket 208 set in the connecting sleeve, so that the gasket 208 can abut against the inner walls of the two connecting sleeves, thereby playing a sealing role and preventing foreign matter from entering the connecting sleeve.

[0070] The present invention also provides a method for fixing a leg fixing device, comprising the following steps: placing the leg on the treatment bed 5 and adjusting the position, fixing the leg on the leg support, fixing the leg support on the treatment bed 5, making the knee at 90 degrees, and the femur and the upper body at 120 degrees, then installing a femur tracker and a tibia tracker on the femur and tibia respectively, judging the position of the femur and tibia by the tracer 403 on the femur tracker and the tibia tracker, so that the femur and tibia displayed by the navigation camera coincide with the preset position; connecting one end of the fixing component 3 to the treatment bed 5, and connecting the other end to the clamping mechanism 1, wherein the fixing component 3 can be fixed to the clamping rail on the side of the treatment bed 5 with the cooperation of the bench clamp seat 301 and the clamping block 302, and adjusting the distance from the patient to facilitate the clamping mechanism 1 to clamp the patient's knee, and then, Fix the first ball stud 202 of the universal connection assembly in a relaxed state into a threaded hole above the vise seat 301, then fix the second ball stud 203 into the threaded hole on the side wall of the first clamp 101, clamp the first clamp 101, the second clamp 102 and the slide rail 103 at the patient's knee, and fix the clamping mechanism 1 at the knee position, then through the action of the rotating wheel 105, the screw rod 104, the first connecting seat 108 and the second connecting seat 109, the first clamp 101 and the second clamp 102 are brought close to each other and clamped at the patient's knee through the buffer pad 110, then adjust the patient's leg position and angle again, and determine whether it is aligned with the preset position through the guide camera, then tighten the knob 2011 on the universal connection assembly 2 to fix the universal connection assembly 2, thereby fixing the knee.

[0071] In an optional embodiment, the following steps are also included: after completing the modeling of the patient's legs and knees, the navigation camera can monitor the position of the legs and plan the bone tunnel through the femoral tracker and the tibial tracker. When the leg position changes, the navigation camera will alarm and re-plan the bone tunnel.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A leg fixing device, characterized in that: include: Clamping mechanism, universal connection assembly and fixing assembly; The clamping mechanism is clamped at the knee of the leg, the clamping mechanism is connected to the fixing assembly through the universal connection assembly, and the fixing assembly is fixed on the treatment bed; The clamping mechanism comprises a first clamp, a second clamp and a slide rail; The first clamp and the second clamp are arranged opposite to each other, and the first clamp and the second clamp are respectively slidably connected to the slide rail so that the first clamp and the second clamp can move closer to or farther away from each other, and the first clamp and the second clamp are used to clamp the knee.

2. The leg fixing device according to claim 1, characterized in that: The clamping mechanism also includes a screw rod and a rotating wheel; The rotating wheel is arranged on the screw rod, the axis of the rotating wheel coincides with the axis of the screw rod, and the rotating wheel is provided with depressions arranged at intervals along the circumferential surface; The screw rod is provided with a first thread and a second thread in opposite directions, the first thread and the second thread are threadedly connected to the first clamp and the second clamp respectively, and the rotating wheel is arranged between the first thread and the second thread.

3. The leg fixing device according to claim 2, characterized in that: The slide rail is provided with a groove, the groove is arranged corresponding to the rotating wheel, and the rotating wheel is embedded in the groove so that the rotating wheel is fixed along the axial direction.

4. The leg fixing device according to claim 1, characterized in that: Also included are tracking components and navigation cameras; The tracking component is fixed on the patient's leg. The tracking component is communicatively connected to the navigation camera. The navigation camera determines the position of the leg through the tracking component.

5. The leg fixing device according to claim 4, characterized in that: The tracking assembly includes a bone needle, a guide and a tracer; The bone needle is fixed on the leg bone, the guide is sleeved on the bone needle, the tracer is connected to the guide, and the tracer is arranged opposite to the navigation camera.

6. The leg fixing device according to claim 1, characterized in that: The universal connection assembly comprises a locking portion, a first ball stud, a second ball stud, a first jacking rod, a second jacking rod, a first sleeve rod and a second sleeve rod; The locking portion is arranged at one end of the first sleeve rod and the second sleeve rod which are close to each other, the first sleeve rod is rotatably connected to the second sleeve rod through the locking portion, the other end of the first sleeve rod is rotatably connected to the first ball stud, and the other end of the second sleeve rod is rotatably connected to the second ball stud; The first tension rod is arranged in the first sleeve rod and is slidably connected to the first sleeve rod, and the two ends of the first tension rod are respectively connected to the first ball stud and the locking portion, the second tension rod is arranged in the second sleeve rod and is slidably connected to the second sleeve rod, and the two ends of the second tension rod are respectively connected to the locking portion of the second ball stud box; The locking portion can push the first pressing rod and the second pressing rod to compress the first ball stud and the second ball stud respectively, and can also make the first sleeve rod and the second sleeve rod compress and fix each other.

7. The leg fixing device according to claim 6, characterized in that: The locking part includes a knob, a first locking block, a second locking block and a locking shaft; The first locking block is arranged at one end of the first pushing rod away from the first ball stud, the second locking block is arranged at one end of the second pushing rod away from the second ball stud, one end of the locking shaft is connected to the first locking block, the other end passes through the second locking block and is threadedly connected to the knob, and the locking shaft is slidably connected to the second locking block; The first locking block is provided with a first inclined surface abutting against the first pushing rod, and the second locking block is provided with a second inclined surface abutting against the second pushing rod, and the heights of the first inclined surface and the second inclined surface are both proportional to the distance between the first inclined surface and the second inclined surface; The wrench can move the first locking block and the second locking block closer or farther away, so that the first inclined surface and the second inclined surface can respectively tighten or loosen the first ball stud and the second ball stud through the first tightening rod and the second tightening rod.

8. The leg fixing device according to claim 7, characterized in that: A gasket is provided between the first sleeve rod and the second sleeve rod. The gasket is sleeved on the locking shaft and spaced apart from the locking shaft. The gasket is slidably connected to the first sleeve rod and the second sleeve rod respectively.

9. A fixing method based on the leg fixing device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Place the legs on the treatment bed and adjust the position so that the leg position in the navigation camera coincides with the preset position; Connect one end of the fixing assembly to the treatment bed, connect the other end to the clamping mechanism, and fix the clamping mechanism at the knee position; By bringing the first clamp and the second clamp closer to each other, the first clamp and the second clamp are clamped on the knee to fix the knee.

10. The fixing method according to claim 9, characterized in that: The following steps are also included: The navigation camera monitors the position of the legs in real time and plans the bone tunnel. When the position of the legs changes, the navigation camera will issue an alarm and re-plan the bone tunnel.

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