Medical navigation device and surgical equipment

Abstract

The embodiment of the invention provides a medical navigation device and surgical equipment, the medical navigation device is used for adjusting the position and posture of a medical instrument, the medical navigation device comprises a guide part for guiding the medical instrument, a posture adjusting structure and a displacement adjusting structure, and the posture adjusting structure drives the guide part to pitch and / or deflect to adjust the posture of the guide part; the posture adjusting structure comprises a linear driving part, a rotary driving part, a first supporting arm and a second supporting arm, and the linear driving part drives the first supporting arm to move in the axial direction of the first supporting arm so as to drive the guiding part to do pitching motion; the second supporting arm is movably connected to the guiding piece and partially connected to the first supporting arm in a sleeving mode, and the rotating driving piece drives the first supporting arm and the second supporting arm to rotate in the axial direction of the rotating driving piece so as to drive the guiding piece to deflect; the axial direction of the rotary driving piece penetrates through the second support arm; the displacement adjusting structure drives the posture adjusting structure to reciprocate in the first direction and / or the second direction through the displacement driving part, so that the navigation transmission chain is shortened, and the precision of posture navigation of the medical instrument is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a medical navigation device and surgical equipment. Background Art

[0002] With the development and application of medical surgical navigation technology, related technologies use dual-plane micro-navigation devices to navigate the end instrument, wherein this micro-navigation device includes two arms and a similar double-layer structure, wherein one arm is connected between one layer of the structure and the end instrument, and the other arm is connected between the other layer of the structure and the end instrument; when the posture of the end instrument needs to be adjusted, the two layers of structure are driven separately to make the two arms produce the same displacement in the two planes, and the position of the end instrument is changed by the displacement of the arms in the two planes; in addition, the two layers of structure are driven separately to make the two arms produce different displacements in the two planes, and different angle postures of the end instrument are compounded by the displacement of the arms in the two planes.

[0003] However, this double-layer navigation method mixes displacement adjustment structure and attitude adjustment structure and has a long transmission chain, which makes precision control more difficult. Summary of the Invention

[0004] The embodiments of the present application provide a medical navigation device and a surgical instrument to shorten the transmission chain of a technical path and improve the accuracy of navigation of medical equipment.

[0005] An embodiment of the present application provides a medical navigation device for adjusting the posture of a medical device, the medical navigation device comprising: a guide member for guiding the medical device;

[0006] The attitude adjustment structure is used to drive the guide member to achieve pitch motion and / or yaw motion to adjust the angular attitude of the guide member; the attitude adjustment structure includes:

[0007] A linear drive member and a first arm, wherein the first arm is movably connected to the guide member, and the linear drive member is used to drive the first arm to move along its own axial direction to drive the guide member to perform a pitching motion;

[0008] A rotary drive member and a second arm, the second arm being movably connected to the guide member, and the second arm being partially sleeved on the first arm, the rotary drive member being in transmission connection with the second arm to drive the first arm and the second arm to rotate about the axial direction of the rotary drive member, thereby driving the guide member to perform a deflection movement; wherein the axial direction of the rotary drive member passes through the second arm;

[0009] The displacement adjustment structure is movably connected to the posture adjustment structure, and the posture adjustment structure is driven to reciprocate in the first direction and / or the second direction by the displacement driving member, and there is an angle between the first direction and the second direction.

[0010] In a feasible implementation, the second support arm is formed with a first rotating portion and a second rotating portion, the first rotating portion is sleeved on the first support arm, and the first rotating portion is fixedly connected to the housing of the linear drive member;

[0011] The rotary driving member is in transmission connection with the second rotating part to drive the first arm, the first rotating part and the second rotating part to rotate together around the axial direction of the second rotating part.

[0012] In a feasible implementation, the rotary drive member is configured as a rotary motor, and the posture adjustment structure further includes a transmission assembly, through which the rotary drive member is transmission-connected to the second rotating part.

[0013] In a feasible implementation, the transmission assembly includes a harmonic reducer and a motor adapter flange, the rotating motor is connected to the harmonic reducer through the motor adapter flange, and the output shaft of the harmonic reducer is fixedly connected to the second rotating part.

[0014] In a feasible implementation, the posture adjustment structure also includes a bearing seat, the transmission assembly also includes a ball bearing, the ball bearing is sleeved on the second rotating part, the bearing seat is sleeved on the ball bearing and the bearing seat is fixedly connected to the housing of the harmonic reducer; the inner ring of the ball bearing is fixedly connected to the second rotating part, and the outer ring of the ball bearing is fixedly connected to the bearing seat.

[0015] In a feasible implementation, the posture adjustment structure further includes a locking block, which clamps the first rotating part and the second rotating part at intervals.

[0016] In a feasible implementation, the linear drive component is configured as a first screw motor, the posture adjustment structure further includes an anti-backlash nut, and the output shaft of the first screw motor is transmission-connected to the first support arm via the anti-backlash nut.

[0017] In a feasible implementation, the posture adjustment structure also includes a connecting rod, the end of the first arm and one end of the connecting rod form a first rotation pair around the radial direction of the first arm, and the guide member and the other end of the connecting rod form a second rotation pair around the radial direction of the first arm.

[0018] In a feasible implementation, the displacement driving member includes:

[0019] a first displacement driving member, the first displacement driving member being in transmission connection with the bearing seat and being used for driving the bearing seat to move along a first direction, thereby driving the guide member to move along the first direction;

[0020] The second displacement driving member, the medical navigation device also includes a first base, the first base is fixedly connected to the housing of the rotating motor; the second displacement driving member is transmission-connected to the first base, and the second displacement driving member is used to drive the first base to move along the second direction to drive the guide member to move along the second direction.

[0021] An embodiment of the present application further provides a surgical device, comprising a medical instrument and the aforementioned medical navigation device, wherein a guide member of the medical navigation device is fixedly connected to the medical instrument.

[0022] In the medical navigation device provided in the embodiment of the present application, a displacement adjustment structure and a posture adjustment structure are respectively provided. The posture adjustment structure is used to adjust the posture of the guide member, and the displacement adjustment structure is used to adjust the position of the guide member. The two adjustment structures are independent of each other, which can improve the accuracy of position or posture adjustment of the guide member.

[0023] In addition, by setting a linear drive member and a first arm, the linear drive member is used to drive the first arm to move along its own axis to drive the guide member to perform a pitch motion, thereby adjusting the pitch angle of the medical device; by setting a rotary drive member and a second arm, and partially connecting the second arm to the first arm, the rotary drive member drives the second arm and the first arm to rotate around the axis of the rotary drive member, and the axis passes through the second arm; thereby driving the guide member to perform a deflection motion. The transmission chains for adjusting the pitch angle and deflection angle of the guide member are set separately. Compared with the related art that generates different displacements by manipulating the upper and lower layers of the structure to compound the position change of the guide member, this technical solution is conducive to streamlining the transmission chain, improving the transmission accuracy and the accuracy of posture navigation of the medical device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the overall structure of a medical navigation device provided in an embodiment of the present application;

[0025] Figure 2 for Figure 1 The schematic diagram of the structure of the medical navigation device after removing the upper shell;

[0026] Figure 3 for Figure 2 A schematic structural diagram of the second arm in the medical navigation device shown;

[0027] Figure 4a for Figure 2 A schematic diagram of the pitch angle of the guide member in the medical navigation device shown;

[0028] Figure 4b for Figure 2 A schematic diagram of the deflection angle of the guide member in the medical navigation device shown;

[0029] Figure 5 for Figure 2 A schematic structural diagram of a posture adjustment structure in the medical navigation device shown;

[0030] Figure 6 for Figure 5Schematic diagram of the transmission structure of the rotary drive member and the second arm in the posture adjustment structure shown;

[0031] Figure 7 for Figure 5 Schematic diagram of the connection structure between the ball bearing and the second arm in the posture adjustment structure shown;

[0032] Figure 8 for Figure 5 A schematic cross-sectional view of the posture adjustment structure shown;

[0033] Figure 9 for Figure 2 A schematic structural diagram of the first arm in the medical navigation device shown;

[0034] Figure 10 for Figure 2 A schematic structural diagram of a displacement adjustment structure for driving a posture adjustment structure to move along a first direction in the medical navigation device shown;

[0035] Figure 11 for Figure 5 A schematic structural diagram of the posture adjustment structure from another angle shows the connection relationship between the first displacement driving member and the bearing seat;

[0036] Figure 12 for Figure 2 The figure shows a schematic structural diagram of a displacement adjustment structure in a medical navigation device that drives the posture adjustment structure to move along a second direction.

[0037] Description of reference numerals:

[0038] 100-Medical navigation device;

[0039] 101 - upper housing; 102 - lower housing, second base; 11 - linear drive member; 12 - first support arm; 103 - guide member; 21 - rotary drive member; 22 - first rotating portion; 23 - second rotating portion; 24 - transmission assembly; 31 - locking block; 32 - connecting rod; 40 - first displacement drive member; 61 - first base; 50 - second displacement drive member;

[0040] 241-harmonic reducer; 242-motor adapter flange; 243-bearing seat; 244-ball bearing; 245-nut; 246-pressure block; 13-anti-backlash nut; 41-second screw motor; 42-first screw nut; 43-first sliding structure; 431-first slider; 432-first slide rail; 51-third screw motor; 52-second screw nut; 53-second sliding structure; 531-second slider; 532-second slide rail; T1-first direction; T2-second direction; p-first axis; m-second axis. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0042] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Unless otherwise specified, in this embodiment, "proximal end" can be used to indicate the end of the component close to the trolley, and "distal end" can be used to indicate the end of the component away from the trolley; "inner peripheral side" can be used to indicate that the contour line of the component is inward, and "outer peripheral side" can be used to indicate that the contour line of the component is outward.

[0043] In describing the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0044] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0045] With the development and application of medical surgical navigation technology, related technologies use dual-plane micro-navigation devices to navigate the end instrument, wherein this micro-navigation device includes two arms and a similar double-layer structure, wherein one arm is connected between one layer of the structure and the end instrument, and the other arm is connected between the other layer of the structure and the end instrument; when the posture of the end instrument needs to be adjusted, the two layers of structure are driven separately to make the two arms produce the same displacement in the two planes, and the position of the end instrument is changed by the displacement of the arms in the two planes; in addition, the two layers of structure are driven separately to make the two arms produce different displacements in the two planes, and different angle postures of the end instrument are compounded by the displacement of the arms in the two planes.

[0046] However, this double-layer navigation method mixes displacement adjustment structure and attitude adjustment structure and has a long transmission chain, which makes precision control more difficult.

[0047] In view of the above problems, an embodiment of the present application provides a medical navigation device for adjusting the posture of a medical device, setting a displacement adjustment structure and a posture adjustment structure, and the pitch posture adjustment or yaw posture adjustment of the medical device is achieved through separate transmission chains respectively, without the need to obtain the posture of the medical device through the displacement compound of a double-layer structure, which simplifies the technical path. While having a simple structure, the overall rigidity and strength are high, which can effectively improve the accuracy of navigation of medical devices.

[0048] Figure 1 This is a schematic diagram of the overall structure of a medical navigation device provided in an embodiment of the present application. Figure 2 for Figure 1 The figure shows a schematic structural diagram of the medical navigation device with the upper shell removed. Figure 3 for Figure 2 The schematic diagram of the structure of the second arm in the medical navigation device shown in FIG. Figure 1 As shown, in the embodiment of the present application, the medical navigation device 100 includes an upper shell 101 and a lower shell 102. After removing the upper shell 101, Figure 2 and Figure 3 It is shown that the medical navigation device 100 further includes a guide member 103, a posture adjustment structure (not labeled in the figure) and a displacement adjustment structure (not labeled in the figure).

[0049] The guide member 103 is used to guide the medical device, and the posture adjustment structure is used to drive the guide member 103 to achieve pitching motion and / or yaw motion to adjust the angle posture of the guide member 103.

[0050] The posture adjustment structure includes a linear drive member 11 and a first arm 12. The first arm 12 is movably connected to the guide member 103. The linear drive member 11 is used to drive the first arm 12 to move along its own axial direction to drive the guide member 103 to perform pitch motion.

[0051] The posture adjustment structure also includes a rotary drive member 21 and a second arm (not shown in the figure). The second arm is movably connected to the guide member 103, and the second arm is partially sleeved on the first arm 12. The rotary drive member 21 is transmission-connected to the second arm to drive the first arm 12 and the second arm to rotate around the axial direction of the rotary drive member 21 to drive the guide member 103 to perform a deflection movement; wherein the axial direction of the rotary drive member 21 passes through the second arm.

[0052] Here, the second arm portion is sleeved on the first arm 12 , so that the first arm 12 can move in the axial direction of the first arm 12 within the second arm portion.

[0053] In an embodiment of the present application, the displacement adjustment structure and the posture adjustment structure are movably connected, and the posture adjustment structure is driven to reciprocate in the first direction T1 and / or the second direction T2 by the displacement driving member, and there is an angle between the first direction T1 and the second direction T2.

[0054] Through the above scheme, a displacement adjustment structure and a posture adjustment structure are respectively provided, and the posture adjustment of the guide member 103 is realized through the posture adjustment structure, and the position of the guide member 103 is adjusted through the displacement adjustment structure. The transmission chains of the two adjustment structures are independent of each other, which can improve the accuracy of the position or posture adjustment of the guide member.

[0055] In addition, by providing a linear drive member 11 and a first arm 12, the linear drive member 11 is used to drive the first arm 12 to move along its own axis, thereby driving the guide member 103 to perform a pitch motion, thereby adjusting the pitch angle of the medical device; by providing a rotary drive member 21 and a second arm, and partially sleeved on the second arm 12, the rotary drive member 21 drives the second arm and the first arm 12 to rotate around the axis of the rotary drive member 21, and the axis passes through the second arm; thereby driving the guide member 103 to perform a deflection motion. The transmission chains for adjusting the pitch angle and deflection angle of the guide member 103 are separately provided. Compared with the related art in which different displacements are generated by manipulating the upper and lower structures to compound the position change of the guide member, this technical solution is conducive to streamlining the transmission chain, improving the transmission accuracy and the accuracy of posture navigation of the medical device.

[0056] like Figure 2 and Figure 3 As shown, the second arm is formed with a first rotating portion 22 and a second rotating portion 23, the first rotating portion 22 is sleeved on the first arm 12, and the first rotating portion 22 is fixedly connected to the housing of the linear drive member 11;

[0057] The rotary driving member 21 is in transmission connection with the second rotating portion 23 to drive the first arm 12 , the first rotating portion 22 and the second rotating portion 23 to rotate together around the axial direction of the second rotating portion 23 .

[0058] Through the above solution, the second rotating part 23 can rotate around its own axis, which is conducive to reducing the rotation space required during the rotation of the first arm 12, the first rotating part 22 and the second rotating part 23, thereby facilitating the reduction of the overall structural size of the medical navigation device and facilitating the miniaturization of the medical navigation device.

[0059] Figure 4a for Figure 2 A schematic diagram of the pitch angle of the guide member in the medical navigation device is shown. Figure 4b for Figure 2 Schematic diagram of the deflection angle of the guide member in the medical navigation device shown. Figure 4a As shown, the first axis p represents the axial direction of the first arm 12, that is, the axial direction of the first rotating part 22, and the plane determined by the dotted line q represents the reference plane of the guide member 103. The angle between the reference plane and the first axis p represents the angle between the guide member 103 and the first arm 12, and the angle is used to represent the pitch angle of the guide member.

[0060] like Figure 4b As shown, the second axis m represents the axial direction of the second rotating portion 23, and the deflection angle represents the deflection angle of the guide member 103 along the second axis m. The first arm 12 is connected to the guide member 103 in a first position, and the second rotating portion 23 is connected to the guide member 103 in a second position. As a result, when the first rotating portion 22 and the first arm 12 rotate together about the axial direction of the second rotating portion 23, the guide member 103 rotates about the first position and along the second axis m in the second position, thereby being at different deflection angles.

[0061] In the above scheme, when the linear drive member 11 drives the first arm 12 to move forward or backward along the axial direction of the first arm 12, the first arm 12 drives the guide member 103 to move forward or backward at the connection with the first arm 12, so that the guide member 103 is in a forward or backward posture, and has different degrees of forward or backward tilt.

[0062] It is understood that when the guide member 103 moves forward or backward at the connection with the first arm 12, the angle between the plane in which the guide member 103 is located and the axial direction of the second rotating portion 23 will change. Therefore, the end of the second rotating portion 23 is non-rigidly connected to the guide member 103, for example, elastically connected or rotationally connected along the radial direction of the second rotating portion 23. In the embodiment of the present application, forward or backward is used to represent two opposite directions along the axial direction of the first arm 12. The plane in which the guide member 103 is located is used to represent the plane in which the guide member 103 is connected to the second rotating portion 23 and the first arm 12; the end can be used to represent the side of the component close to the guide member 103.

[0063] When the rotary drive member 21 drives the second rotating portion 23 to rotate along the axial direction of the second rotating portion 23, since the second rotating portion 23 is fixedly connected to the first rotating portion 22 and the first rotating portion 22 is sleeved on the first support arm 12, the first support arm 12 and the linear drive member 11 rotate along with the second rotating portion 23 about the axial direction of the second rotating portion 23. Accordingly, since the distal end of the first support arm 12 is connected to the guide member 103, during the process of the first support arm 12 rotating about the axial direction of the second rotating portion 23, the first support arm 12 drives the guide member 103 to rotate at the connection with the first support arm 12 about the connection between the guide member 103 and the second rotating portion 23, thereby causing the guide member 103 to be at different deflection angles.

[0064] In the embodiment of the present application, the rotary driving member 21 can be configured as a rotary cylinder, a worm, or a driving member capable of outputting a rotary motion, and the embodiment of the present application does not impose any specific limitation on this.

[0065] Figure 5 for Figure 2 The diagram shows the structure of the posture adjustment structure in the medical navigation device. Figure 6 for Figure 5 The figure shows the transmission structure diagram of the rotary drive member and the second arm in the posture adjustment structure. Figure 5 and Figure 6 As shown, in some embodiments of the present application, the rotary drive member 21 is configured as a rotary motor, and the posture adjustment structure further includes a transmission assembly 24 , through which the rotary drive member 21 is transmission-connected to the second rotating portion 23 .

[0066] Among them, the transmission component 24 can be configured as a gear set, a speed regulating device and other components, and this application does not impose specific restrictions on this.

[0067] like Figure 5 and Figure 6 As shown, in an embodiment of the present application, in order to improve the accuracy of the rotation of the second rotating part 23 driven by the rotating driving member 21, the transmission assembly 24 includes a harmonic reducer 241 and a motor adapter flange 242. The rotating motor is connected to the harmonic reducer 241 through the motor adapter flange 242, and the output shaft of the harmonic reducer 241 is fixedly connected to the second rotating part 23.

[0068] In the above scheme, by providing a harmonic reducer 241 and utilizing the high precision of the harmonic reducer 241, the rotation accuracy of the second rotating part 23 driven by the rotating motor is improved, thereby improving the accuracy of adjusting the deflection angle of the medical device. In addition, by providing a motor adapter flange 242 to connect the rotating motor and the harmonic reducer 241, the motor adapter flange 242 can match rotating motors of different models, so that when the rotating motor is replaced or repaired later, it is only necessary to replace the adapted motor adapter flange 242 without disassembling other structures of the medical navigation device 100, thereby reducing the cost of later maintenance and damage to other structures.

[0069] Figure 7 for Figure 5 Schematic diagram of the connection structure between the ball bearing and the second arm in the posture adjustment structure shown. Figures 5 to 7 As shown, in the embodiment of the present application, the posture adjustment structure also includes a bearing seat 243, and the transmission assembly 24 also includes a ball bearing 244. The ball bearing 244 is sleeved on the second rotating part 23, and the bearing seat 243 is sleeved on the ball bearing 244 and the bearing seat 243 is fixedly connected to the housing of the harmonic reducer 241; the inner ring of the ball bearing 244 is fixedly connected to the second rotating part 23, and the outer ring of the ball bearing 244 is fixedly connected to the bearing seat 243.

[0070] In the embodiment of the present application, the inner ring of the ball bearing 244 is fixedly connected to the second rotating part 23, and the outer ring of the ball bearing 244 is fixedly connected to the bearing seat 243, so that the inner ring of the ball bearing 244 rotates with the rotation of the second rotating part 23; the outer ring of the ball bearing 244 and the bearing seat 243 are relatively stationary; the ball bearing 244 is able to withstand the axial or radial force from the second rotating part 23, and play a role in supporting and reducing friction, thereby improving the transmission efficiency.

[0071] In some embodiments of the present application, the inner ring of the ball bearing 244 is fixedly connected to the second rotating portion 23 via a nut 245; the outer ring of the ball bearing 244 is fixedly connected to the bearing seat 243 via a pressure block 246, allowing the second rotating portion 23 to rotate relative to the bearing seat 243 without causing axial displacement of the second rotating portion 23. This prevents the accuracy of the first arm 12 adjusting the pitch of the guide member 103 from being affected by the axial displacement of the second rotating portion 23, thereby improving the accuracy of adjusting the pitch of the guide member 103. At the same time, the loss of the axial displacement of the second rotating portion 23 is avoided, and the accuracy of driving the second rotating portion 23 to rotate to adjust the deflection angle of the guide member 103 is improved. Accordingly, the accuracy of adjusting the posture of the medical device is improved.

[0072] In some embodiments of the present application, the ball bearing 244 can be configured as an angular contact bearing. By utilizing the high-precision output swing angle of the harmonic reducer 241, the angular contact bearing limits the movement of the second rotating part 23 along its own axis, eliminates the fitting clearance, and improves the transmission accuracy.

[0073] like Figure 7 As shown, in an embodiment of the present application, in order to increase the rigidity between the first rotating part 22 and the second rotating part 23, the posture adjustment structure also includes a locking block 31, which clamps the first rotating part 22 and the second rotating part 23 at intervals to improve the rigidity between the first rotating part 22 and the second rotating part 23, thereby increasing the structural stability and improving the accuracy of posture navigation of the guide member 103 and the medical device.

[0074] In some embodiments of the present application, the locking block 31 is constructed as a plate with two penetration parts, and the first rotating part 22 and the second rotating part 23 are respectively penetrated by the two penetration parts, so that the locking block 31 can clamp the first rotating part 22 and the second rotating part 23 at intervals.

[0075] Figure 8 for Figure 5 Schematic diagram of the cross-sectional structure of the posture adjustment mechanism shown. Figure 9 for Figure 2 The schematic diagram of the structure of the first arm in the medical navigation device is shown in FIG. Figure 8 and Figure 9 As shown, in the embodiment of the present application, the linear drive member 11 is configured as a first screw motor, and the posture adjustment structure further includes an anti-backlash nut 13 , and the output shaft of the first screw motor is transmission-connected to the first support arm 12 via the anti-backlash nut 13 .

[0076] The anti-backlash nut 13 is sleeved on the output shaft of the first screw motor, and the first support arm 12 is sleeved on the anti-backlash nut 13; the anti-backlash nut 13 is fixedly connected to the first support arm 12, so that when the output shaft of the first screw motor rotates, it drives the anti-backlash nut 13 and the first support arm 12 to move together along the axial direction of the first support arm 12. In some embodiments, the anti-backlash nut 13 is fixedly connected to the first support arm 12 via a connecting member 14, wherein a plurality of fasteners pass through the connecting member 14 and extend around the circumference of the anti-backlash nut 13, so that the anti-backlash nut 13 and the first support arm 12 are pressed against each other to thereby securely connect them.

[0077] Through the above scheme, the transmission from the first screw motor to the first arm 12 is realized by using the anti-backlash nut 13, which is beneficial to reducing the radial movement of the first screw motor and the first arm 12 during transmission, and improving the transmission accuracy of the structure. In the embodiment of the present application, when adjusting the pitch degree of the guide member 103, in order to make the guide member 103 more stable, the posture adjustment structure also includes a connecting rod 32, and the end of the first arm 12 and one end of the connecting rod 32 form a first rotation pair around the radial direction of the first arm 12, and the guide member 103 and the other end of the connecting rod 32 form a second rotation pair around the radial direction of the first arm 12, so that when the first arm 12 drives the guide member 103 to move forward or backward at the connection with the first arm 12, the guide member 103 as a whole can stably change its posture, while the axis of the second rotation pair remains stationary.

[0078] It should be noted that, in other embodiments of the present application, the second rotating portion 23 and the guide member 103 may also form a third rotating pair around the radial direction of the second rotating portion 23 , thereby improving the flexibility of the guide member 103 in changing its posture.

[0079] It is understandable that the first rotation pair, the second rotation pair and / or the third rotation pair can be realized by pin-shaft hinge connection, and this application does not impose any specific limitation on this.

[0080] Figure 10 for Figure 2 The figure shows a schematic structural diagram of a displacement adjustment structure in a medical navigation device that drives a posture adjustment structure to move along a first direction. Figure 11 FIG5 is a structural diagram of another angle of the posture adjustment structure shown in FIG5, showing the connection relationship between the first displacement driving member 40 and the bearing seat 243. Figure 10 and Figure 11 As shown, in the embodiment of the present application, the displacement driving member includes a first displacement driving member 40, which is transmission-connected to the bearing seat 243. The first displacement driving member 40 is used to drive the bearing seat 243 to move along the first direction T1, thereby driving the guide member 103 to move along the first direction T1;

[0081] The medical navigation device 100 also includes a first base 61, and the displacement drive member also includes a second displacement drive member 50. The housing of the rotating motor is fixedly connected to the first base 61; the second displacement drive member 50 is transmission-connected to the first base 61, and the second displacement drive member 50 is used to drive the first base 61 to move along the second direction T2, thereby driving the guide member 103 to move along the second direction T2, thereby realizing position navigation of the medical device.

[0082] In the above solution, the first displacement driver 40 drives the bearing seat 243 to move along the first direction T1. Since the rotary driver 21, transmission assembly 24, bearing seat 243, and second rotating portion 23 are sequentially connected, the bearing seat 243 can drive the rotary driver 21, transmission assembly 24, bearing seat 243, and second rotating portion 23, thereby driving the posture adjustment structure to move along the first direction T1. Correspondingly, the second rotating portion 23, guide member 103, and medical device are sequentially connected, allowing the second rotating portion 23 to drive the guide member 103 and the medical device to move along the first direction T1. Thus, by providing the first displacement driver 40, the position of the guide member 103 in the first direction T1 can be adjusted, thereby achieving positional navigation of the medical device in the first direction T1.

[0083] A first base 61 is provided, and the housing of the rotating motor is fixedly connected to the first base 61. It will be understood that the transmission assembly 24, the bearing seat 243, and the second rotating portion 23 are all located on the first base 61, so that when the first base 61 moves, it can drive the rotating motor, the transmission assembly 24, the bearing seat 243, and the second rotating portion 23, that is, the posture adjustment structure, to move together. In this way, the second displacement drive 50 drives the first base 61 to move in the second direction T2, thereby driving the rotating motor, the transmission assembly 24, the bearing seat 243, and the second rotating portion 23 to move together in the second direction T2. ​​Accordingly, the second rotating portion 23, the guide member 103, and the medical device are sequentially connected, so that the second rotating portion 23 drives the guide member 103 and the medical device to move together in the second direction T2. ​​Thus, by providing the second displacement drive 50, the position of the guide member 103 in the second direction T2 can be adjusted, thereby achieving positional navigation of the medical device in the second direction T2.

[0084] Through the above scheme, a first displacement driver 40 and a second displacement driver 50 are provided. The first displacement driver 40 drives the bearing seat 243 to move along the first direction T1. The bearing seat 243 drives the second rotating portion 23 to move along the first direction T1, thereby enabling the second rotating portion 23 to drive the guide member 103 and the medical device to move along the first direction T1, thereby achieving the effect of positioning the medical device in the first direction T1. The second displacement driver 50 drives the first base 61 to move along the second direction T2. ​​The rotating motor, transmission assembly 24, bearing seat 243, and second rotating portion 23 move along with the first base 61 in the second direction T2, thereby driving the guide member 103 and the medical device to move along the second direction T2, thereby achieving the effect of positioning the medical device in the second direction T2. ​​In this way, by introducing the first displacement driver 40, the first base 61, and the second displacement driver 50 to achieve positioning of the medical device, the technical path and navigation structure for positioning the medical device are simplified. In addition, the driving parts of the first displacement driving member 40 and the second displacement driving member 50 are independent of each other, and the impact caused by damage to a single driving part is relatively small, thereby reducing maintenance costs.

[0085] In some embodiments of the present application, the first displacement drive member 40 and the second displacement drive member 50 can be configured as a linear cylinder, a linear motor, a rotary motor with a screw nut structure, or a rotary motor with a gear rack structure and other components that can output linear motion. The embodiments of the present application do not impose specific restrictions on this.

[0086] like Figure 10 and Figure 11 As shown, in the embodiment of the present application, the displacement adjustment structure also includes a second screw motor 41 and a first screw nut 42, and the output shaft of the second screw motor 41 is transmission-connected to the bearing seat 243 through the first screw nut 42; the housing of the second screw motor 41 is fixedly connected to the first base 61.

[0087] In some examples, the first lead screw nut 42 can be configured as an anti-backlash nut to reduce radial play between the second lead screw motor 41 and the bearing seat 243 during transmission, thereby improving transmission accuracy.

[0088] Through the above scheme, the first screw nut 42 is used to convert the rotational motion output by the second screw motor 41 into linear motion and transmit it to the bearing seat 243, so that the bearing seat 243 can move along the first direction T1, and finally realize the position navigation of the medical device in the first direction T1, which can simplify the transmission chain and improve the structural rigidity and strength.

[0089] like Figure 10As shown, in the embodiment of the present application, in order to ensure that the bearing seat 243 and the second rotating part 23 move in an accurate path with the bearing seat 243, the displacement adjustment structure also includes a first sliding structure 43, and the bearing seat 243 is slidably connected to the first base 61 along the first direction T1 through the first sliding structure 43; the first sliding structure 43 includes a first slider 431 and a first slide rail 432, and one of the first slider 431 and the first slide rail 432 is fixedly connected to the first base 61, and the other is fixedly connected to the bearing seat 243.

[0090] In some embodiments, the mounting surface of the first base 61 for mounting the first sliding structure 43 is larger than the mounting surface of the bearing seat for mounting the first sliding structure 43. Therefore, the first slide rail 432 is fixedly connected to the first base 61, and the first slider 431 is fixedly connected to the bearing seat 243 to reduce the difficulty of mounting the first sliding structure 43. It is understood that the first slide rail 432 extends along the first direction T1.

[0091] In some embodiments of the present application, in order to improve the guiding accuracy and stability of the first sliding structure 43, two or more first sliding structures 43 can be set between the bearing seat 243 and the first base 61. The embodiments of the present application do not impose specific restrictions on the number of first sliding structures 43.

[0092] Figure 12 for Figure 2 The schematic diagram of the displacement adjustment structure of the medical navigation device shown in FIG. Figure 12 As shown, in the embodiment of the present application, the medical navigation device 100 also includes a second base (which can be understood as the lower shell 102 mentioned above), and the first base 61 is placed on the second base 102; the displacement adjustment structure also includes a third screw motor 51 and a second screw nut 52, the shell of the third screw motor 51 is fixedly connected to the second base 102, and the output shaft of the third screw motor 51 is transmission-connected to the first base 61 along the second direction T2 through the second screw nut 52.

[0093] In some examples, the second lead screw nut 52 can be configured as an anti-backlash nut to reduce radial play during transmission between the third lead screw motor 51 and the first base 61 , thereby improving transmission accuracy.

[0094] In the embodiment of the present application, the first base 61 is placed on the second base 102; the housing of the third screw motor 51 is fixed, and the output shaft of the third screw motor 51 drives the first base 61 to move along the second direction T2. ​​At the same time, the linear drive member 11, the first arm 12, the rotary drive member 21, and the second rotating portion 23, which are used to adjust the position of the guide member 103, are all located on the first base 61. Therefore, these structures used to adjust the position of the guide member 103 move along the second direction T2 with the first base 61. Because the first arm 12 and the second rotating portion 23 are both connected to the guide member 103, the guide member 103 can move along the second direction T2 with the first arm 12 and the second rotating portion 23, thereby occupying different positions along the second direction T2.

[0095] Through the above scheme, the second screw nut 52 is used to convert the rotational motion output by the third screw motor 51 into linear motion and transmit it to the first base 61, so that the first base 61 can move along the second direction T2, and finally realize the position navigation of the medical device in the second direction T2, which can simplify the transmission chain and improve the structural rigidity and strength.

[0096] like Figure 12 As shown, in the embodiment of the present application, the displacement adjustment structure also includes a second sliding structure 53, and the first base 61 is slidably connected to the second base along the second direction T2 through the second sliding structure 53; the second sliding structure 53 includes a second slider 531 and a second slide rail 532, and one of the second slider 531 and the second slide rail 532 is fixedly connected to the first base 61, and the other is fixedly connected to the second base.

[0097] In the embodiment of the present application, the technical solution of the second sliding structure 53 can refer to the implementation of the first sliding structure 43.

[0098] Based on the same concept, an embodiment of the present application further provides a surgical device, which includes a medical instrument and the above-mentioned medical navigation device 100. The guide member 103 of the medical navigation device 100 is fixedly connected to the medical instrument to enable the medical navigation device 100 to navigate the position of the medical instrument.

[0099] In the medical navigation device and surgical equipment provided in the embodiments of the present application, a posture adjustment structure and a displacement adjustment structure are provided. The posture adjustment structure is used to adjust the posture of the guide member 103, and the displacement adjustment structure is used to adjust the position of the guide member 103. The two adjustment structures are independent of each other and can improve the accuracy of position or posture adjustment of the guide member.

[0100] In addition, an electric push rod is composed of a linear drive member 11 and a first arm 12, and forms a connecting rod structure with the connecting rod 32 to adjust the degree of forward or backward tilt of the guide member 103; a rotating motor equipped with a harmonic reducer drives the above-mentioned electric push rod as a whole to rotate around the center of the rotating motor, that is, the axial rotation of the second rotating part 23, to adjust the deflection angle of the guide member 103; the above two movements respectively adjust the pitch angle and deflection angle of the guide member, and realize the separate setting of the transmission chains for adjusting the pitch angle and deflection angle of the guide member 103, thereby improving the accuracy of posture adjustment of the guide member 103 and the medical device.

[0101] Furthermore, the first and second displacement drive members 40 and 50 drive the aforementioned posture adjustment structure to move along the first direction T1 and / or the second direction T2, thereby navigating the guide member 103 to the path required for surgery, thereby achieving position navigation for the medical device. This solution differs from related art techniques that employ a dual-layer structure to generate displacements separately, combining the displacements of the two layers to determine the position of the medical device. This solution separates the displacement adjustment transmission chain from the posture adjustment transmission chain, thereby shortening the transmission chain and improving transmission accuracy. This, in turn, improves the accuracy of posture navigation for the guide member 103 and the medical device, facilitating the popularization of micro-navigation medical technology.

[0102] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0103] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A medical navigation device for adjusting the position of a medical device, characterized in that: The medical navigation device comprises: Guides, used to guide medical devices; The posture adjustment structure is used to drive the guide member to achieve pitch motion and / or yaw motion to adjust the angle posture of the guide member; the posture adjustment structure includes: A linear drive member and a first arm, wherein the first arm is movably connected to the guide member, and the linear drive member is used to drive the first arm to move along its own axial direction to drive the guide member to perform a pitching motion; A rotary drive member and a second arm, wherein the second arm is movably connected to the guide member, and the second arm is partially sleeved on the first arm, and the rotary drive member is in transmission connection with the second arm to drive the first arm and the second arm to rotate around the axial direction of the rotary drive member, so as to drive the guide member to perform a deflection movement; wherein the axial direction of the rotary drive member passes through the second arm; The displacement adjustment structure is movably connected to the posture adjustment structure, and drives the posture adjustment structure to reciprocate in the first direction and / or the second direction through a displacement driving member, and there is an angle between the first direction and the second direction.

2. The medical navigation device according to claim 1, characterized in that: The second support arm is formed with a first rotating part and a second rotating part, the first rotating part is sleeved on the first support arm, and the first rotating part is fixedly connected to the housing of the linear drive member; The rotary drive member is in transmission connection with the second rotating part to drive the first support arm, the first rotating part and the second rotating part to rotate together around the axial direction of the second rotating part.

3. The medical navigation device according to claim 2, characterized in that: The rotary drive member is configured as a rotary motor, and the posture adjustment structure further includes a transmission assembly, through which the rotary drive member is transmission-connected to the second rotating part.

4. The medical navigation device according to claim 3, characterized in that: The transmission assembly includes a harmonic reducer and a motor adapter flange. The rotating motor is transmission-connected to the harmonic reducer via the motor adapter flange. The output shaft of the harmonic reducer is fixedly connected to the second rotating part.

5. The medical navigation device according to claim 4, characterized in that: The posture adjustment structure also includes a bearing seat, and the transmission assembly also includes a ball bearing, the ball bearing is sleeved on the second rotating part, the bearing seat is sleeved on the ball bearing and the bearing seat is fixedly connected to the housing of the harmonic reducer; the inner ring of the ball bearing is fixedly connected to the second rotating part, and the outer ring of the ball bearing is fixedly connected to the bearing seat.

6. The medical navigation device according to any one of claims 2 to 5, characterized in that: The posture adjustment structure further includes a locking block, and the locking block clamps the first rotating part and the second rotating part at intervals.

7. The medical navigation device according to any one of claims 1 to 5, characterized in that: The linear drive component is configured as a first screw motor, and the posture adjustment structure also includes an anti-backlash nut, through which the output shaft of the first screw motor is transmission-connected to the first support arm.

8. The medical navigation device according to any one of claims 1 to 5, characterized in that: The posture adjustment structure also includes a connecting rod, the end of the first arm and one end of the connecting rod form a first rotation pair around the radial direction of the first arm, and the guide member and the other end of the connecting rod form a second rotation pair around the radial direction of the first arm.

9. The medical navigation device according to claim 5, characterized in that: The displacement driving member comprises: a first displacement driving member, the first displacement driving member being in driving connection with the bearing seat and configured to drive the bearing seat to move along the first direction, so as to drive the guide member to move along the first direction; The second displacement driving member, the medical navigation device also includes a first base, the first base is fixedly connected to the housing of the rotating motor; the second displacement driving member is transmission-connected to the first base, and the second displacement driving member is used to drive the first base to move along the second direction to drive the guide member to move along the second direction.

10. A surgical device, characterized in that: The invention comprises a medical instrument and a medical navigation device according to any one of claims 1 to 9, wherein a guide member of the medical navigation device is fixedly connected to the medical instrument.

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