Pose adjusting device and pose adjusting system

Abstract

The invention relates to a pose adjusting device and a pose adjusting system. The device comprises a first joint adjusting assembly, a second joint adjusting assembly and a third joint adjusting assembly. The second joint adjusting assembly is connected with the first joint adjusting assembly, the third joint adjusting assembly is connected with the second joint adjusting assembly, and the third joint adjusting assembly is provided with a mounting channel; the first joint adjusting assembly is used for driving the second joint adjusting assembly to rotate in the first direction, the second joint adjusting assembly is used for driving the third joint adjusting assembly to rotate and move in the second direction, and the third joint adjusting assembly can rotate in the third direction relative to the second joint adjusting assembly. The first direction, the second direction and the third direction are perpendicular to one another. Through the arrangement of the first joint adjusting assembly, the second joint adjusting assembly and the third joint adjusting assembly, the mounting channel can move in space, multi-degree-of-freedom adjustment of the posture and the position is achieved, the posture and the position are aligned with the target path, and therefore the adjusting precision and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a posture adjustment device and a posture adjustment system. Background Art

[0002] During neurosurgery, doctors are required to strictly control the direction and position of instruments during the operation to avoid damaging other brain tissues. The axis of surgical instruments (such as biopsy needles, drainage tubes, etc.) needs to be aligned to the planned surgical path. In the prior art, adjustable brackets are often used to adjust the axis position of the surgical instrument channel to the planned path to maintain the position and effectively assist doctors in the operation. However, the existing adjustable brackets have low adjustment accuracy, which affects the efficiency of the operation. Summary of the invention

[0003] Based on this, it is necessary to provide a posture adjustment device to address the technical problem that the existing adjustment bracket has low adjustment accuracy and affects the surgical efficiency.

[0004] A posture adjustment device comprises a first joint adjustment component, a second joint adjustment component and a third joint adjustment component;

[0005] The second joint adjustment component is connected to the first joint adjustment component, the third joint adjustment component is connected to the second joint adjustment component, and the third joint adjustment component is provided with a mounting channel;

[0006] The first joint adjustment component is used to drive the second joint adjustment component to rotate around a first direction, the second joint adjustment component is used to drive the third joint adjustment component to rotate around a second direction and move along the second direction, and the third joint adjustment component can rotate around a third direction relative to the second joint adjustment component, wherein the first direction, the second direction and the third direction are all perpendicular to each other.

[0007] In one embodiment, the first joint adjustment component includes:

[0008] Mounting seat;

[0009] A rotating member, rotatably connected to the mounting seat around the first direction, and the second joint adjustment assembly is mounted on the rotating member;

[0010] A brake block is connected to the rotating member, and the brake block can move relative to the mounting seat so that the brake block is pressed against the mounting seat to limit the rotation of the rotating member relative to the mounting seat.

[0011] In one embodiment, the rotating member includes a support frame and a handwheel, the support frame is provided with a mounting hole, the handwheel is accommodated in the mounting hole and abuts against the hole wall of the mounting hole, the brake block extends into the mounting hole on the side away from the mounting seat and is threadedly connected to the handwheel, and the handwheel is configured to drive the brake block to move when rotating relative to the support frame so that the brake block abuts against the mounting seat.

[0012] In one embodiment, the mounting seat is sleeved on the support frame, and there are two brake blocks, which are arranged opposite to each other, and the threads on the outer circumferential surfaces of the two brake blocks have opposite rotation directions. The two brake blocks are configured to synchronously abut against the mounting seat when the handwheel is rotated to limit the deviation of the support frame in the extension direction of the brake blocks.

[0013] In one of the embodiments, the support frame is provided with a sliding hole connected to the mounting hole, the hole wall of the sliding hole is provided with a limiting piece, the brake block is provided with a matching groove corresponding to the limiting piece, the limiting piece is accommodated in the matching groove, the limiting piece and the matching groove can move relative to each other, and the limiting piece is configured to abut against the groove wall of the matching groove when the brake block is pressed against the mounting seat to limit the movement of the brake block relative to the mounting seat.

[0014] In one embodiment, the second joint adjustment component includes:

[0015] A sleeve, mounted on the first joint adjustment assembly, the sleeve being provided with a matching hole;

[0016] an adjusting arm, which is inserted into the matching hole, the adjusting arm is slidably connected to the hole wall of the matching hole along the second direction, and the adjusting arm can rotate around the second direction relative to the hole wall of the matching hole;

[0017] A locking piece is passed through the pipe opening of the sleeve, and the locking piece is used to tighten the pipe opening to limit the rotation and movement of the adjustment arm relative to the sleeve.

[0018] In one embodiment, the sleeve includes a first pipe segment and a second pipe segment arranged along the second direction, a gap is provided between the first pipe segment and the second pipe segment, one side of the first pipe segment is connected to the second pipe segment along the radial direction, and the other side is provided with an adjustment channel connected to the matching hole, the locking piece is passed through the side wall of the adjustment channel, and the locking piece is used to tighten the adjustment channel to limit the rotation and movement of the adjustment arm relative to the sleeve.

[0019] In one embodiment, the second joint adjustment assembly further includes a blocking member, and the blocking member includes:

[0020] A sliding block, provided with a mounting groove and a limiting hole for the adjusting arm to pass through, the limiting hole is communicated with the mounting groove, and the sliding block is used to abut against an end of the sleeve away from the third joint adjusting assembly;

[0021] An elastic member is accommodated in the installation slot, and one end of the elastic member is connected to the slot wall of the installation slot, and the other end of the elastic member is tightly pressed against the adjustment arm passing through the limiting hole;

[0022] A button, wherein the button is at least partially confined in the installation groove and is slidably connected to the groove wall of the installation groove. The button is configured to be close to the elastic member to drive the elastic member to compress and release the adjustment arm.

[0023] In one embodiment, the second joint adjustment component is provided with an assembly hole, and the third joint adjustment component includes a rotating seat, a mating end and a fastener, the mating end is connected to the rotating seat and penetrates the assembly hole, the mating end is rotatably connected to the hole wall of the assembly hole around the third direction, the mounting channel is provided on the rotating seat, the fastener is connected to one end of the mating end extending out of the assembly hole, and is used to tighten against the second joint adjustment component to limit the rotation of the mating end relative to the second joint adjustment component.

[0024] In one embodiment, the second joint adjustment component is provided with a protrusion, the assembly hole is partially arranged in the protrusion, the fastener includes a positioning block and a fixing block, the positioning block is sleeved on the protrusion and threadedly connected to the protrusion, the fixing block is connected to the mating end and partially protrudes outside the protrusion, and the positioning block is configured to be able to move relative to the mating end when rotating relative to the mating end so as to press against the fixing block to limit the rotation of the mating end relative to the second joint adjustment component.

[0025] In one embodiment, the positioning block includes a rotating ring and a sliding ring. The rotating ring is sleeved on the mating end and threadedly connected to the mating end. The sliding ring is sleeved on the mating end. The rotating ring is configured to move relative to the mating end when rotating relative to the mating end to push the sliding ring to move so that the sliding ring is pressed against the fixed block.

[0026] In one embodiment, the fixing block includes a mating rod and a top block, the mating rod is threadedly connected to the mating end, the top block is rotatably connected to the mating rod, and one end of the top block is used to abut against the mating rod, and the other end of the top block is used to abut against the positioning block.

[0027] The present invention also provides a posture adjustment system, which can solve at least one of the above technical problems.

[0028] A posture adjustment system comprises a navigation device and the above-mentioned posture adjustment device, wherein the navigation target of the navigation device is used to be installed in the installation channel, and the navigation device is used to position the navigation target to determine the posture of the installation channel.

[0029] Beneficial effects:

[0030] The posture adjustment device provided by the embodiment of the present invention includes a first joint adjustment component, a second joint adjustment component and a third joint adjustment component; the second joint adjustment component is connected to the first joint adjustment component, the third joint adjustment component is connected to the second joint adjustment component, and the third joint adjustment component is provided with an installation channel; the first joint adjustment component is used to drive the second joint adjustment component to rotate around the first direction, the second joint adjustment component is used to drive the third joint adjustment component to rotate around the second direction and move along the second direction, and the third joint adjustment component can rotate relative to the second joint adjustment component around the third direction, wherein the first direction, the second direction and the third direction are all perpendicular to each other. In the present application, the first joint adjustment component drives the second joint adjustment component to rotate around the first direction, the second joint adjustment component drives the third joint adjustment component to rotate around the second direction and move along the second direction, and the third joint adjustment component can rotate relative to the second joint adjustment component around the third direction, so that the installation channel can move in space, thereby realizing multi-degree-of-freedom adjustment of the posture and position of the installation channel, so that the axis of the installation channel is aligned with the target path, thereby improving the adjustment accuracy and efficiency of the posture adjustment device.

[0031] The present invention also provides a posture adjustment system, comprising a navigation device and the posture adjustment device, wherein the navigation target of the navigation device is used to be installed in the installation channel, and the navigation device is used to locate the navigation target to determine the posture of the installation channel. The posture adjustment system can achieve at least one of the above technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a posture adjustment device provided in one embodiment of the present invention;

[0033] Figure 2 A schematic diagram of a first joint adjustment component in a posture adjustment device provided in an embodiment of the present invention;

[0034] Figure 3 A partial exploded view of a first joint adjustment component in a posture adjustment device provided in an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of a support frame in a posture adjustment device provided in an embodiment of the present invention;

[0036] Figure 5 A cross-sectional view of a first joint adjustment component in a posture adjustment device provided in one embodiment of the present invention;

[0037] Figure 6 A schematic diagram of a second joint adjustment component in a posture adjustment device provided in an embodiment of the present invention;

[0038] Figure 7 A schematic diagram of a blocking member in a second joint adjustment assembly in a posture adjustment device provided in an embodiment of the present invention;

[0039] Figure 8 A partial schematic diagram of a second joint adjustment component in a posture adjustment device provided in an embodiment of the present invention;

[0040] Fig. 9 A schematic diagram of the cooperation between the third joint adjustment component and the second joint adjustment component in the posture adjustment device provided in one embodiment of the present invention;

[0041] Fig.10 A cross-sectional view of the cooperation between the third joint adjustment component and the second joint adjustment component in the posture adjustment device provided in one embodiment of the present invention.

[0042] Figure Number:

[0043] 100-first joint adjustment assembly; 110-mounting seat; 111-rotation hole; 120-rotation member; 121-support frame; 122-hand wheel; 123-mounting hole; 125-boss; 126-table; 127-slide hole; 128-limiting member; 129-support arm; 130-brake block; 131-limiting step; 132-matching groove; 133-adjustment hole; 200-second joint adjustment assembly ; 210-sleeve; 211-first pipe section; 212-second pipe section; 213-gap; 214-pipe opening; 215-adjustment channel; 216-first section; 217-second section; 218-third section; 219-notch; 221-first connecting hole; 222-second connecting hole; 223-matching hole; 224-scale line; 230-adjustment arm; 231-first connecting rod; 232-second connecting rod; 2 33-limiting block; 240-locking member; 250-blocking member; 251-sliding block; 252-button; 253-elastic member; 254-mounting slot; 255-limiting hole; 260-matching seat; 261-first matching plate; 262-second matching plate; 263-assembly hole; 264-bump; 265-first matching section; 266-second matching section; 300-third joint adjustment assembly; 310- Rotating seat; 311-installing channel; 320-matching end; 330-fastener; 331-positioning block; 332-rotating ring; 333-sliding ring; 334-matching rod; 335-top block; 336-fixed block; 337-first end; 338-second end; 339-positioning hole; 341-first connecting section; 342-second connecting section; 400-frame; 410-head cover; 500-navigation target. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like 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 present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0050] See also Figure 1 and Figure 6 , Figure 1 A schematic diagram of a posture adjustment device provided in one embodiment of the present invention. The posture adjustment device provided in one embodiment of the present invention comprises a first joint adjustment component 100, a second joint adjustment component 200 and a third joint adjustment component 300; the second joint adjustment component 200 is connected to the first joint adjustment component 100, the third joint adjustment component 300 is connected to the second joint adjustment component 200, the third joint adjustment component 300 is provided with a mounting channel 311, the first joint adjustment component 100 is used to drive the second joint adjustment component 200 to rotate around a first direction, the second joint adjustment component 200 is used to drive the third joint adjustment component 300 to rotate around a second direction and move along the second direction, and the third joint adjustment component 300 can rotate around a third direction relative to the second joint adjustment component 200, wherein the first direction, the second direction and the third direction are all perpendicular to each other.

[0051] Specifically, in the present application, the first joint adjustment component 100 drives the second joint adjustment component 200 to rotate around the first direction, and the second joint adjustment component 200 drives the third joint adjustment component 300 to rotate around the second direction and move along the second direction. The third joint adjustment component 300 can rotate around the third direction relative to the second joint adjustment component 200, so that the installation channel 311 can move in space, thereby realizing multi-degree-of-freedom adjustment of the posture and position of the installation channel 311, so that the axis of the installation channel 311 is aligned with the target path, thereby improving the adjustment accuracy and efficiency of the posture adjustment device.

[0052] It should be noted that, in the present application, the first joint adjustment component 100, the second joint adjustment component 200, and the third joint adjustment component 300 are arranged so that the installation channel 311 can rotate around the first direction, the second direction, and the third direction which are perpendicular to each other, so as to achieve 360-degree rotation, that is, no matter what posture the target path is, the installation channel 311 in the present application can be parallel to the target path. Among them, the installation channel 311 in the present application is used for surgical instruments to pass through, so as to assist doctors in positioning surgical instruments, therefore, it is only necessary to ensure that the axis of the installation channel 311 is aligned with the target path. The second joint adjustment component 200 in the present application can also drive the third joint adjustment component 300 to move along the second direction, so that the installation channel 311 can move in the first plane perpendicular to the first direction, that is, any installation channel 311 parallel to the target path can be close to the target path in the first plane, so that the axis of the installation channel 311 is aligned with the target path, so that the installation channel 311 moves to the target position.

[0053] It should be noted that the instructions are attached Figure 1 Taking an example for explanation, XX' is defined as the first direction, YY' is defined as the second direction, and ZZ' is defined as the third direction. The following description is based on the first direction, the second direction, and the third direction.

[0054] See also Figure 2 and Figure 3 , Figure 2 A schematic diagram of a first joint adjustment component in a posture adjustment device provided in an embodiment of the present invention; Figure 3 A partial exploded view of the first joint adjustment component in the posture adjustment device provided in one embodiment of the present invention. In one embodiment, the first joint adjustment component 100 includes a mounting seat 110, a rotating member 120 and a brake block 130; the rotating member 120 is connected to the mounting seat 110 for rotation around a first direction, and the second joint adjustment component 200 is installed on the rotating member 120; the brake block 130 is connected to the rotating member 120, and the brake block 130 can move relative to the mounting seat 110 so that the brake block 130 is pressed against the mounting seat 110 to limit the rotation of the rotating member 120 relative to the mounting seat 110.

[0055] Specifically, the thickness direction of the mounting seat 110 coincides with the first direction. The brake block 130 can be close to the mounting seat 110 so that one end of the brake block 130 is pressed against the mounting seat 110, thereby increasing the friction between the brake block 130 and the mounting seat 110, limiting the rotation between the rotating member 120 and the mounting seat 110, so that the second joint adjustment assembly 200 can be stably maintained at the current position relative to the first joint adjustment assembly 100, thereby improving the reliability of the posture adjustment device.

[0056] See also Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 4 A schematic diagram of a support frame in a posture adjustment device provided in an embodiment of the present invention; Figure 5 A cross-sectional view of a first joint adjustment component in a posture adjustment device provided in one embodiment of the present invention. In one embodiment, the rotating member 120 includes a support frame 121 and a hand wheel 122, the support frame 121 is provided with a mounting hole 123, the hand wheel 122 is accommodated in the mounting hole 123 and abuts against the hole wall of the mounting hole 123, the brake block 130 extends into the mounting hole 123 on the side away from the mounting seat 110, and is threadedly connected to the hand wheel 122, and the hand wheel 122 is configured to drive the brake block 130 to move when rotating relative to the support frame 121, so that the brake block 130 abuts against the mounting seat 110.

[0057] Specifically, the hand wheel 122 is provided with an adjustment hole 133, and the brake block 130 is threadedly connected to the hole wall of the adjustment hole 133. Since the hand wheel 122 is accommodated in the mounting hole 123 and abuts against the hole wall of the mounting hole 123, the movement of the hand wheel 122 is restricted. Figure 2 For example, when the hand wheel 122 rotates relative to the brake block 130 along the A direction, the hand wheel 122 does not move, and the brake block 130 is threadedly connected to the hole wall of the adjustment hole 133. Through the thread transmission, the brake block 130 moves relative to the hand wheel 122, thereby driving the brake block 130 to move toward the mounting seat 110. The setting of the hand wheel 122 facilitates manual control of the rotation of the hand wheel 122 to move the brake block 130, thereby improving the convenience of operation.

[0058] Furthermore, the extension direction of the brake block 130 is parallel to the first plane, and the hand wheel 122 rotates around the extension direction of the brake block 130, so that the brake block 130 can exert maximum pressure on the mounting seat 110, thereby improving the stability of the posture adjustment device.

[0059] Furthermore, the hand wheel 122 at least partially extends out of the mounting hole 123, so as to facilitate manual control of the rotation of the hand wheel 122. Preferably, both ends of the hand wheel 122 along the first direction extend out of the mounting hole 123.

[0060] In other embodiments, the brake block 130 may be threadedly connected to the rotating member 120 , and the brake block 130 may be controlled to rotate so as to move relative to the mounting seat 110 .

[0061] See also Figure 3 , Figure 4 and Figure 5In one embodiment, the mounting seat 110 is sleeved on the support frame 121, and there are two brake blocks 130. The two brake blocks 130 are arranged opposite to each other, and the threads on the outer circumferential surfaces of the two brake blocks 130 have opposite rotation directions. The two brake blocks 130 are configured to synchronously abut against the mounting seat 110 when the handwheel 122 is rotated to limit the deviation of the support frame 121 in the extension direction of the brake blocks 130.

[0062] Specifically, the two brake blocks 130 are symmetrically arranged relative to the rotation axis of the support frame 121. Since the threads on the outer circumferential surfaces of the two brake blocks 130 have opposite rotation directions, the two brake blocks 130 can be synchronously driven to approach the mounting seat 110 and abut against the mounting seat 110 during the rotation of the hand wheel 122. Since the two brake blocks 130 are symmetrically arranged, the same degree of deformation occurs during the process of each brake block 130 abutting against the corresponding area of ​​the mounting seat 110, so that the center position of the support frame 121 does not change, thereby ensuring that the position of the support frame 121 in the first plane perpendicular to the first direction does not deviate when it is fixed relative to the mounting seat 110, thereby improving the accuracy of the posture adjustment device.

[0063] Furthermore, the mounting seat 110 is provided with a rotation hole 111, and the support frame 121 is provided with a table 126 and a boss 125 protruding from the table 126 on one side along the first direction, and the mounting seat 110 is sleeved on the boss 125 and abuts against the table 126 to support the support frame 121. The outer peripheral surface of the boss 125 abuts against the hole wall of the rotation hole 111, thereby limiting the deviation of the support frame 121 in the first plane during the rotation process relative to the mounting seat 110, thereby improving the accuracy of the posture adjustment device.

[0064] Furthermore, a limiting step 131 is convexly provided on the side of the brake block 130 away from the hand wheel 122. When the brake block 130 is close to the mounting seat 110, the limiting step 131 abuts against the side of the mounting seat 110 away from the table 126, thereby cooperating with the table 126 to clamp the mounting seat 110 to limit the movement of the mounting seat 110 and the support frame 121 in the first direction, thereby further ensuring that the position of the support frame 121 does not shift during the rotation process relative to the mounting seat 110, thereby improving the accuracy of the posture adjustment device. It should be noted that when it is necessary to disassemble the support frame 121, the hand wheel 122 can be rotated in the opposite direction to move the brake block 130 away from the mounting seat 110, thereby releasing the side of the mounting seat 110 close to the limiting step 131, so that the support frame 121 can be detached from the mounting seat 110.

[0065] See also Figure 5 and Figure 6 , Figure 6A schematic diagram of a second joint adjustment component in a posture adjustment device provided in an embodiment of the present invention. In one embodiment, the support frame 121 is provided with a sliding hole 127 connected to the mounting hole 123, the hole wall of the sliding hole 127 is provided with a stopper 128, the brake block 130 is provided with a matching groove 132 corresponding to the stopper 128, the stopper 128 is accommodated in the matching groove 132, the stopper 128 and the matching groove 132 can move relative to each other, and the stopper 128 is configured to abut against the groove wall of the matching groove 132 when the brake block 130 is pressed against the mounting seat 110, so as to limit the brake block 130 from moving relative to the mounting seat 110.

[0066] Specifically, the size of the matching groove 132 is larger than the limiting member 128. When the brake block 130 moves relative to the mounting seat 110, the limiting member 128 can move relative to the groove wall of the matching groove 132. When the brake block 130 is pressed against the mounting seat 110, the limiting member 128 abuts against the groove wall of the matching groove 132 on the side away from the mounting seat 110, thereby limiting the brake block 130 from continuing to approach the mounting seat 110, reducing the deformation of the brake block 130 and the mounting seat 110, and further reducing the deviation of the center position of the support frame 121 in the first plane, thereby improving the accuracy of the posture adjustment device.

[0067] Furthermore, the stopper 128 is threadedly connected to the boss 125 and partially extends into the slide hole 127 through the hole wall of the slide hole 127, thereby facilitating the installation and removal of the stopper 128, thereby reducing interference with the installation of the brake block 130. Preferably, the stopper 128 is a stud.

[0068] Furthermore, the wall of the sliding hole 127 includes at least a partial plane, and the brake block 130 at least partially abuts against the wall of the sliding hole 127, thereby limiting the rotation of the brake block 130, so that the brake block 130 moves stably under the transmission of the hand wheel 122, thereby improving the reliability of the posture adjustment device. Preferably, the sliding hole 127 is a square hole.

[0069] See also Figure 1 and Figure 6 In one embodiment, the second joint adjustment component 200 includes a sleeve 210, an adjustment arm 230 and a locking member 240; the sleeve 210 is installed on the first joint adjustment component 100, and the sleeve 210 is provided with a matching hole 223; the adjustment arm 230 is passed through the matching hole 223, the adjustment arm 230 is slidably connected with the hole wall of the matching hole 223 along the second direction, and the adjustment arm 230 can rotate around the second direction relative to the hole wall of the matching hole 223; the locking member 240 is passed through the pipe mouth 214 of the sleeve 210, and the locking member 240 is used to tighten the pipe mouth 214 to limit the rotation and movement of the adjustment arm 230 relative to the sleeve 210.

[0070] Specifically, the extension direction of the sleeve 210 coincides with the second direction, and the adjustment arm 230 is slidably connected to the hole wall of the matching hole 223 along the second direction, so that the adjustment arm 230 does not deviate on the second plane perpendicular to the second direction during the movement of the adjustment arm 230 relative to the sleeve 210 and the rotation around the second direction, thereby improving the accuracy of the posture adjustment device. Among them, the locking member 240 can tighten the pipe mouth 214, thereby increasing the friction between the adjustment arm 230 and the hole wall of the matching hole 223, thereby limiting the rotation and movement of the adjustment arm 230 relative to the sleeve 210, and improving the reliability of the posture adjustment device.

[0071] Furthermore, the sleeve is also provided with a scale line 224, so that when the adjustment arm 230 is operated to move relative to the sleeve 210 in the second direction, the moving distance of the adjustment arm 230 can be accurately controlled according to the target distance required, thereby improving the convenience and efficiency of adjustment.

[0072] Furthermore, the rotating member 120 further includes a support arm 129, both ends of which are connected to the support frame 121, and the sleeve 210 is installed on the support arm 129. The support arm 129 is arc-shaped to avoid the hand wheel 122, thereby reducing the interference of the hand wheel 122 with the support arm 129 when rotating relative to the support frame 121, and improving the reliability of the posture adjustment device.

[0073] See also Figure 6 In one embodiment, the sleeve 210 includes a first pipe segment 211 and a second pipe segment 212 arranged along the second direction, and a gap 213 is provided between the first pipe segment 211 and the second pipe segment 212. One side of the first pipe segment 211 along the radial direction is connected to the second pipe segment 212, and the other side is provided with an adjustment channel 215 connected to the matching hole 223. The locking member 240 is penetrated through the side wall of the adjustment channel 215, and the locking member 240 is used to tighten the adjustment channel 215 to limit the rotation and movement of the adjustment arm 230 relative to the sleeve 210.

[0074] Specifically, the locking member 240 can drive the side walls of the adjustment channel 215 to approach each other, thereby tightening the matching hole 223 at the first pipe section 211, increasing the friction between the adjustment arm 230 and the hole wall of the matching hole 223, and thus limiting the rotation and movement of the adjustment arm 230 relative to the sleeve 210. Among them, there is a gap 213 between the first pipe section 211 and the second pipe section 212, so that the first pipe section 211 can reduce the impact on the second pipe section 212 during the tightening process, so that the position of the mounting hole 123 of the second pipe section 212 does not change, thereby ensuring that the position of the adjustment arm 230 in the second plane does not deviate during the fixing and locking process relative to the sleeve 210, thereby improving the accuracy of the posture adjustment device.

[0075] See also Figure 4and Figure 6 In one embodiment, the first pipe section 211 includes a first section 216, a second section 217 and a third section 218. The first section 216 forms the hole wall of the matching hole 223 on the first pipe section 211. The two ends of the first section 216 have gaps 213 to form a notch 219. The second section 217 and the third section 218 are respectively connected to the two ends of the first section 216 and are arranged opposite to each other to form an adjustment channel 215. The adjustment channel 215 is connected to the matching hole 223 through the notch 219. The locking member 240 is penetrated by the second section 217 and the third section 218. The locking member 240 is used to push the third section 218 and the second section 217 to be relatively close to each other to tighten the adjustment channel 215, thereby tightening the aperture of the matching hole 223 on the first pipe section 211, increasing the friction between the hole wall of the matching hole 223 and the adjustment arm 230, and limiting the rotation and movement of the adjustment arm 230 relative to the sleeve 210.

[0076] Further, the second section 217 is provided with a first connection hole 221 for the locking member 240 to pass through, and the third section 218 is provided with a second connection hole 222 for the locking member 240 to pass through. One of the first connection hole 221 and the second connection hole 222 is provided with a threaded hole, and the other is provided with a smooth hole. The locking member 240 rotates relative to the first pipe section 211 to drive one of the second section 217 and the third section 218 to move closer to the other, so as to achieve the tightening of the adjustment channel 215. Preferably, the locking member 240 is a stud.

[0077] In other embodiments, both the second section 217 and the third section 218 are provided with threaded holes, and the thread directions are opposite.

[0078] In other embodiments, the second section 217 and the third section 218 are both provided with light holes, and the locking member 240 includes a threaded column and a nut.

[0079] See also Figure 1 , Figure 6 and Figure 7 , Figure 7A schematic diagram of a blocking member in a second joint adjustment assembly in a posture adjustment device provided in an embodiment of the present invention. In one embodiment, the second joint adjustment component 200 also includes a blocking member 250, which includes a sliding block 251, an elastic member 253 and a button 252; the sliding block 251 is provided with a mounting groove 254 and a limiting hole 255 for the adjustment arm 230 to pass through, the limiting hole 255 is connected to the mounting groove 254, and the sliding block 251 is used to abut against the end of the sleeve 210 away from the third joint adjustment component 300; the elastic member 253 is accommodated in the mounting groove 254, and one end of the elastic member 253 is connected to the groove wall of the mounting groove 254, and the other end is tightly pressed against the adjustment arm 230 passing through the limiting hole 255; the button 252 is at least partially limited in the mounting groove 254, and is slidably connected to the groove wall of the mounting groove 254, and the button 252 is configured to be close to the elastic member 253 to drive the elastic member 253 to compress to release the adjustment arm 230.

[0080] Specifically, the elastic member 253 is in a compressed state, thereby pressing against the adjustment arm 230 to limit the movement of the adjustment arm 230 relative to the sliding block 251. The sliding block 251 abuts against the side of the sleeve 210 away from the third joint adjustment assembly 300, so as to mark the position of the adjustment arm 230, that is, when adjusting the angle of the adjustment arm 230 in the second direction, it is only necessary to ensure that the sliding block 251 abuts against the sleeve 210, so that the position of the adjustment arm 230 in the second direction does not change, thereby ensuring that when the angle of the adjustment arm 230 in the second direction is adjusted, the position of the adjustment arm 230 in the second direction does not move, thereby improving the accuracy of the posture adjustment device.

[0081] When the position of the adjusting arm 230 in the second direction needs to be adjusted, the button 252 is pressed, and the button 252 can be moved closer to the elastic member 253, thereby pushing the elastic member 253 to be compressed, so that the elastic member 253 releases the adjusting arm 230, so that the adjusting arm 230 can move closer to or farther from the sleeve 210. After the adjustment is completed, the sliding block 251 is moved relative to the adjusting arm 230 to abut against the sleeve 210. Preferably, the elastic member 253 is a spring.

[0082] Furthermore, the button 252 is connected to the elastic member 253 , so that when the button 252 is pressed, the elastic member 253 can be pushed, and at the same time, the button 252 can be prevented from falling out of the mounting groove 254 .

[0083] Furthermore, a limit block 233 is provided at one end of the adjusting arm 230 which is away from the third joint adjusting assembly 300 on the sliding block 251. The limit block 233 protrudes from the adjusting arm 230 on the second plane to limit the adjusting arm 230 from being disengaged from the sliding block 251, thereby improving the reliability of the posture adjusting device. Preferably, the limit block 233 is a nut.

[0084] The adjusting arm 230 includes a first connecting rod 231 and a second connecting rod 232 that are threadedly connected, the second connecting rod 232 is inserted into the limiting hole 255, and one end of the first connecting rod 231 extending out of the sleeve 210 is connected to the third joint adjusting assembly 300. The arrangement of the first connecting rod 231 and the second connecting rod 232 being threadedly connected facilitates the installation and disassembly of the adjusting arm 230, thereby improving the convenience of the posture adjusting device.

[0085] See also Figure 8 , Fig. 9 and Fig.10 , Figure 8 A partial schematic diagram of a second joint adjustment component in a posture adjustment device provided in an embodiment of the present invention; Fig. 9 A schematic diagram of the cooperation between the third joint adjustment component and the second joint adjustment component in the posture adjustment device provided in one embodiment of the present invention; Fig.10 A cross-sectional view of the cooperation between the third joint adjustment component and the second joint adjustment component in the posture adjustment device provided for one embodiment of the present invention. In one embodiment, the second joint adjustment component 200 is provided with an assembly hole 263, and the third joint adjustment component 300 includes a rotating seat 310, a mating end 320 and a fastener 330, the mating end 320 is connected to the rotating seat 310 and is penetrated through the assembly hole 263, the mating end 320 is connected to the hole wall of the assembly hole 263 for rotation around a third direction, the mounting channel 311 is provided on the rotating seat 310, the fastener 330 is connected to one end of the mating end 320 extending out of the assembly hole 263, and is used to press against the second joint adjustment component 200 to limit the rotation of the mating end 320 relative to the second joint adjustment component 200.

[0086] Specifically, the axial direction of the assembly hole 263 coincides with the third direction, and the second joint adjustment component 200 also includes a matching seat 260, which includes a first matching plate 261 and a second matching plate 262 connected to each other, the second matching plate 262 is connected to the end of the adjustment arm 230 away from the sleeve 210, the assembly hole 263 is set on the first matching plate 261, and the rotating seat 310 abuts against the first matching plate 261. The matching end 320 is rotatably connected to the hole wall of the assembly hole 263, so that during the process of the matching end 320 rotating around the third direction relative to the second joint adjustment component 200, the matching end 320 can be limited to move on a third plane perpendicular to the third direction, thereby improving the accuracy of the posture adjustment device. Among them, the fastener 330 can be pressed against the second joint adjustment component 200, so that the rotating seat 310 is pressed against the first matching plate 261, thereby increasing the friction between the rotating seat 310 and the first matching plate 261, thereby limiting the rotation of the matching end 320 relative to the assembly hole 263, and improving the reliability of the posture adjustment device.

[0087] Furthermore, the midpoint of the axis of the installation channel 311 falls on the rotation axis of the mating end 320, so that when the mating end 320 rotates around the third direction relative to the first mating plate 261, the midpoint of the axis of the installation channel 311 can be driven to rotate around the third direction, thereby reducing the deviation in other directions and improving the adjustment efficiency of the posture adjustment device.

[0088] Furthermore, the midpoint of the axis of the mounting channel 311 falls on the axis of the adjusting arm 230, so that when the adjusting arm 230 rotates in the second direction relative to the sleeve 210, the midpoint of the axis of the mounting channel 311 can be driven to rotate around the second direction, thereby reducing the deviation in other directions and improving the adjustment efficiency of the posture adjustment device.

[0089] See also Figure 7 , Figure 8 and Fig. 9 In one embodiment, the second joint adjustment component 200 is provided with a protrusion 264, and the assembly hole 263 is partially arranged in the protrusion 264. The fastener 330 includes a positioning block 331 and a fixing block 336. The positioning block 331 is sleeved on the protrusion 264 and threadedly connected to the protrusion 264. The fixing block 336 is connected to the mating end 320 and partially protrudes outside the protrusion 264. The positioning block 331 is configured to be able to move relative to the mating end 320 when rotating relative to the mating end 320, so as to press against the fixing block 336 to limit the rotation of the mating end 320 relative to the second joint adjustment component 200.

[0090] Specifically, the fixing block 336 is connected to the mating end 320, and is partially protruded outside the protrusion 264, so that the mating end 320 can be restricted from slipping out of the assembly hole 263, so that the mating end 320 can rotate relative to the assembly hole 263 about the third direction to adjust the posture of the installation channel 311 in the third direction. When the third joint adjustment assembly 300 needs to be locked, the positioning block 331 is rotated relative to the protrusion 264 to achieve movement, so that the fixing block 336 can be pushed away from the rotating seat 310. When the positioning block 331 is pressed against the fixing block 336, the rotating seat 310 is pressed against the first mating plate 261, so as to restrict the rotating seat 310 from rotating about the third direction. In the present application, the positioning block 331 is pressed against the fixed block 336 to limit the rotation of the rotating seat 310. Compared with the method of limiting the rotation of the rotating seat 310 by tightening the mating end 320 by a nut or the like, the transmission of torque from the fixed block 336 to the mating end 320 can be reduced. Therefore, when locking the rotating seat 310, the rotation angle of the rotating seat 310 around the third direction can be reduced, thereby improving the accuracy of the posture adjustment device.

[0091] See also Figure 7 , Figure 8 and Fig. 9In one embodiment, the positioning block 331 includes a rotating ring 332 and a sliding ring 333. The rotating ring 332 is sleeved on the mating end 320 and threadedly connected to the mating end 320. The sliding ring 333 is sleeved on the mating end 320. The rotating ring 332 is configured to move relative to the mating end 320 when rotating relative to the mating end 320 to push the sliding ring 333 to move so that the sliding ring 333 is pressed against the fixed block 336.

[0092] Specifically, the sliding ring 333 is arranged between the rotating ring 332 and the fixed block 336. By separately arranging the rotating ring 332 and the sliding ring 333, the rotating ring 332 transmits thrust to the fixed block 336 through the sliding ring 333 during the rotation relative to the protrusion 264, thereby reducing the torque transmitted to the fixed block 336, thereby further reducing the torque transmitted to the mating end 320, further reducing the rotation angle of the rotating seat 310 around the third direction, and improving the accuracy of the posture adjustment device.

[0093] Furthermore, the protrusion 264 includes a first mating segment 265 and a second mating segment 266, the first mating end 320 is provided with a thread, the outer peripheral surface of the second mating end 320 is at least partially flat, and the sliding ring 333 is sleeved on the second mating end 320 and abuts against the plane of the second mating end 320, so that in the process of the rotating ring 332 rotating to push the sliding ring 333 to move, the rotation of the sliding ring 333 is restricted, thereby preventing the sliding ring 333 from transmitting torque to the fixed block 336, further reducing the rotation angle of the rotating seat 310 around the third direction, and improving the accuracy of the posture adjustment device.

[0094] See also Figure 7 , Figure 8 and Fig. 9 In one embodiment, the fixing block 336 includes a mating rod 334 and a top block 335, the mating rod 334 is threadedly connected to the mating end 320, the top block 335 is rotatably connected to the mating rod 334, and one end of the top block 335 is used to abut against the mating rod 334, and the other end of the top block 335 is used to abut against the positioning block 331.

[0095] Specifically, the top block 335 is rotatably connected to the mating rod 334. When the sliding ring 333 abuts against the top block 335, the rotation of the top block 335 does not interfere with the mating rod 334, thereby preventing the mating rod 334 from transmitting torque to the mating end 320, thereby improving the accuracy of the posture adjustment device.

[0096] Furthermore, a positioning hole 339 is provided in the mating end 320, and the positioning hole 339 includes a first connection hole section 341 and a second connection hole section 342. The radial dimension of the second connection hole section 342 is larger than that of the first connection hole section 341, and is located on a side away from the rotating seat 310, and the second connection hole section 342 is a heterogeneous hole. The mating rod 334 is threadedly connected to the hole wall of the first connection hole section 341, and the top block 335 partially extends into the second connection hole section 342 and is slidably connected with the hole wall of the second connection hole section 342 along the third direction. Since the second connection hole section 342 is a heterogeneous hole, the rotation of the top block 335 is restricted in the process of the sliding ring 333 pushing the top block 335 to move along the third direction, thereby limiting the top block 335 from transmitting torque to the mating rod 334, thereby improving the accuracy of the posture adjustment device. Preferably, the second connection hole section 342 is a flat hole.

[0097] In addition, the top block 335 includes a first end 337 and a second end 338 connected to each other, the second end 338 extends into the positioning hole 339, and the first end 337 abuts against the inclined surface of the matching rod 334 and is used to abut against the sliding ring 333. When the sliding ring 333 abuts against the first end 337 to limit the movement of the matching end 320 relative to the first matching plate 261, the matching rod 334 and the hole wall of the positioning hole 339 can provide support force for the top block 335, thereby avoiding stress concentration, increasing the service life of the top block 335, and improving the reliability of the posture adjustment device.

[0098] See also Figure 1 An embodiment of the present invention further provides a posture adjustment system, including a navigation device and the above-mentioned posture adjustment device, wherein the navigation target 500 of the navigation device is used to be installed in the installation channel 311, and the navigation device is used to position the navigation target 500 to determine the posture of the installation channel 311, so as to determine whether the axis of the installation channel 311 is aligned with the target path, thereby facilitating the operation of the first joint adjustment component 100, the second joint adjustment component 200 and the third joint adjustment component 300, thereby improving the adjustment accuracy of the posture adjustment system.

[0099] Furthermore, the navigation device also includes a position detector and a processor. The position detector is used to detect the position information of the navigation target 500 and transmit the obtained position information to the processor. The processor calculates the offset between the installation channel 311 and the target path based on the target path information, and provides the angles that need to be adjusted for the first joint adjustment component 100, the second joint adjustment component 200 and the third joint adjustment component 300, and the length that needs to be adjusted for the second joint adjustment component 200, thereby facilitating manual control of the first joint adjustment component 100, the second joint adjustment component 200 and the third joint adjustment component 300, so that the axis of the installation channel 311 is aligned with the target path, thereby improving the efficiency of aligning the installation channel 311 with the target path.

[0100] See also Figure 1 and Figure 6 The embodiment of the present invention further provides a posture adjustment device, including a surgical instrument and the above-mentioned posture adjustment device, wherein the surgical instrument is used to be installed on an installation road that is moved to align with the target path. That is, when the installation road is moved to align with the target path, the navigation target is removed, and then the surgical instrument is installed on the installation road to assist the doctor in positioning the surgical instrument, thereby improving the accuracy and efficiency of positioning the surgical instrument.

[0101] Furthermore, the posture adjustment device also includes a frame 400 and a headgear 410, the frame 400 is connected to the headgear 410, and the mounting base 110 is connected to the frame 400, so that the posture adjustment device can be applied to neurosurgery. In other embodiments, it can also be used in other surgical operations.

[0102] In the present application, the first joint adjustment component 100 is used to drive the second joint adjustment component 200 to rotate around the first direction, the second joint adjustment component 200 is used to drive the third joint adjustment component 300 to rotate around the second direction and move along the second direction, and the third joint adjustment component 300 can rotate around the third direction relative to the second joint adjustment component 200, so that the installation channel 311 can move in space, and the navigation system can calculate the offset between the navigation target 500 and the target path, so as to obtain the angle that the first joint adjustment component 100, the second joint adjustment component 200 and the third joint adjustment component 300 need to be adjusted, so as to facilitate the operation of the rotation angle of the first joint adjustment component 100, the second joint adjustment component 200 and the third joint adjustment component 300, so that the axis of the installation channel 311 is aligned with the target path, thereby improving the accuracy and efficiency of the posture adjustment device.

[0103] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A posture adjustment device, characterized in that: The posture adjustment device comprises a first joint adjustment component (100), a second joint adjustment component (200) and a third joint adjustment component (300); The second joint adjustment component (200) is connected to the first joint adjustment component (100), the third joint adjustment component (300) is connected to the second joint adjustment component (200), and the third joint adjustment component (300) is provided with a mounting channel (311); The first joint adjustment component (100) is used to drive the second joint adjustment component (200) to rotate around a first direction, the second joint adjustment component (200) is used to drive the third joint adjustment component (300) to rotate around a second direction and move along the second direction, and the third joint adjustment component (300) can rotate around a third direction relative to the second joint adjustment component (200), wherein the first direction, the second direction and the third direction are all perpendicular to each other.

2. The posture adjustment device according to claim 1, characterized in that: The first joint adjustment component (100) comprises: Mounting seat (110); A rotating member (120) is connected to the mounting seat (110) and is rotatable about the first direction, and the second joint adjustment assembly (200) is mounted on the rotating member (120); A brake block (130) is connected to the rotating member (120), and the brake block (130) can move relative to the mounting seat (110) so that the brake block (130) is pressed against the mounting seat (110) to limit the rotation of the rotating member (120) relative to the mounting seat (110).

3. The posture adjustment device according to claim 2, characterized in that: The rotating member (120) comprises a support frame (121) and a hand wheel (122); the support frame (121) is provided with a mounting hole (123); the hand wheel (122) is accommodated in the mounting hole (123) and abuts against the hole wall of the mounting hole (123); the brake block (130) extends into the mounting hole (123) on a side away from the mounting seat (110) and is threadedly connected to the hand wheel (122); the hand wheel (122) is configured to drive the brake block (130) to move when rotating relative to the support frame (121) so that the brake block (130) abuts against the mounting seat (110).

4. The posture adjustment device according to claim 3, characterized in that: The mounting seat (110) is sleeved on the support frame (121), and there are two brake blocks (130). The two brake blocks (130) are arranged opposite to each other, and the threads on the outer peripheral surfaces of the two brake blocks (130) have opposite rotation directions. The two brake blocks (130) are configured to synchronously abut against the mounting seat (110) when the hand wheel (122) is rotated, so as to limit the deviation of the support frame (121) in the extension direction of the brake blocks (130).

5. The posture adjustment device according to claim 3, characterized in that: The support frame (121) is provided with a sliding hole (127) connected to the mounting hole (123); a hole wall of the sliding hole (127) is provided with a limiting member (128); the brake block (130) is provided with a matching groove (132) corresponding to the limiting member (128); the limiting member (128) is accommodated in the matching groove (132); the limiting member (128) and the matching groove (132) are capable of relative movement; the limiting member (128) is configured to abut against the groove wall of the matching groove (132) when the brake block (130) is pressed against the mounting seat (110) to limit the movement of the brake block (130) relative to the mounting seat (110).

6. The posture adjustment device according to any one of claims 1 to 5, characterized in that: The second joint adjustment component (200) comprises: A sleeve (210) is installed on the first joint adjustment assembly (100), and the sleeve (210) is provided with a matching hole (223); an adjusting arm (230) passing through the matching hole (223), the adjusting arm (230) being slidably connected to the hole wall of the matching hole (223) along the second direction, and the adjusting arm (230) being capable of rotating relative to the hole wall of the matching hole (223) around the second direction; A locking member (240) is inserted through the pipe opening (214) of the sleeve (210), and the locking member (240) is used to tighten the pipe opening (214) to limit the rotation and movement of the adjustment arm (230) relative to the sleeve (210).

7. The posture adjustment device according to claim 6, characterized in that: The sleeve (210) comprises a first pipe section (211) and a second pipe section (212) arranged along the second direction, a gap (213) being provided between the first pipe section (211) and the second pipe section (212), one side of the first pipe section (211) being connected to the second pipe section (212) in a radial direction, and the other side of the first pipe section (211) being provided with an adjustment channel (215) communicating with the matching hole (223), the locking member (240) being passed through a side wall of the adjustment channel (215), the locking member (240) being used for tightening the adjustment channel (215) so as to limit the rotation and movement of the adjustment arm (230) relative to the sleeve (210).

8. The posture adjustment device according to claim 6, characterized in that: The second joint adjustment assembly (200) further comprises a blocking member (250), wherein the blocking member (250) comprises: A sliding block (251) is provided with a mounting groove (254) and a limiting hole (255) for the adjusting arm (230) to pass through, the limiting hole (255) is communicated with the mounting groove (254), and the sliding block (251) is used to abut against an end of the sleeve (210) away from the third joint adjusting assembly (300); An elastic member (253) is accommodated in the installation groove (254), and one end of the elastic member (253) is connected to the groove wall of the installation groove (254), and the other end is tightly pressed against the adjustment arm (230) penetrated through the limiting hole (255); A button (252), wherein the button (252) is at least partially confined within the mounting groove (254) and is slidably connected to the groove wall of the mounting groove (254), and the button (252) is configured to be close to the elastic member (253) to drive the elastic member (253) to compress, thereby releasing the adjustment arm (230).

9. The posture adjustment device according to any one of claims 1 to 5, characterized in that: The second joint adjustment component (200) is provided with an assembly hole (263), and the third joint adjustment component (300) comprises a rotating seat (310), a mating end (320) and a fastener (330), wherein the mating end (320) is connected to the rotating seat (310) and is penetrated through the assembly hole (263), and the mating end (320) is rotatably connected to the hole wall of the assembly hole (263) around the third direction, and the mounting channel (311) is provided on the rotating seat (310), and the fastener (330) is connected to one end of the mating end (320) extending out of the assembly hole (263), and is used to press against the second joint adjustment component (200) to limit the rotation of the mating end (320) relative to the second joint adjustment component (200).

10. The posture adjustment device according to claim 9, characterized in that: The second joint adjustment component (200) is provided with a protrusion (264), and the assembly hole (263) is partially arranged in the protrusion (264). The fastener (330) includes a positioning block (331) and a fixing block (336). The positioning block (331) is sleeved on the protrusion (264) and is threadedly connected to the protrusion (264). The fixing block (336) is connected to the mating end (320) and is partially protruded outside the protrusion (264). The positioning block (331) is configured to be able to move relative to the mating end (320) when rotating relative to the mating end (320) so as to press against the fixing block (336) to limit the mating end (320) from rotating relative to the second joint adjustment component (200).

11. The posture adjustment device according to claim 10, characterized in that: The positioning block (331) includes a rotating ring (332) and a sliding ring (333), wherein the rotating ring (332) is sleeved on the mating end (320) and is threadedly connected to the mating end (320), and the sliding ring (333) is sleeved on the mating end (320), and the rotating ring (332) is configured to move relative to the mating end (320) when rotating relative to the mating end (320) to push the sliding ring (333) to move, so that the sliding ring (333) is pressed against the fixed block (336).

12. The posture adjustment device according to claim 10, characterized in that: The fixing block (336) comprises a matching rod (334) and a top block (335), wherein the matching rod (334) is threadedly connected to the matching end (320), and the top block (335) is rotatably connected to the matching rod (334), and one end of the top block (335) is used to abut against the matching rod (334), and the other end of the top block (335) is used to abut against the positioning block (331).

13. A posture adjustment system, characterized in that: It comprises a navigation device and a posture adjustment device as described in any one of claims 1 to 12, wherein the navigation target (500) of the navigation device is used to be installed in the installation channel (311), and the navigation device is used to position the navigation target (500) to determine the posture of the installation channel (311).

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