An adjustable connection device

Abstract

The adjustable connection device provided by the present invention includes a tracer device, a connector, a first locking member and a second locking member. The tracer device includes a tracer device connection part, a cavity is provided inside the tracer device connection part, at least a part of the connector is provided inside the cavity, at least two bullet holes are provided on the connector, and the first locking member includes a marble, the marble is connected to the tracer device connection part, and when the first locking member is in a locked state, at least a part of the marble is located in the bullet hole. The adjustable connection device adjusts the direction of the tracer device so that the tracer at the end of the surgical instrument can always be identified and located by the optical locator, and through the double locking of the first locking member and the second locking member, the stability of the tracer in the working state is higher, and the relative position change between the tracer and the surgical instrument when encountering external force is avoided, which affects the accuracy of treatment or surgery. At the same time, the adjustment and locking operations of the device are simple and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an adjustable connecting device. Background Art

[0002] In recent years, navigation robots have been developed both at home and abroad. With the help of intraoperative X-ray perspective, intraoperative or preoperative optical imaging, optical binocular tracking systems and other different technical means, the robot obtains the patient's three-dimensional posture information and completes the navigation and positioning functions. It has outstanding advantages such as accurate positioning, minimally invasive, short operation time, simple operation, and easy mastery. The surgical instruments connected to the mechanical arm of the general orthopedic surgical robot and the end of the mechanical arm are equipped with a tracer device with specific parameters, which can be identified, located and tracked by the optical locator of the navigation system. The operation will change the position according to actual needs, which will cause the angle of the tracer device with a fixed position relationship relative to the surgical instrument or the mechanical arm to change toward the optical locator, which may make the optical locator unable to accurately identify or track the position parameters of the tracer device, which will make the identification and positioning functions of the navigation system invalid, and the navigation robot cannot be used smoothly for diagnosis, treatment or surgery. In order to ensure that the tracer device used to indicate the position of the surgical instrument can always be recognized by the optical locator after the end of the robotic arm reaches the specified position, and the surgical instrument is also located at the appropriate angle, its position needs to be adjusted according to the actual medical environment. Moreover, the products currently on the market have weak adjustment functions and cumbersome operation processes. Summary of the invention

[0003] In view of the defects in the prior art, an object of the present invention is to provide an adjustable connecting device, which can adjust the direction of a surgical instrument or a tracing device at the end of a surgical instrument, has high stability in a working state, and is simple and convenient to adjust.

[0004] The present invention provides an adjustable connecting device, comprising a tracing device, a connecting piece, a first locking piece and a second locking piece. The tracing device comprises a tracing device connecting part, a cavity is provided inside the tracing device connecting part, at least a portion of the connecting piece is provided inside the cavity, at least two bullet holes are provided on the connecting piece, the first locking piece comprises a marble, the marble is connected to the tracing device connecting part, and when the first locking piece is in a locked state, at least a portion of the marble is located in the bullet hole.

[0005] In one embodiment, the adjustable connecting device has an adjustable state and a locked state, and can be switched between the adjustable state and the locked state.

[0006] In one embodiment, when the adjustable connecting device is in the locked state, the first locking member is in the locked state, and the second locking member is in the locked state.

[0007] In one embodiment, when the adjustable connecting device is in the adjustable state, the second locking member is in the unlocked state.

[0008] In one embodiment, there are at least four bullet holes, which are evenly arranged around the circumference of the connecting member.

[0009] In one embodiment, there are eight bullet holes, which are evenly arranged around the circumference of the connecting member.

[0010] In one embodiment, the first locking member further comprises a spring, one end of the spring is connected to the marble, and the other end of the spring is connected to the tracing device connecting portion.

[0011] In one embodiment, the second locking member is used for locking between the connecting member and the connecting portion of the tracing device, and the second locking member can be any one of a limit locking member, a thread locking, a pressure locking, and the like.

[0012] In one embodiment, the second locking member may include any one or more combinations of a nut, a bolt, and a screw.

[0013] In one embodiment, the second locking member includes a locking bolt, and the tracing device connecting portion is provided with a bolt hole adapted to the locking bolt.

[0014] In one embodiment, the bearing shaft of the locking bolt passes through the bolt hole.

[0015] In one embodiment, the connecting member is provided with a limiting hole matched with the locking bolt.

[0016] In one embodiment, there are at least four limiting holes, which are evenly arranged in the circumference of the connecting piece.

[0017] In one embodiment, the number of the limiting holes is the same as the number of the bullet holes.

[0018] In one embodiment, when the second locking member is in a locking state, at least a portion of the bearing shaft of the locking bolt is located in the limiting hole.

[0019] In one embodiment, the connecting member includes a first connecting member end and a second connecting member end, the first connecting member end is connected to the multi-stage rotary switch, and the second connecting member end is connected to the connecting rod.

[0020] In one embodiment, the first end of the connecting member and / or the multi-stage rotary switch is connected to a flange, and the flange is used to connect to a robotic arm.

[0021] In one embodiment, the multi-stage rotary switch is connected to a controller, and the controller is used to control the rotation of the connecting member.

[0022] Compared with the prior art, the adjustable connection device provided by the present invention has the following beneficial effects:

[0023] 1. Through the structural design of the connection part between the connector and the tracer device, the direction and angle of the tracer device at the end of the surgical instrument can be adjusted during treatment or surgery, so that the tracer device at the end of the surgical instrument can always be identified, located and tracked by the optical locator, and the surgical instrument is located at a suitable angle;

[0024] 2. Double locking is performed by using the first locking member and the second locking member to prevent relative rotation between the connecting member and the connecting part of the tracer device, thereby avoiding the change of the relative position of the tracer and the surgical instrument when the adjustable connecting device encounters external force, thereby affecting the accuracy of treatment or surgery;

[0025] 3. The first locking member can be temporarily locked in the adjustable state, so that the adjustable connecting device has better stability in the adjustable state, which is convenient for the operator to operate;

[0026] 4. The locking state and the adjustable state can be switched and adjusted freely, and the adjustment operation is simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0028] Figure 1 A schematic structural diagram of an adjustable connection device according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the structure of a connecting member showing an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the structure of a connecting member showing an embodiment of the present invention;

[0031] Figure 4 This is a schematic structural diagram of a tracing device according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] 1. Connecting piece; 11. First end of connecting piece; 12. Second end of connecting piece; 13. Bullet hole; 14. Limiting hole; 2. Tracer device; 21. Tracer; 3. Connecting part of tracing device; 30. Cavity; 31. Marble; 32. Spring; 33. Locking bolt; 34. Bolt hole; 4. Multi-stage rotary switch; 5. Flange; 6. Connecting rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0035] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features. The term "proximal end" is usually the end close to the operator, and the term "distal end" is usually the end close to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to two corresponding parts, which include not only the endpoints. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. In addition, as used in the present invention, an element is arranged on another element, which usually only means that there is a connection, coupling, matching or transmission relationship between the two elements, and the connection, coupling, matching or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below or on one side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] The core idea of ​​the present invention is to provide an adjustable connecting device to solve the problems in the prior art that the tracking device at the end of the surgical instrument is not easy to adjust the angle after being connected, the optical locator is not able to accurately position after the position of the robotic arm is changed, or the angle adjustment of the surgical instrument is inconvenient. The present invention can be widely used in the treatment, diagnosis and surgery of orthopedics, neurosurgery, etc.

[0037] Reference Figure 1 to Figure 4The adjustable connection device provided in this embodiment includes a tracing device 2, a connector 1, a first locking member and a second locking member. This embodiment takes orthopedic navigation surgery as an example. When the adjustable connection device is in use, the connector 1 has a first connector end 11 and a second connector end 12. The first connector end 11 is connected to the robotic arm of the navigation surgery robot, and the second connector end 12 can be connected to surgical instruments such as bone drills or other medical instruments. In this embodiment, the second connector end 12 is connected to a connecting rod 6, and a channel is provided on the other side of the connecting rod 6 for surgical instruments such as bone drills or other medical instruments to pass through. The tracing device at the surgical instrument end is not shown in the figure. Figure 1 and Figure 4 The tracer device 2 in the figure is a tracer device at the end of the robot arm.

[0038] The tracer device 2 includes an integrally formed tracer device connection part 3 and a tracer 21. The tracer device connection part 3 has a cavity 30 inside, and the connection part 1 passes through the cavity 30. The connection part 1 is provided with a plurality of bullet holes 13. The first locking member can be used as a temporary locking mechanism, which includes a marble 31 and a spring 32. One end of the spring 32 is connected to the inner wall of the tracer device connection part 3, and the other end is connected to the marble 31. When the first locking member enters the locked state, a part or all of the marble 31 is located in one of the bullet holes 13. When the first locking member is in the unlocked state, the marble is completely separated from the bullet hole 13.

[0039] The adjustable connection device provided in this embodiment has a first locking member in a locked state when the marble is in the bullet hole, and a first locking member in an unlocked state when the marble is completely out of the bullet hole. When the first locking member is in the locked state, the second locking member can be operated, and when the second locking member also enters the locked state, the adjustable connection device has the locking effects of both the first locking member and the second locking member, making the connection between the connection part of the tracer device and the connection member more firm and stable.

[0040] Specifically, only one marble 31 can be provided, or two or more marbles can be provided according to the actual application scenario. Each marble needs to correspond to a spring 32. The provision of multiple marbles can increase the force between the connection part of the tracer device and the connecting piece. The more bullet holes there are, the smaller the minimum rotation amplitude that the adjustable device can adjust, that is, the larger the angle range that the tracer device can adjust. In this embodiment, there is one marble, and there are 8 bullet holes, which are evenly arranged in the circumference of the connecting piece. At this time, the minimum rotation amplitude of the connecting piece is 45°, that is, the range in which the connecting piece can rotate relative to the tracer device is a multiple of 45°. When there are multiple marbles, the number of bullet holes needs to be equal to or greater than the number of marbles. When the first locking piece is in the locked state, each marble enters a different marble hole under the action of the corresponding spring, and multiple marbles can simultaneously play the role of connecting the connection part of the tracer device with the connecting piece.

[0041] The second locking member can be a different locking method, such as locking by a limiter, thread locking, pressure locking, etc. Figure 2 to Figure 4 In this embodiment, the second locking member adopts a bolt locking structure. Specifically, a bolt hole 34 is provided on the connection part 3 of the tracer device, and the bolt hole 34 is connected to the cavity 30. A limiting hole 34 corresponding to the locking bolt 33 is provided on the connection part 1. When the second locking member is in a locked state, the tail of the locking bolt 33 including a part of the bearing shaft passes through the bolt hole 34 and enters the limiting hole 34. Of course, the limiting hole 34 may not be provided, and the tail of the locking bolt 33 is set to an arc shape that matches the shape of the connection part 1. When the second locking member is in a locked state, the tail of the locking bolt 33 is tightly pressed against the outer surface of the connection part 1, and there is a large force between them, so as to prevent the relative movement between the connection part of the tracer device and the connection part.

[0042] In addition, refer to Figure 2 The connecting member 1 has a first connecting member end 11 and a second connecting member end 12. The first connecting member end 11 is connected to a multi-stage rotary switch 4, and the multi-stage rotary switch 4 is connected to a controller (not shown in the figure). The controller is used to control the rotation of the connecting member 1. The second connecting member end 12 is connected to a rod 6. The other end of the connecting rod 6 is provided with a channel for surgical instruments such as a bone drill to pass through. Figure 1 The tracing device 2 is also connected to a flange 5, which can be connected to the end of the robot arm of the navigation surgical robot. At the same time, the multi-stage rotary switch 4 is connected to a controller (not shown in the figure) located on the robot arm through the flange 5. The multi-stage rotary switch 4 can be set corresponding to the number of bullet holes. In this embodiment, the multi-stage rotary switch has eight stages, that is, each time the multi-stage rotary switch 4 rotates one gear, the connecting member 1 rotates 45 degrees. When the connecting member 1 needs to be rotated, it can be achieved by operating the controller located on the robot arm. It can be adjusted by buttons, knobs, or touch screen settings. There is no need for the operator to directly rotate the connecting member manually, and its operation is simpler and more accurate.

[0043] The locking state of the adjustable connection device provided in this embodiment is that the first locking member and the second locking member are in the locking state at the same time, and the adjustable state of the adjustable connection device is that the second locking member is in the unlocked state and the first locking member is in the locked state or the unlocked state. When the adjustable connection device provided in this embodiment is in the locking state, when the first locking member and the second locking member are both in the locking state, the marble is located inside the bullet hole, and the tail of the locking bolt is located in the limiting hole. When it is necessary to adjust the angle of the tracer, first rotate the locking bolt so that the tail of the locking bolt is disengaged from the limiting hole, and its bearing shaft completely leaves the limiting hole and the cavity, at which time the second locking member enters the unlocked state, and at this time the adjustable connection device enters the adjustable state. Then, in the adjustable state, the controller is manually operated to drive the multi-stage rotary switch to rotate, and the multi-stage rotary switch drives the connection member to rotate. When the connection member starts to rotate, the marble gradually disengages from the bullet hole. When the connection member stops rotating, the marble moves toward another bullet hole. Under the elastic force of the spring, the marble enters the bullet hole, thereby realizing the switching of the first locking member from the locked state to the unlocked state and finally to the locked state. At this time, the locking bolt is tightened so that the tail of the locking bolt or the tail end of the load-bearing shaft enters the limiting hole, realizing the locking of the second locking member, and the adjustable connection device returns to the locked state.

[0044] The present embodiment provides an adjustable connecting device, which uses a first locking member and a second locking member for double locking in the locked state, so as to prevent relative rotation between the connecting member and the connecting part of the tracer device, thereby avoiding changes in the relative positions of the tracer and the surgical instrument when the adjustable connecting device encounters external force, thereby affecting the accuracy of treatment or surgery; in the adjustable state, the first tightening member can be temporarily locked and fixed in the adjustable state, so that the adjustable connecting device has better stability in the adjustable state, which is convenient for the operator to operate; the locking state and the adjustable state can be switched and adjusted freely, and the adjustment operation is simple and convenient, and the connecting member can be directly rotated and the target position can be accurately reached by operating the controller.

[0045] The above is a description of the specific embodiments of the present invention, which is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be based on the attached claims.

Claims

1. An adjustable connection device, characterized in that: The invention comprises a tracing device, a connecting piece, a first locking piece and a second locking piece. The tracing device comprises a tracing device connecting part. A cavity is provided inside the tracing device connecting part. At least a part of the connecting piece is provided inside the cavity. At least two bullet holes are provided on the connecting piece. The first locking piece comprises a marble. The marble is connected to the tracing device connecting part. When the first locking piece is in a locked state, at least a part of the marble is located in the bullet hole.

2. The adjustable connection device according to claim 1, characterized in that: The adjustable connecting device has an adjustable state and a locked state, and can be switched between the adjustable state and the locked state; when the adjustable connecting device is in the locked state, the first locking member is in the locked state, and the second locking member is in the locked state; when the adjustable connecting device is in the adjustable state, the second locking member is in the unlocked state.

3. The adjustable connection device according to claim 1, characterized in that: There are at least four bullet holes, which are evenly arranged in the circumference of the connecting piece.

4. The adjustable connection device according to claim 1, characterized in that: The first locking member also includes a spring, one end of the spring is connected to the marble, and the other end of the spring is connected to the tracing device connecting part.

5. The adjustable connection device according to claim 1, characterized in that: The second locking member includes a locking bolt, and the tracing device connecting portion is provided with a bolt hole adapted to the locking bolt.

6. The adjustable connection device according to claim 5, characterized in that: The connecting member is provided with a limiting hole matched with the locking bolt, and when the second locking member is in a locking state, at least a part of the bearing shaft of the locking bolt is located in the limiting hole.

7. The adjustable connection device according to claim 6, characterized in that: The number of the limiting holes is the same as the number of the bullet holes.

8. The adjustable connection device according to claim 1, characterized in that: The connecting member comprises a first connecting member end and a second connecting member end, wherein the first connecting member end is connected to a multi-stage rotary switch, and the second connecting member end is connected to a connecting rod.

9. The adjustable connection device according to claim 8, characterized in that: The multi-stage rotary switch is connected to a controller, and the controller is used to control the rotation of the connecting member.

10. The adjustable connection device according to claim 8, characterized in that: The first end of the connecting member and / or the multi-stage rotary switch is connected to a flange, and the flange is used to connect to a mechanical arm.

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