Guiding device and surgical system

Abstract

The invention discloses a guiding device which comprises a supporting arm, a guiding assembly and an orientation tool, and the supporting arm comprises a fixed end and a movable end; the guide assembly comprises a connecting rod, a clamping device and a sleeve, the connecting rod is connected with the movable end, the first end of the clamping device is connected with the connecting rod, the second end of the clamping device is used for clamping the sleeve, the clamping device has a locking state and an unlocking state, in the locking state, the sleeve is fixed relative to the connecting rod, and in the unlocking state, the direction of the sleeve can be adjusted relative to the connecting rod; and the orientation tool comprises a guide cylinder and a tracer having a preset position relation with the guide cylinder, the guide cylinder is used for being inserted into the sleeve, and the tracer is used for determining the axial direction of the guide cylinder and the sleeve. The guide assembly provides direction-adjustable guide pin implantation guidance, and in an unlocking state, the sleeve can be adjusted relative to the direction of the connecting rod so as to be adjusted; the sleeve with the direction capable of being flexibly adjusted is connected into the orientation tool, accurate direction positioning is provided for the guide needle, doctors are assisted in conducting accurate surgery, and operation is convenient.

Description

Technical Field

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

[0002] In orthopedic surgery, guide pins can help doctors determine the direction of subsequent screw placement or guide other directions. For example, in spinal screw placement surgery, the Kirschner wire (guide pin) can be implanted in the correct direction to guide the subsequent screw placement. If the guide pin is implanted in a direction with too much deviation, it may cause iatrogenic damage to the patient or greatly affect the surgical effect, and even lead to surgical failure in severe cases.

[0003] At present, clinicians often use traditional methods to ensure the implantation direction of the guide needle. One method is that the doctor implants the guide needle based on feel and experience; the other method is to take an X-ray of the inserted guide needle to determine the correctness of the guide needle direction and position, and it requires an experienced spinal surgeon to implement and judge, and the operation is relatively cumbersome. In addition, the control accuracy of the implantation direction and position of the above two guide needles is not high, and to a certain extent depends on the doctor's experience. Therefore, it is urgent to propose a guide device that can facilitate the implantation of the guide needle, has an accurate implantation direction, and is easy to adjust. Summary of the invention

[0004] The present application provides a guiding device and a surgical system, which solve the problems in the prior art of inconvenient guide needle implantation operation, low implantation direction accuracy, and difficulty in adjusting the direction.

[0005] The first aspect of the present application provides a guiding device, including a supporting arm, a guiding assembly and an orienting tool, wherein the supporting arm includes a fixed end and a movable end; the guiding assembly includes a connecting rod, a clamp and a sleeve, the connecting rod is connected to the movable end, the first end of the clamp is connected to the connecting rod, and the second end is used to clamp the sleeve, the clamp has a locked state and an unlocked state, in the locked state, the sleeve is fixed relative to the connecting rod, and in the unlocked state, the sleeve can be adjusted relative to the connecting rod; the orienting tool, the orienting tool includes a guide sleeve and a tracer having a predetermined position relationship with the guide sleeve, the guide sleeve is used to be inserted into the sleeve, and the tracer is used to determine the position and axial direction of the guide sleeve and the sleeve.

[0006] Based on the above embodiment, in a first optional implementation manner, the clamp includes a clamp, a locking shaft, a sleeve and a locking handle, and the locking shaft passes through the locking handle, the clamp and the sleeve in sequence.

[0007] Based on the above embodiments, in a second optional implementation, the locking handle is used to switch between a locked state and an unlocked state. In the unlocked state, the clamp can move or rotate relative to the connecting rod, the sleeve can rotate relative to the locking part, and the sleeve can move or rotate relative to the clamping hole; in the locked state, the sleeve is fixed relative to the connecting rod.

[0008] Based on the above embodiments, in a third optional implementation, the clamp is sleeved on the connecting rod and has a locking portion with an adjustable clamping degree, one end of the locking shaft is connected to the locking handle, and the other end is provided with a limiting portion, and a clamping hole is opened on the sleeve in a direction perpendicular to the locking shaft. In the locked state, the limiting portion and the clamping hole act relative to each other to fix the sleeve.

[0009] Based on the above embodiments, in a fourth optional implementation, the contact surfaces of the locking portion and the shaft sleeve are provided with mutually engageable protrusions for circumferentially fixing the locking portion and the shaft sleeve when they are compressed.

[0010] Based on the above embodiments, in a fifth optional implementation, the sleeve includes a clamping handle and a cylinder body, the length direction of the clamping handle intersects with the axial direction of the cylinder body, and in a locked state, the clamping handle is inserted into the clamping hole.

[0011] Based on the above embodiments, in a sixth optional implementation, a connecting seat is provided at one end of the connecting rod, the connecting seat is connected to the movable end of the support arm by bolts, a positioning column is provided at the movable end, and a positioning hole for inserting the positioning column is provided on the connecting seat, and the positioning column and the positioning hole are used to enable circumferential positioning when the connecting rod is connected to the movable end.

[0012] Based on the above embodiments, in a seventh optional implementation, the support arm includes multiple rotatable joints, and the support arm also includes a locking switch, which is used to control the locking of each joint of the support arm so that the support arm can form a fixed posture to support the guide assembly.

[0013] Based on the above embodiments, in an eighth optional implementation, the outer periphery of the guide tube matches the inner wall of the sleeve, and a through hole is axially arranged inside the guide tube, and the through hole is used to guide the direction of the guide needle.

[0014] Based on the above embodiments, in a ninth optional implementation, the orientation tool is provided with a movable coupling portion, and the coupling portion is used to fix the orientation tool and the sleeve in a first state.

[0015] Based on the above embodiment, in a tenth optional implementation manner, there are multiple clamps.

[0016] A second aspect of the present application provides a surgical system, comprising the guiding device of the first aspect, and further comprising: a positioning device for obtaining the position of a tracer.

[0017] Beneficial Effects

[0018] The guide device and surgical system proposed in the present application can assist in positioning the guide pin implantation in orthopedic clinical surgery through the arrangement of the support arm, the guide assembly and the orientation tool. The support arm provides a stable support for the overall guide device. The guide assembly provides a guide pin implantation guide with adjustable direction, wherein the clamp has a locked state and an unlocked state, wherein the sleeve is fixed relative to the connecting rod in the locked state, and the sleeve can be adjusted relative to the connecting rod in the unlocked state and then adjusted in direction; the sleeve with flexible direction adjustment is connected to the orientation tool, and combined with the accurate direction positioning for the guide pin, it assists the doctor in performing precise surgery and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the guide device of an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the structure of the guide assembly and the orientation tool of the embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of the structure of the guide assembly of an embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of the support arm structure of an embodiment of the present application;

[0023] Figure 5 This is a schematic diagram of the structure of a clamp according to an embodiment of the present application;

[0024] Figure 6 This is a schematic diagram of a cross-sectional structure of a clamp according to an embodiment of the present application;

[0025] Figure 7 A schematic diagram of the structure of an orientation tool according to an embodiment of the present application;

[0026] Figure markings: 1-support arm, 101-movable end, 1011-positioning column, 102-fixed end, 103-locking switch, 2-guide assembly, 201-connecting rod, 2011-connecting seat, 2012-positioning hole, 202-clamp, 2021-clamping hoop, 2022-locking shaft, 2023-sleeve, 2024-locking handle, 2025-limiting part, 2026-clamping hole, 2027-locking part, 203-sleeve, 2031-clamping handle, 2032-cylinder, 3-orientation tool, 301-guide cylinder, 302-tracer, 303-handle. DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0028] In orthopedic surgery, guide pins (such as Kirschner wires) can help doctors determine the direction of subsequent screw placement or guide other directions. For example, in spinal screw placement surgery, the Kirschner wire can be implanted in the correct direction to guide the subsequent screw placement. If the guide pin is implanted in a direction with too much deviation, it may cause iatrogenic damage to the patient or greatly affect the surgical effect, and even lead to surgical failure in severe cases.

[0029] The applicant found that currently clinical physicians often use traditional methods to ensure the implantation direction of the guide needle. One method is for the doctor to implant the guide needle based on feel and experience; the other method is to take an X-ray of the inserted guide needle to determine the correctness of the guide needle direction and position, and it requires an experienced spinal surgeon to implement and judge, and the operation is relatively cumbersome. The control accuracy of the implantation direction and position of the above two guide needles is not high, and to a certain extent depends on the doctor's experience. Therefore, in response to the above problems, a guide device is proposed that can facilitate the implantation of the guide needle, has accurate implantation direction, and can flexibly adjust the guide direction.

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0031] like Figure 1 As shown, Figure 1 The schematic diagram of the overall structure of the guide device. The guide device provided in the present application includes a support arm 1, a guide assembly 2 and an orientation tool 3, wherein the support arm 1 includes a fixed end 101 and a movable end 102; the guide assembly 2 includes a connecting rod 201, a clamp 202 and a sleeve 203, the connecting rod 201 is connected to the movable end 102, the first end of the clamp 202 is connected to the connecting rod 201, and the second end is used to clamp the sleeve 203, the clamp 202 has a locked state and an unlocked state, in the locked state, the sleeve 203 is fixed relative to the connecting rod 201, and in the unlocked state, the sleeve can adjust its direction relative to the connecting rod; the orientation tool 3 includes a guide cylinder 301 and a tracer 302 having a predetermined position relationship with the guide cylinder 301, the guide cylinder 301 is used to be plugged into the sleeve 203, and the tracer 302 is used to determine the position and axial direction of the guide cylinder 301 and the sleeve 203.

[0032] It is easy to understand that the support arm 1 provides a stable support for the overall guide device, and the support arm 1 includes a fixed end 102 and a movable end 101. The fixed end 102 needs to be fixed in the operating space. For example, the fixed end 102 can be fixed to the side rail of the operating table by connecting with a side rail clamp. The side rail and the side rail clamp are both relatively mature existing technologies, so they are not described here. Of course, the fixed end of the support arm 1 can also be fixed in the operating space by screw connection, clamping, riveting, etc., which is not specifically limited here.

[0033] In some optional embodiments, the support arm 1 includes multiple rotatable joints, and the support arm also includes a locking switch 103, which is used to control the locking of each joint of the support arm 1 so that the support arm 1 can form a fixed posture to support the guide assembly. Figure 1 and Figure 4 The support arm 1 includes three sections of support rods and two sets of rotating joints connected between the three sections of support rods. The rotating joints can be spherical joints or other joints that can ensure the relative movement of the support rods. No specific limitation is made here. The locking switch 103 is a knob. The locking of each joint can be achieved by controlling the knob. The technology of locking each joint by the locking switch 103 is an existing technology, and its principle will not be repeated.

[0034] In some other optional embodiments, the support arm 1 may also be a mechanical arm capable of actively adjusting its posture. The support arm 1 may also be a traditional rod frame composed of multiple connecting rods, the relative position relationship between the connecting rods being independently adjustable.

[0035] The guide assembly 2 provides a direction-adjustable guide for the implantation of a guide needle, wherein the clamp 202 has a locked state and an unlocked state. In the locked state, the sleeve 203 is fixed relative to the connecting rod 201, and in the unlocked state, the sleeve 203 can be adjusted relative to the connecting rod 201 and then adjusted; the sleeve 203 with flexible direction adjustment is connected to the orientation tool 3 to provide accurate direction positioning for the guide needle, assisting doctors in performing precise surgery and facilitating operation.

[0036] like Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, Figure 2 The schematic diagram of the guide component and the orientation tool structure is shown in FIG. Figure 3 The schematic diagram of the guiding component structure is shown in Figure 1. Figure 5 is a schematic diagram of the clamp structure. Figure 6 The guide assembly 2 includes a connecting rod 201, a clamp 202 and a sleeve 203. The clamp 202 includes a clamping hoop 2021, a locking shaft 2022, a sleeve 2023 and a locking handle 2024. The locking shaft 2022 passes through the locking handle 2024, the clamping hoop 2021 and the sleeve 2023 in sequence.

[0037] In an optional embodiment, the clamp 2021 is sleeved on the connecting rod 201 and has a locking portion 2027 with an adjustable clamping degree. One end of the locking shaft 2022 is connected to the locking handle 2024, and the other end is provided with a limiting portion 2025. A clamping hole 2026 is opened on the sleeve 2023 in a direction perpendicular to the locking axis. In the locked state, the limiting portion 2025 and the clamping hole 2026 act relative to each other to fix the sleeve 203.

[0038] Continue to refer Figure 5 and Figure 6 The hoop 2021 may be an annular structure with an opening, and a sheet-shaped locking portion 2027 is extended outward from the opening of the annular structure, and there is a gap between the locking portions 2027. One end of the locking shaft 2022 is threadedly connected to the locking handle 2024, and the other end passes through the locking portion 2027 and the sleeve 2023 in sequence. The sleeve 2023 is a hollow cup, one end of which is close to the locking portion 2027, and the other end is provided with a through clamping hole 2026 in a direction perpendicular to the locking shaft 2022. A limiting portion 2025 is provided at one end of the locking shaft 2022 close to the clamping hole 2026, and the limiting portion 2025 may be a hole provided on the locking shaft 2022 or a step capable of axial limiting. When the sleeve 203 needs to be clamped, that is, when the clamp 202 is switched to the locked state, the sleeve 203 is inserted into the clamping hole 2026 and passed through the limiter 2025, and the locking handle 2024 is rotated in a first direction, and the locking shaft 2022 moves axially relative to the locking handle 2024, and the limiter 2025 and the two opposite surfaces of the clamping hole 2026 are pulled to clamp and fix the sleeve 203. Similarly, when the sleeve 203 needs to be loosened, that is, when the clamp 202 needs to be switched to the unlocked state, the locking handle 2024 is rotated in a second direction opposite to the first direction.

[0039] It is easy to understand that the locking handle 2024 is used to switch the locking state and the unlocking state of the clamp 202. In the unlocking state, the clamp 2021 can move or rotate relative to the connecting rod 201, the sleeve 2023 can rotate relative to the locking portion 2027, and the sleeve 203 can move or rotate relative to the clamping hole 2026; in the locked state, the sleeve 203 is fixed relative to the connecting rod 201. In other words, in the unlocked state, the sleeve 203 used to guide the guide needle can be adjusted in direction and position with multiple degrees of freedom, which is convenient for doctors to adjust the appropriate implantation direction and position of the guide needle as needed. When the position and direction of the sleeve 203 need to be fixed, it is only necessary to turn the locking handle 2024 to fix the activities of multiple degrees of freedom at the same time. The position and direction of the sleeve 203 can be flexibly adjusted to provide guidance for subsequent guide needle implantation, and it is also convenient for doctors to operate quickly.

[0040] In some optional embodiments, the contact surfaces of the locking portion 2027 and the sleeve 2023 are provided with mutually meshing protrusions for circumferentially fixing the locking portion 2027 and the sleeve 2023 when they are pressed. Specifically, the protrusions of the contact surfaces of the locking portion 2027 and the sleeve 2023 are distributed in an annular shape, so that when the sleeve 203 is fixed in the clamping hole 2026, once the direction of the sleeve 203 is determined, the meshing of the locking portion 2027 and the contact surface of the sleeve 2023 ensures the circumferential positioning of the locking portion 2027 and the sleeve 2023, so that the sleeve 203 will not rotate at this point during the guiding process, resulting in a change in the positioning direction of the sleeve 203.

[0041] In some optional embodiments, the sleeve 203 includes a clamping handle 2031 and a cylinder 2032. The length direction of the clamping handle 2031 intersects with the axial direction of the cylinder 2032. In the locked state, the clamping handle 2031 is inserted into the clamping hole 2026. For example, the direction of the clamping handle 2031 is perpendicular to the direction of the cylinder 2032 and has a certain length. Figure 2 As shown, when the sleeve 203 is clamped through the clamping hole 2026, the degree of freedom of adjusting the position of the sleeve 203 along the direction of the clamping handle 2031 is increased, and the problem of the size of the clamp 202 being too large caused by directly clamping the sleeve 203 is avoided. In addition, not clamping the sleeve 203 directly can also prevent the deformation of the sleeve 203 caused by clamping, further ensuring the accuracy of the guidance.

[0042] In some optional embodiments, a connection seat 2011 is provided at one end of the connecting rod 201, and the connection seat 2011 is connected to the movable end 101 of the support arm 1 by bolts. The movable end 101 is provided with a positioning column 1011, and a positioning hole 2012 for inserting the positioning column 1011 is provided on the connecting seat 2011. The positioning column 1011 and the positioning hole 2012 are used to enable the connecting rod 201 to be circumferentially positioned when connected to the movable end 101. Figure 3 and Figure 4 The connecting seat 2011 is plate-shaped, a threaded hole is provided in the middle of the connecting seat 2011, and two positioning holes 2012 are symmetrically provided on both sides of the threaded hole. The movable end of the support arm is provided with a bolt and a positioning column 1011 corresponding to the two positioning holes.

[0043] like Figure 7 As shown, Figure 7: is a structural diagram of an orientation tool, wherein the orientation tool 3 comprises a guide tube 301 and a tracer 302 having a predetermined positional relationship with the guide tube 301, wherein the guide tube 301 is used to be plugged into the sleeve 203, and the tracer is used to determine the position and axial direction of the guide tube 301 and the sleeve 203. The orientation tool 3 is also provided with a handle 303 for hand-holding the orientation tool. The outer periphery of the guide tube 301 matches the inner wall of the sleeve 203, and a through hole is axially provided inside the guide tube 301, and the through hole is used to guide the direction of the guide needle. When in use, the handle 303 of the handheld directional tool inserts the guide tube 301 into the sleeve 203. On the one hand, before the sleeve 203 is fixed, the handheld directional tool 3 can be inserted into the sleeve 203 to adjust the position and direction of the sleeve 203, which solves the problem that the space of the affected area is small and it is not easy to directly hold the sleeve 203 to adjust the direction and position; on the other hand, after the position and direction of the sleeve 203 are fixed, the guide tube 301 is inserted into the sleeve 203, and the through hole inside the guide tube 301 is used to guide the guide needle. The guidance of guide needles or other parts of different sizes can be met by replacing directional tools with different through hole sizes. It has strong versatility and is convenient for doctors to use.

[0044] Furthermore, if it is found that the direction of the guide needle after implantation is not ideal, it can also be adjusted through the guiding device of the present application. The specific steps are: unlock the clamp 202 to make the direction and position of the sleeve 203 adjustable; use the flexibility of the guide needle to place the direction of the guide needle in the ideal direction, and the sleeve 203 is sleeved on the guide needle to be consistent with the ideal direction; lock the clamp 202, at which time the direction of the sleeve 203 is the ideal direction for guiding the implantation of the guide needle; finally, remove the previously implanted guide needle and implant the guide needle in the new ideal direction.

[0045] In some optional embodiments, the orientation tool 3 is provided with a movable coupling portion, and the coupling portion is used to fix the orientation tool 3 with the sleeve 203 in the first state. For example, the coupling portion is an elastic contact circumferentially distributed between the guide cylinder 301 and the sleeve 203. Specifically, the elastic contact is composed of a spring and a ball, and the ball has a radial movable space. The elastic contact is provided on the sleeve 203 or the guide cylinder 301, and the one without the elastic contact is provided with a space for accommodating the elastic contact, such as an annular groove. In this way, when the guide cylinder 301 is inserted into the sleeve 203, the guide cylinder 301 and the sleeve 203 can be relatively fixed, which is convenient for adjusting the position and direction of the guide cylinder 301, and can free one hand when the guide needle is implanted after relative fixation.

[0046] In some optional embodiments, the number of the clamp 202 is multiple. Figure 1, as shown in the figure, there are two holders 202. In this way, it can not only meet the situation where two guide needles are required, but also provide a reference for the relative angle when the two guide needles are implanted, making the implantation of the guide needles more accurate. Of course, in other optional embodiments, the holders 202 can be three, four or more, which is not specifically limited here.

[0047] The present application also proposes a surgical system, including the guide device of the aforementioned embodiment, and also including: a positioning device for obtaining the position of the tracer 302. In this way, when performing surgery using the guide device, the position information of the sleeve and the orientation tool can be obtained through the positioning device, so as to facilitate the accurate determination of the position and direction of the implanted guide needle.

[0048] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0049] It should be noted that, in the embodiments of the present application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0050] In the description of the embodiments of the present application, it needs to 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 application 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 a limitation on the present application.

[0051] In the embodiments of the present application, 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 this application can be understood according to specific circumstances.

[0052] It should be understood that when describing the structure of a component, when a layer or a region is referred to as being "on" or "over" another layer or another region, it may mean that it is directly on the other layer or another region, or that other layers or regions are included between it and the other layer or another region. Moreover, if the component is turned over, the layer or a region will be "below" or "beneath" another layer or another region.

[0053] It should be understood that the term "and / or" used in the embodiments of the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the embodiments of the present application generally indicates that the associated objects before and after are in an "or" relationship.

[0054] In the description of the embodiments of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the embodiments of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0055] Although the present application has been described in detail above with general descriptions and specific implementation schemes, it is obvious to those skilled in the art that some modifications or improvements can be made to the present application. Therefore, these modifications or improvements made without departing from the spirit of the present application are within the scope of protection claimed in the present application.

Claims

1. A guiding device, characterized in that: include: A support arm, comprising a fixed end and a movable end; The guide assembly comprises a connecting rod, a clamp and a sleeve, wherein the connecting rod is connected to the movable end, the first end of the clamp is connected to the connecting rod, and the second end is used to clamp the sleeve, and the clamp has a locked state and an unlocked state, wherein in the locked state, the sleeve is fixed relative to the connecting rod, and in the unlocked state, the sleeve can adjust its direction relative to the connecting rod; An orientation tool comprises a guide tube and a tracer having a predetermined position relationship with the guide tube, wherein the guide tube is used for being plugged into the sleeve, and the tracer is used for determining the position and axial direction of the guide tube and the sleeve.

2. The guide device according to claim 1, characterized in that: The clamp comprises a clamp, a locking shaft, a shaft sleeve and a locking handle, and the locking shaft passes through the locking handle, the clamp and the shaft sleeve in sequence.

3. The guide device according to claim 2, characterized in that: The locking handle is used to switch between the locking state and the unlocking state. In the unlocking state, the clamp can move or rotate relative to the connecting rod, the sleeve can rotate relative to the locking part, and the sleeve can move or rotate relative to the clamping hole; in the locking state, the sleeve is fixed relative to the connecting rod.

4. The guide device according to claim 2, characterized in that: The clamp is sleeved on the connecting rod and has a locking portion with an adjustable clamping degree. One end of the locking shaft is connected to the locking handle, and the other end is provided with a limiting portion. A clamping hole is opened on the sleeve in a direction perpendicular to the locking shaft. In the locked state, the limiting portion and the clamping hole act relative to each other to fix the sleeve.

5. The guide device according to claim 4, characterized in that: The contact surfaces of the locking portion and the shaft sleeve are provided with mutually engageable protrusions for circumferentially fixing the locking portion and the shaft sleeve when they are compressed.

6. The guide device according to claim 4, characterized in that: The sleeve comprises a clamping handle and a cylinder body, the length direction of the clamping handle intersects with the axial direction of the cylinder body, and in the locking state, the clamping handle is inserted into the clamping hole.

7. The guide device according to claim 1, characterized in that: A connecting seat is provided at one end of the connecting rod, and the connecting seat is connected to the movable end of the support arm by bolts. The movable end is provided with a positioning column, and a positioning hole for inserting the positioning column is provided on the connecting seat. The positioning column and the positioning hole are used to enable circumferential positioning of the connecting rod when connected to the movable end.

8. The guide device according to claim 1, characterized in that: The support arm includes a plurality of rotatable joints, and the support arm also includes a locking switch, and the locking switch is used to control the locking of each joint of the support arm so that the support arm can form a fixed posture to support the guide assembly.

9. The guide device according to claim 1, characterized in that: The outer periphery of the guide cylinder matches the inner wall of the sleeve, and a through hole is axially arranged inside the guide cylinder, and the through hole is used to guide the direction of the guide needle.

10. The guide device according to claim 1, characterized in that: The orientation tool is provided with a movable coupling portion, and the coupling portion is used to fix the orientation tool and the sleeve in a first state.

11. The guide device according to claim 1, characterized in that: The number of the clamps is multiple.

12. A surgical system, characterized in that: The guide device according to any one of claims 1 to 11 further comprises: A positioning device is used to obtain the position of the tracer.

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