Osteotomy guide and osteotomy apparatus

Abstract

The application relates to an osteotomy guide and an osteotomy device. The osteotomy guide comprises a hinge part and an extension part, the hinge part is hinged with the extension part to form a first hinge axis, and the hinge part is hinged with an osteotomy guide plate part to form a second hinge axis. The extension part comprises a first extension part and a second extension part. The first extension part is movably arranged through the fixed part. The swing angle adjusting part comprises a swing angle adjusting knob, a swing angle adjusting rod and a swing angle connecting piece. The swing angle adjusting knob is installed on the second extension part and can rotate around the first hinge axis. The swing angle adjusting rod is parallel to the first hinge axis and is matched with a swing groove. The swing angle connecting piece connects the swing angle adjusting rod and the swing angle adjusting knob. The inclination angle adjusting part is installed on the hinge part and can move perpendicularly to the second hinge axis. The osteotomy guide plate part comprises an osteotomy guide plate, an inclination angle adjusting rod and an inclination angle connecting piece. The inclination angle adjusting rod is parallel to the second hinge axis, is connected with the osteotomy guide plate through the inclination angle connecting piece and is correspondingly matched with an inclination angle groove of the osteotomy guide plate.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an osteotomy guide and osteotomy device. Background Technology

[0002] In related technologies, with the increasingly serious aging of the population, a large number of patients need spinal trauma surgery every year due to joint wear and tear, accidental injuries, and other reasons. Traditional orthopedic surgery typically involves doctors using conventional surgical instruments.

[0003] In orthopedic surgery, to ensure precise and stable osteotomy placement and prevent the amount of bone removed from exceeding the predetermined range, an osteotomy guide structure is typically used to define the osteotomy area before the procedure is performed on the affected area. The osteotomy guide then needs to be adjusted to accommodate the osteotomy operation targeting the affected area. However, existing methods suffer from limitations in the structural design itself, resulting in a relatively small adjustment range for the osteotomy guide. Summary of the Invention

[0004] To address the aforementioned problems, according to a first aspect of the embodiments of this application, an osteotomy guide is provided, comprising: an osteotomy guide plate portion, a telescopic portion, a fixing portion, a hinge portion, an inclination adjustment portion, and a swing angle adjustment portion;

[0005] The hinge portion is hinged to the telescopic portion, forming a first hinge axis that rotates around each other; the first hinge axis is aligned with the depth direction of the osteotomy groove of the osteotomy guide plate portion; the hinge portion is hinged to the osteotomy guide plate portion, forming a second hinge axis that rotates around each other; the second hinge axis is aligned with the length direction of the osteotomy groove of the osteotomy guide plate portion.

[0006] The fixing part is used to keep the osteotomy guide fixed relative to other structures of the osteotomy guide; the telescopic part includes a first telescopic part and a second telescopic part; the first telescopic part passes through the fixing part and is movable relative to the fixing part in the direction of passing through the fixing part;

[0007] The swing angle adjustment part includes a swing angle adjustment knob, a swing angle adjustment rod, and a swing angle connector; the swing angle adjustment knob is installed on the second telescopic part and can rotate around the first hinge axis; the hinge part is provided with a swing groove; the swing angle adjustment rod is parallel to the first hinge axis and cooperates with the swing groove; the swing angle connector connects the swing angle adjustment rod and the swing angle adjustment knob;

[0008] The tilt adjustment part is installed on the hinge part; the tilt adjustment part can move relative to the hinge part in a direction perpendicular to the second hinge axis; the tilt adjustment part is provided with a tilt groove; the osteotomy guide plate part includes an osteotomy guide plate, a tilt adjustment rod and a tilt connection member, the tilt adjustment rod is parallel to the second hinge axis, and the tilt connection member connects the tilt adjustment rod and the osteotomy guide plate; the osteotomy guide plate is provided with the osteotomy groove; the tilt adjustment rod and the tilt groove are correspondingly engaged.

[0009] As can be seen from the above embodiments, the osteotomy guide can simultaneously increase the adjustment range of the tilt angle, swing angle and extension of the osteotomy guide plate, and can also be adjusted more quickly through various adjustment structures according to actual needs, or the adjustment range of some or all adjustment structures can be adjusted more quickly.

[0010] According to a second aspect of the embodiments of this application, an osteotomy device is provided, including any of the aforementioned osteotomy guides;

[0011] The osteotomy device also includes a movable robotic arm, the end of which can be used to mount a medical device; the robotic arm is used to drive the medical device mounted at its end; the fixing part of the osteotomy guide is mounted at the end of the robotic arm of the osteotomy device.

[0012] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0014] Figure 1 This is a schematic diagram of the structure of an osteotomy guide according to an embodiment of this application.

[0015] Figure 2 This is a right-side view of an osteotomy guide according to an embodiment of this application.

[0016] Figure 3 This is a left-side view of an osteotomy guide according to an embodiment of this application.

[0017] Figure 4 This is a schematic diagram of the structure of the hinge and telescopic part according to an embodiment of this application.

[0018] Figure 5 As shown in the embodiments of this application Figure 1 A sectional view along section line AA.

[0019] Figure 6 This is a cross-sectional view of another tilt adjustment section shown according to an embodiment of this application.

[0020] Figure 7 This is a cross-sectional view of another tilt adjustment section shown according to an embodiment of this application.

[0021] Figure 8 This is a schematic diagram of the swing angle adjustment part according to an embodiment of this application.

[0022] Figure 9 This is a schematic diagram of the structure of the swing angle limiting member according to an embodiment of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0024] In existing solutions, to effectively adjust the osteotomy guide to suit the osteotomy operation targeting the affected area, adjustment structures are typically added to the osteotomy guide. These could include an anterior-posterior tilt adjustment structure, an lateral tilt adjustment structure, a telescoping adjustment structure, or a combination of at least two of these adjustment structures. However, in existing structures that simultaneously adjust the tilt, lateral tilt, and telescoping of the osteotomy guide, the integration of these structures into a single component often results in a limited range of motion for the component, consequently limiting the overall adjustable range of the osteotomy guide. Therefore, the limited adjustment range of the osteotomy guide has become a pressing issue that needs to be addressed.

[0025] To address the aforementioned problems, this application provides an osteotomy guide 10. Figure 1 This is a schematic diagram of the osteotomy guide 10. Figure 1 As shown, the osteotomy guide 10 includes: an osteotomy guide plate 11, a telescopic part 12, a fixing part 13, a hinge part 14, an inclination adjustment part 15, and a swing angle adjustment part 16.

[0026] The hinge portion 14 is hinged to the telescopic portion 12, forming a first hinge axis D1 around which they rotate. The first hinge axis D1 is aligned with the depth direction of the osteotomy groove 111 of the osteotomy guide plate portion 11. The hinge portion 14 is hinged to the osteotomy guide plate portion 11, forming a second hinge axis D2 around which they rotate. Figure 2A right-side view of the osteotomy guide 10 is shown, with reference to... Figure 2 As shown, the second hinge axis D2 is aligned with the length direction of the osteotomy groove 111 of the osteotomy guide plate 11.

[0027] in, Figure 2 The diagram shows the first direction Y. The first direction Y is the depth direction of the osteotomy groove 111. The first hinge axis D1 is consistent with the depth direction of the osteotomy groove 111, that is, the first hinge axis D1 is consistent with the direction of the first direction Y, that is, the first hinge axis D1 extends along the first direction Y. After hinge, both the hinge part 14 and the telescopic part 12 can rotate around the first hinge axis D1. Similarly, Figure 1 The second direction X is shown. The second direction X is the length direction of the osteotomy groove 111. The second hinge axis D2 is consistent with the length direction of the osteotomy groove 111, that is, the second hinge axis D2 is consistent with the direction of the second direction X, that is, the second hinge axis D2 extends along the second direction X. After hinge, both the hinge part 14 and the osteotomy guide plate part 11 can rotate around the second hinge axis D2.

[0028] It should be noted that the aforementioned first hinge axis D1 aligns with the first direction Y, and the second hinge axis D2 aligns with the second direction X. However, it is not required that the first hinge axis D1 and the first direction Y be perfectly aligned, nor that the second hinge axis D2 and the second direction X be perfectly aligned; only a basic alignment is sufficient. For example, there can be an angle of less than or equal to 10 degrees between the first hinge axis D1 and the first direction Y, and between the second hinge axis D2 and the second direction X. However, this is not a limitation. The basic alignment of the first hinge axis D1 with the first direction Y and the second hinge axis D2 with the second direction X can be flexibly selected according to actual needs.

[0029] The fixing part 13 is used to keep the osteotomy guide 10 fixed relative to other structures of the osteotomy guide 10. The telescopic part 12 includes a first telescopic part 121 and a second telescopic part 122. The first telescopic part 121 passes through the fixing part 13 and is movable relative to the fixing part 13 in the direction of passing through the fixing part 13.

[0030] The fixing part 13 is used to keep the osteotomy guide 10 fixed relative to other structures. That is, when using the osteotomy guide 10, the tilt angle, swing angle and extension amount can be adjusted with the fixing part 13 as the reference by fixing the fixing part 13 to other reference structures, such as the robotic arm of the surgical robot, or by directly holding the fixing part 13.

[0031] and, Figure 1 and Figure 2The diagram also shows a third direction Z. The third direction Z is the direction through the fixed part 13. The first telescopic part 121 can move relative to the fixed part 13 along the direction through the fixed part 13, that is, the first telescopic part 121 can move relative to the fixed part 13 along the third direction Z. By moving the first telescopic part 121 along the third direction Z, the hinge part 14, which is hinged to the telescopic part 12, can be driven, and in turn, the osteotomy guide plate 112, which is hinged to the hinge part 14, can be driven, thereby adjusting the telescopic amount of the osteotomy guide plate 112.

[0032] refer to Figure 8 The schematic diagram shown illustrates the structure of the swing angle adjustment unit 16, which includes a swing angle adjustment knob 161, a swing angle adjustment rod 162, and a swing angle connector 163. The swing angle adjustment knob 161 is mounted on the second telescopic part 122 and can rotate around the first hinge axis D1. The hinge part 14 is provided with a swing groove 141. The swing angle adjustment rod 162 is parallel to the first hinge axis D1 and engages with the swing groove 141. The swing angle connector 163 connects the swing angle adjustment rod 162 and the swing angle adjustment knob 161.

[0033] The tilt adjustment knob 161 is rotatable around the first hinge axis D1, meaning it can rotate about the first hinge axis D1 as its axis of rotation. The tilt adjustment rod 162 cooperates with the swing groove 141, meaning it can be installed in the swing groove 141 and rotate about the first hinge axis D1 within it. When the tilt adjustment knob 161 is rotated, it rotates around the first hinge axis D1, thereby driving the tilt connector 163 to rotate. The rotation of the tilt connector 163 then drives the tilt adjustment rod 162 to rotate around the tilt adjustment knob 161. Furthermore, through the cooperation between the swing angle adjustment rod 162 and the swing groove 141, the rotation of the swing angle adjustment knob 161 drives the movement of the hinge part 14 through the swing groove 141, causing the hinge part 14 to rotate around the first hinge axis D1, and through the hinge part 14, it drives the osteotomy guide plate 112 that is hinged to it, so as to realize the adjustment of the swing angle of the osteotomy guide plate 112.

[0034] Furthermore, the tilt adjustment knob 161, the tilt adjustment rod 162, and the tilt connector 163 can be integrally formed into the tilt adjustment part 16, but are not limited thereto. At least one of the tilt adjustment knob 161, the tilt adjustment rod 162, and the tilt connector 163 can also be formed as a separate part and then assembled with other structures to form the tilt adjustment part 16.

[0035] An angle adjustment part 15 is mounted on the hinge part 14. The angle adjustment part 15 can move relative to the hinge part 14 in a direction perpendicular to the second hinge axis D2. The angle adjustment part 15 is provided with an angle groove 151. The osteotomy guide plate part 11 includes an osteotomy guide plate 112, an angle adjustment rod 113, and an angle connector 114. The angle adjustment rod 113 is parallel to the second hinge axis D2, and the angle connector 114 connects the angle adjustment rod 113 and the osteotomy guide plate 112. The osteotomy guide plate 112 is provided with an osteotomy groove 111. The angle adjustment rod 113 and the angle groove 151 are correspondingly engaged.

[0036] It should be noted that when the first hinge axis D1 is completely aligned with the first direction Y and the second hinge axis D2 is completely aligned with the second direction X, the first hinge axis D1 and the second hinge axis D2 are perpendicular. In this case, the tilt adjustment unit 15 moves in a direction perpendicular to the second hinge axis D2, which means it can move in the direction of the first hinge axis D1. However, when the first hinge axis D1 and the second hinge axis D2 are not perpendicular, the tilt adjustment unit 15 moves in a direction perpendicular to the second hinge axis D2, not in the direction of the first hinge axis D1.

[0037] When the tilt adjustment unit 15 moves in a direction perpendicular to the second hinge axis D2, the tilt groove 151 provided on it also moves accordingly. Thus, through the cooperation between the tilt groove 151 and the tilt adjustment rod 113, the tilt adjustment unit 15 drives the tilt adjustment rod 113 to move. After the tilt adjustment rod 113 moves, it drives the osteotomy guide plate 112 through the tilt connector 114, causing the osteotomy guide plate 112 to rotate around the second hinge axis D2, thereby adjusting the tilt angle of the osteotomy guide plate 112.

[0038] In the foregoing embodiments, the hinge portion 14 is hinged to the osteotomy guide plate portion 11, which can be referred to as Figure 2 and Figure 3 The following are two side views of the osteotomy guide 10, in which... Figure 3 The diagram shows a left-side view of the osteotomy guide 10. The hinge portion 14 may have a hinge hole extending through it along the second direction X. The osteotomy guide plate portion 11 may include an opening portion 115 extending along the third direction Z. Two opening portions 115 may be provided, and they may be located on either side of the osteotomy guide plate 112 along the second direction X. The space between the two opening portions 115 is adapted to accommodate the portion of the hinge portion 14 with the hinge hole. Each opening portion 115 has a hinge hole located on the same axis along the second direction X. When the portion of the hinge portion 14 with the hinge hole is placed between the opening portions 115, the hinge hole on the opening portion 115 and the hinge hole on the hinge portion 14 are located on the same axis. The hinge portion 14 and the osteotomy guide plate portion 11 are then hinged by a hinge member 20 provided within the hinge hole.

[0039] Furthermore, based on the opening portion 115 provided on the osteotomy guide plate 112, the tilt connector 114 can also extend from the opening portion 115 and connect the opening portion 115 with the tilt adjustment rod 113.

[0040] The hinge 14 is hinged to the telescopic part 12, and can be as follows: Figure 1 and Figure 2 As shown, and with reference Figure 4 The schematic diagram shown illustrates the structure of the hinge portion 14 and the telescopic portion 12. The hinge portion 14 has a through hole extending through it in the first direction Y, and the second telescopic portion 122 has a corresponding through hole extending through it in the first direction Y. The hinge portion 14 and the telescopic portion 12 are hinged by correspondingly fitting the through holes and providing a hinge member 20 in the through hole.

[0041] With the aforementioned configuration, the tilt angle of the osteotomy guide plate 112 can be adjusted via the tilt angle adjustment unit 15, the swing angle of the osteotomy guide plate 112 can be adjusted via the swing angle adjustment unit 16, and the extension and retraction of the osteotomy guide plate 112 can be adjusted via the fixing unit 13 and the first telescopic unit 121. The tilt angle adjustment unit 15 moves along a direction perpendicular to the second hinge axis D2 to ultimately change the tilt angle of the osteotomy guide plate 112. The way the tilt angle adjustment unit 15 moves in the direction perpendicular to the second hinge axis D2 effectively increases its adjustment range through a longer movement distance in that direction. The swing angle adjustment unit 16, through the swing angle connector 163, effectively lengthens the distance between the swing angle adjustment knob 161 and the swing angle adjustment rod 162, effectively increasing the adjustment range of the swing angle adjustment unit 16.

[0042] Furthermore, since the tilt adjustment part 15 is installed on the hinge part 14 and is directly associated with the osteotomy guide part 11 and the hinge part 14 that are hinged to each other, and the swing angle adjustment part 16 is installed on the second telescopic part 122 and is directly associated with the telescopic part 12 and the hinge part 14 that are hinged to each other, and the first telescopic part 121 is installed on the fixing part 13, it is possible to effectively avoid mutual interference between the various adjustment structures, and also to avoid affecting the adjustment range of other structures when adjusting the adjustment range of some adjustment structures. As a result, it is possible to adjust more quickly through the various adjustment structures according to actual needs, or to adjust the adjustment range of some or all adjustment structures more quickly.

[0043] Therefore, according to the aforementioned embodiments, while simultaneously increasing the adjustment range of the tilt angle, swing angle and extension amount of the osteotomy guide plate 112 through the osteotomy guide 10, adjustments can be made more quickly through each adjustment structure according to actual needs, or the adjustment range of some or all adjustment structures can be adjusted more quickly.

[0044] In some embodiments, Figure 5 What is shown is Figure 1A sectional view along section line AA. (e.g.) Figure 5 As shown in the figures and with reference to other accompanying drawings, the tilt adjustment unit 15 includes a tilt adjustment knob 152 and a threaded portion 153 that are fixedly connected. The tilt adjustment knob 152 is used to drive other structures of the tilt adjustment unit 15 to adjust the tilt angle of the osteotomy guide 10.

[0045] The hinge portion 14 is provided with an angle adjustment hole 142 corresponding to the angle adjustment portion 15. At least a portion of the inner wall of the angle adjustment hole 142 is provided with a thread corresponding to the threaded portion 153, and is used to cooperate with the threaded portion 153.

[0046] Specifically, at least a portion of the inner wall of the tilt adjustment hole 142 is threaded corresponding to the threaded portion 153. This can be achieved by having threads on the entire inner wall of the tilt adjustment hole 142, or only on a portion of the inner wall. The threads on the inner wall of the tilt adjustment hole 142 engage with the threads of the threaded portion 153. Thus, when the tilt adjustment knob 152 is rotated, it causes the fixedly connected threaded portion 153 to rotate as well. As the threaded portion 153 rotates, the tilt adjustment knob 152 moves in a direction perpendicular to the second hinge axis D2 via the corresponding threads on the tilt adjustment hole 142. When the tilt adjustment knob 152 moves up and down, it drives the tilt adjustment rod 113 and the tilt connector 114 via the tilt groove 151, thereby adjusting the tilt angle of the osteotomy guide plate 112.

[0047] The surface of the tilt adjustment knob 152 is provided with multiple tilt fixing grooves 1521 arranged in an array extending along the extension direction of the tilt adjustment knob 152. The hinge portion 14 is provided with a tilt limiting structure 143, which extends along the extension direction of the tilt adjustment knob 152 and is positioned opposite to the tilt fixing grooves 1521. A limiting pin 17 is provided within the tilt limiting structure 143, and the limiting pin 17 can move in the direction toward the tilt adjustment knob 152. The limiting pin 17 is used to fix and engage with the tilt fixing grooves 1521 after movement.

[0048] The tilt angle limiting structure 143 extends along the extension direction of the tilt angle adjusting knob 152, that is, the tilt angle limiting structure 143 extends from the hinge portion 14 along the first direction Y. The tilt angle fixing groove 1521 is arranged opposite to the tilt angle limiting structure 143, that is, the tilt angle fixing groove 1521 is in the third direction Z and faces the tilt angle limiting structure 143.

[0049] Furthermore, the limiting pin 17 can move in the direction toward the tilt adjustment knob 152, that is, after the limiting pin 17 moves toward the tilt adjustment knob 152, it partially extends out of the tilt limiting structure 143. By having the portion of the limiting pin 17 extending out of the tilt limiting structure 143 cooperate with the tilt fixing groove 1521, the rotational freedom of the tilt adjustment knob 152 is limited, thereby fixing the tilt angle of the osteotomy guide plate 112.

[0050] According to the aforementioned embodiment, when the tilt adjustment knob 152 is rotated to a specific position, the tilt adjustment knob 152 can be fixed by the movement of the limiting pin 17. Thus, compared with the general solution of using a spring to increase damping to achieve soft fixation, the tilt angle of the osteotomy guide plate 112 can be effectively fixed. In addition, the shaking of the osteotomy guide plate 112 during osteotomy can be effectively reduced or even avoided, thereby improving the osteotomy accuracy of the osteotomy guide 10.

[0051] In some embodiments, the aforementioned tilt adjustment part 15 is based on a thread. For example... Figure 5 As shown in the figures and with reference to other accompanying drawings, the tilt adjustment unit 15 also includes a linkage unit 154. The linkage unit 154 is provided with a tilt groove 151. The linkage unit 154 is fixedly connected to the threaded portion 153 and is located on the side of the threaded portion 153 away from the tilt adjustment knob 152. The tilt groove 151 surrounds the linkage unit 154.

[0052] Since the tilt adjustment part 15 moves in a direction perpendicular to the second hinge axis D2 by engaging the thread of the threaded part 153 with the thread on the inner wall of the tilt adjustment hole 142, the tilt adjustment part 151 can move around the linkage part 154 during the rotation of the tilt adjustment part 15. Therefore, the part of the tilt adjustment rod 113 located in the tilt adjustment part 151 will not affect the rotation of the tilt adjustment part 15. Thus, compared with the general solution of using a spring to increase damping to achieve soft fixation, the tilt angle of the osteotomy guide plate 112 can be effectively fixed. Furthermore, the shaking of the osteotomy guide plate 112 during osteotomy can be effectively reduced or even avoided, thereby improving the osteotomy accuracy of the osteotomy guide 10.

[0053] In some embodiments, reference Figure 6 A cross-sectional view of another tilt adjustment unit 15 is shown. (See figure) Figure 6 As shown, the tilt adjustment unit 15 includes a tilt adjustment knob 152, a tilt threaded portion 155, and a linkage portion 154. The tilt adjustment knob 152 is fixedly connected to the tilt threaded portion 155 and is used to drive other structures of the tilt adjustment unit 15 to adjust the tilt angle of the osteotomy guide 10. The cross-sectional diameter of the tilt threaded portion 155 is smaller than the cross-sectional diameter of the linkage portion 154. The linkage portion 154 is provided with a tilt groove 151.

[0054] The linkage part 154 is provided with an angled threaded hole corresponding to the angled threaded part 155, and the inner wall of the angled threaded hole is provided with a thread corresponding to the angled threaded part 155. The threads of the angled threaded part 155 and the angled threaded hole are mutually engaged.

[0055] The surface of the tilt adjustment knob 152 is provided with multiple tilt fixing grooves 1521 arranged in an array extending along the extension direction of the tilt adjustment knob 152. The hinge portion 14 is provided with a tilt limiting structure 143, which extends along the extension direction of the tilt adjustment knob 152 and is positioned opposite to the tilt fixing grooves 1521. A limiting pin 17 is provided within the tilt limiting structure 143, and the limiting pin 17 can move in the direction toward the tilt adjustment knob 152. The limiting pin 17 is used to fix and engage with the tilt fixing grooves 1521 after movement.

[0056] The inclined threaded portion 155 engages with the inclined threaded hole, and during the rotation of the inclined adjustment knob 152, the rotational freedom of the linkage portion 154 is limited, allowing the linkage portion 154 to move relative to the inclined threaded portion 155 in a direction perpendicular to the second hinge axis D2. In other words, the linkage portion 154 moves along the inclined threaded portion 155 in a direction perpendicular to the second hinge axis D2 through the action of the thread. At this time, the position of the inclined adjustment knob 152 in the direction perpendicular to the second hinge axis D2 does not change during rotation.

[0057] The rotational freedom of the linkage 154 during the rotation of the tilt adjustment knob 152 can be limited, as described later, by providing a tilt groove 151 in the linkage 154 whose cross-section is adapted to the cross-section of the tilt adjustment rod 113. The rotational freedom of the linkage 154 is limited by the cooperation between the tilt adjustment rod 113 and the tilt groove 151. However, in other embodiments, the rotational freedom of the linkage 154 can be limited not only by the cooperation between the tilt adjustment rod 113 and the tilt groove 151. For example, the rotational freedom of the linkage 154 can be limited by having the hinge 14 enclose the linkage 154, and by providing a corresponding hole in the hinge 14 with a cross-section adapted to the linkage 154 and in contact with the linkage 154 (e.g., a rectangular cross-section and a semi-circular cross-section).

[0058] After the tilt adjustment part 15 is moved to a specific position, the tilt limit structure 143 can be partially extended to allow the partial limiting pin 17 of the tilt limit structure 143 to cooperate with the tilt fixing groove 1521, thereby limiting the degree of freedom of movement of the tilt adjustment knob 152 and fixing the tilt angle of the osteotomy guide plate 112.

[0059] According to the aforementioned embodiment, when the tilt adjustment knob 152 is moved to a specific position, the tilt adjustment knob 152 can be fixed by the movement of the limiting pin 17. Furthermore, since the position of the tilt adjustment knob 152 in the direction perpendicular to the second hinge axis D2 does not change during rotation, the overall movement space required for the tilt adjustment part 15 after rotation is also small. Therefore, while adjusting the tilt angle of the osteotomy guide 10 with a smaller space occupation, compared to the general solution of using springs to increase damping for soft fixation, the tilt angle of the osteotomy guide plate 112 can be effectively fixed. This effectively reduces or even avoids the wobbling of the osteotomy guide plate 112 during osteotomy, thereby improving the osteotomy accuracy of the osteotomy guide 10.

[0060] In some embodiments, reference Figure 7 A cross-sectional view of another tilt adjustment unit 15 is shown. (See figure) Figure 7 As shown, the tilt adjustment unit 15 includes a tilt adjustment knob 152 and a linkage unit 154 fixedly connected. The tilt adjustment knob 152 is used to drive other structures of the tilt adjustment unit 15 to adjust the tilt angle of the osteotomy guide 10. The linkage unit 154 is provided with a tilt groove 151.

[0061] The surface of the tilt adjustment knob 152 is provided with multiple tilt fixing grooves 1521 arranged in an array around the tilt adjustment knob 152 and in the extending direction of the tilt adjustment knob 152. The hinge portion 14 is provided with a tilt limiting structure 143, which extends along the extending direction of the tilt adjustment knob 152 and is positioned opposite to the tilt fixing grooves 1521. A limiting pin 17 is provided within the tilt limiting structure 143, and the limiting pin 17 can move in the direction toward the tilt adjustment knob 152. The limiting pin 17 is used to fix and engage with the tilt fixing grooves 1521 after movement.

[0062] The tilt adjustment knob 152 has multiple tilt fixing grooves 1521 surrounding it. Figure 7 The multiple tilt angle fixing grooves 1521 shown all surround the tilt angle adjusting knob 152. Moreover, the tilt angle fixing grooves 1521 surrounding the tilt angle adjusting knob 152 are arranged along the first direction Y on the surface of the tilt angle adjusting knob 152.

[0063] The tilt adjustment part 15 moves directly in a direction perpendicular to the second hinge axis D2. After the tilt adjustment part 15 moves to a specific position, the partially extended tilt limit structure 143 can be used to make the partially extended limit pin 17 of the tilt limit structure 143 cooperate with the tilt fixing groove 1521, thereby limiting the degree of freedom of movement of the tilt adjustment knob 152, and thus fixing the tilt angle of the osteotomy guide plate 112.

[0064] According to the aforementioned embodiment, when the tilt adjustment knob 152 is moved to a specific position, the tilt adjustment knob 152 can be fixed by the movement of the limiting pin 17. Thus, compared with the general solution of using a spring to increase damping to achieve soft fixation, the tilt angle of the osteotomy guide plate 112 can be effectively fixed. In addition, the shaking of the osteotomy guide plate 112 during osteotomy can be effectively reduced or even avoided, thereby improving the osteotomy accuracy of the osteotomy guide 10.

[0065] In some embodiments, based on the aforementioned tilt adjustment knob 152 having multiple tilt fixing grooves 1521 surrounding the tilt adjustment knob 152, such as... Figure 7 As shown, the tilt adjustment unit 15 also includes a linkage unit 154. The linkage unit 154 is provided with a tilt groove 151. The linkage unit 154 is fixedly connected to the threaded part 153 and is located on the side of the threaded part 153 away from the tilt adjustment knob 152. The tilt groove 151 extends from the surface of the linkage unit 154 into the linkage unit 154, and the cross-section of the tilt groove 151 is adapted to the cross-section of the tilt adjustment rod 113.

[0066] The tilt groove 151 extends from the surface of the linkage 154 into the linkage 154, and the cross-section of the tilt groove 151 is adapted to the cross-section of the tilt adjustment rod 113, so that the portion of the tilt adjustment rod 113 located in the tilt groove 151 can cooperate with the tilt groove 151. When the tilt adjustment part 15 moves in a direction perpendicular to the second hinge axis D2, the cooperation between the tilt adjustment rod 113 and the tilt groove 151 can limit the rotational freedom of the tilt adjustment part 15, thereby avoiding unnecessary rotation of the tilt adjustment part 15 during the adjustment process, which would affect the tilt adjustment of the osteotomy guide 10. Therefore, through the above embodiment, compared with the general scheme of using a spring to increase damping to achieve soft fixation, the tilt angle of the osteotomy guide 112 can be fixed better, thereby reducing or even avoiding the shaking of the osteotomy guide 112 during osteotomy, thus improving the osteotomy accuracy of the osteotomy guide 10.

[0067] In some embodiments, such as Figure 5 and Figure 7 As shown and with reference to other accompanying drawings, the linkage portion 154 of the tilt adjustment unit 15 can be located within the hinge portion 14. By providing a tilt hole 144 in the portion of the hinge portion 14 corresponding to the tilt adjustment rod 113 and the tilt groove 151, the tilt adjustment rod 113 extends through the tilt hole 144 into the hinge portion 14 and then into the tilt groove 151, thus achieving a fit between the tilt adjustment rod 113 and the tilt groove 151. Furthermore, the diameter of the tilt hole 144 is adapted to the range of the tilt adjustment unit 15, that is, the diameter of the tilt hole 144 corresponds to the movement distance of the tilt adjustment unit 15 in the direction perpendicular to the second hinge axis D2.

[0068] It should be noted that the above is only one feasible relative relationship between the hinge part 14, the tilt adjustment rod 113, and the tilt adjustment part 15. However, in other embodiments, it is not limited to this. The part of the linkage part 154 with the tilt groove 151 can extend out of the hinge part 14. The tilt adjustment rod 113 extends directly into the tilt groove 151 outside the hinge part 14 to achieve cooperation with the tilt groove 151.

[0069] In some embodiments, based on any of the aforementioned tilt adjustment section 15 configurations, such as... Figure 5 and Figure 7 As shown in the figure and with reference to other accompanying drawings, the tilt limit structure 143 is provided with a limit pin hole 1431. The limit pin 17 is located within the limit pin hole 1431.

[0070] An elastic element 18 is provided between the limiting pin 17 and the limiting pin hole 1431. The limiting pin 17 includes a first pin segment 171 and a second pin segment 172, the diameter of the first pin segment 171 being larger than the diameter of the second pin segment 172. The elastic element 18 abuts against the first pin segment 171, and its other end abuts against the bottom of the limiting pin hole 1431. The first pin segment 171 can extend out of the tilt angle limiting structure 143 in the direction toward the tilt angle adjustment knob 152 and cooperate with the tilt angle fixing groove 1521. The second pin segment 172 extends into the elastic element 18.

[0071] Compared to the general method of using spring clips to increase damping for soft fixation, this design can effectively fix the tilt angle of the osteotomy guide plate 112, thereby effectively reducing or even avoiding the shaking of the osteotomy guide plate 112 during osteotomy, thus improving the osteotomy accuracy of the osteotomy guide 10.

[0072] In some embodiments, Figure 9 The diagram shown is a structural schematic of the swing angle limiting component 19. (See attached diagram.) Figure 1 , Figure 2 , Figure 8 and Figure 9 As shown in the figure and with reference to other accompanying drawings, the osteotomy guide 10 also includes a swing angle limiter 19. The swing angle limiter 19 is mounted on the second telescopic part 122 and is movable along the first hinge axis D1.

[0073] The sway angle connector 163 includes a sway angle connecting plate 164 with at least a partially arc-shaped edge. At least a portion of the arc-shaped edge of the sway angle connecting plate 164 is a gear structure. The sway angle limiting member 19 includes a limiting base 191, a limiting adjustment knob 192, and a limiting protrusion 193. The limiting adjustment knob 192 is used to drive the sway angle limiting member 19 to move as a whole. The limiting adjustment knob 192 and the limiting protrusion 193 are located on the same side of the limiting base 191. The limiting protrusion 193 is used to mesh with the gear structure of the sway angle connecting plate 164 after the sway angle limiting member 19 moves toward the sway angle connecting plate 164.

[0074] Wherein, the sway angle connector 163 is a sway angle connector plate 164 with at least a portion of its edges curved. Specifically, the sway angle connector plate 164 can have a portion of its edges curved, i.e., the sway angle connector plate 164 can be as follows: Figure 8 The diagram shows a semi-circular structure, but it is not limited to this in other embodiments. The corner connecting plate 164 may also have all its edges curved.

[0075] Furthermore, the swing angle limiting member 19 includes a limiting base 191, a limiting adjustment knob 192, and a limiting protrusion 193. The limiting base 191, the limiting adjustment knob 192, and the limiting protrusion 193 can be integrally formed to form the swing angle limiting member 19, but it is not limited to this. It is also possible that any at least two of the aforementioned parts are integrally formed and then assembled with other parts to form the swing angle limiting member 19. Alternatively, all parts can be formed separately and then assembled to form the swing angle limiting member 19.

[0076] According to the aforementioned settings, when the swing angle adjustment knob 161 is rotated to the desired position, the swing angle connecting plate 164 connected to the swing angle adjustment knob 161 also rotates to the fixed position. At this time, the swing angle limiting member 19 is moved so that the limiting tip 193 engages with the teeth of the swing angle connecting plate 164 to fix the position of the swing angle adjustment knob 161. Thus, compared with the general solution of using a spring to increase damping to achieve soft fixation, the swing angle of the osteotomy guide plate 112 can be effectively fixed. In addition, the shaking of the osteotomy guide plate 112 during osteotomy can be effectively reduced or even avoided, thereby improving the osteotomy accuracy of the osteotomy guide 10.

[0077] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 9As shown, the limiting base 191 may include a first limiting base portion 1911 and a second limiting base portion 1912. The second limiting base portion 1912 is located on the side of the first limiting base portion 1911 facing away from the limiting adjustment knob 192. Among them, the cross-section of the first limiting base portion 1911 may be a "convex" shape structure for limiting the rotational freedom of the limiting base 191, and a limiting convex 193 is provided at the convex part of the "convex" shape. The second limiting base portion 1912 may be a cylinder with a diameter smaller than the larger part of the "convex" shape structure, or may also have the same cross-sectional shape as the first limiting base portion 1911, but is not limited thereto.

[0078] On the second telescopic portion 122, swing angle limiting mounting holes 1221 with the same cross-sectional shape are provided corresponding to the first limiting base portion 1911 and the second limiting base portion 1912 for mounting the swing angle limiting member 19. And an elastic member is provided in the swing angle limiting mounting hole 1221 to make the swing angle limiting member 19 move towards the swing angle connecting plate 164 and engage with the teeth on the edge of the swing angle connecting plate 164. During the process of adjusting the swing angle adjusting portion 16, the limit of the swing angle adjusting portion 16 by the swing angle limiting member 19 can be contacted by pressing down the swing angle limiting member 19. Or, both the swing angle limiting member 19 and the swing angle limiting mounting hole 1221 may be provided with helical tooth structures.配合弹性件设置在摆角限位安装孔1221内,实现按压摆角限位件19一次后,摆角限位件19上的斜齿与摆角限位安装孔1221上的斜齿相啮合,以保持解除摆角限位件19对摆角调节部16的限位。在完成摆角调整后,再次按压摆角限位件1解除斜齿间的啮合实现释放摆角限位件19,以使摆角限位件19对摆角调节部16进行限位。

[0079] In some embodiments, as Figure 4 shown, the second telescopic portion 122 is further provided with a swing angle ball hole 1222. An elastic member and a swing angle ball are provided in the swing angle ball hole 1222. The elastic member applies force to the swing angle ball to make it abut against the teeth of the swing angle connecting plate 164.由于摆角弹球结构与齿的啮合不稳定,可以在较为容易旋转摆角调节部16的同时,使摆角弹球与齿的啮合施加一定阻尼。通过摆角弹球与齿间的不稳定啮合,实现在每次进行摆角调节时,摆角调节板164可以根据其齿间隙,较为容易移动整数倍的齿间隙的长度,并通过摆角弹球与齿的啮合提供一定的阻尼,从而,可以进一步增加调节时的手感与准确度,便于摆角调节部16快速精确地旋转实现预设的摆角。

[0080] In some embodiments, as Figure 1 、 Figure 2 、 Figure 3 与 Figure 4 需要说明的是,原文中“配合弹性件设置在摆角限位安装孔1221内”这句话似乎表述不完整,我按照大致意思进行了翻译,你可根据实际情况进行调整。As shown, the second telescopic portion 122 includes a forked portion 1223 extending simultaneously along a second direction X and a third direction Z. An angle-adjusting post 1224 is provided on the forked portion 1223. The angle-adjusting knob 161 can be mounted on the second telescopic portion 122 by being mounted on the angle-adjusting post 1224.

[0081] In some embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown in the figure and with reference to other accompanying drawings, the fixing part 13 includes a telescopic limiting member 131, a telescopic limiting hole 132 and a fixing part base 133.

[0082] The telescopic limiting hole 132 is located on the base 133 of the fixed part. The telescopic limiting member 131 cooperates with the telescopic limiting hole 132. The telescopic limiting member 131 includes a telescopic limiting button 1311 and a telescopic threaded part 1312 that are fixedly connected. The telescopic limiting hole 132 is provided with a thread corresponding to the telescopic threaded part 1312. The side of the telescopic threaded part 1312 away from the telescopic limiting button 1311 abuts against the first telescopic part 121 through the telescopic limiting hole 132.

[0083] Rotating the telescopic limit button 1311 causes the telescopic threaded part 1312, which is fixedly connected to it, to rotate as well. During the rotation of the telescopic threaded part 1312, the corresponding threaded structure within the telescopic limit hole 132 allows the telescopic limit member 131 to move towards or away from the first telescopic part 121. When the telescopic limit member 131 moves towards and abuts against the first telescopic part 121, the friction between them achieves locking and limiting of the telescopic limit member 131.

[0084] This configuration allows the osteotomy guide 10 to be adjusted by pushing and pulling the first telescopic part 121 to move it relative to the fixed part 13, while simultaneously fixing the telescopic part 10 by the abutment of the telescopic limiting member 131. Therefore, compared to the general solution of using spring sheets to increase damping and achieve soft fixation, a greater frictional effect can be achieved through the abutment to effectively fix the swing angle of the osteotomy guide 112. This can effectively reduce or even avoid the osteotomy guide 112 from shaking during osteotomy, thereby improving the osteotomy accuracy of the osteotomy guide 10.

[0085] In some embodiments, based on the aforementioned specific setting of the fixing part 13, such as Figure 2 and Figure 3As shown, the fixing part 13 is also provided with a friction post 134. The friction post 134 is arranged opposite to the telescopic threaded part 1312, or opposite to the connecting rod part between the telescopic threaded part 1312 and the telescopic limit button 1311, thereby increasing the damping when the telescopic limit member 131 rotates, so as to realize the fine contact adjustment between the telescopic limit member 131 and the first telescopic part 121.

[0086] For example, during the pushing of the first telescopic part 121, the telescopic limiting member 131 can be made completely non-contact with the first telescopic part 121 to allow for rapid movement over a large range. After rapid movement, the telescopic limiting member 131 can be rotated to make contact with the first telescopic part 121, but without completely restricting the movement of the first telescopic part 121, allowing the first telescopic part 121 to achieve fine telescopic adjustment with greater damping. Finally, after adjustment is complete, the telescopic limiting member 131 is rotated to contact the first telescopic part 121, and the first telescopic part 121 is bent and fixed. Therefore, a relatively fast adjustment speed can be achieved while simultaneously enabling fine adjustment of the telescopic range of the osteotomy guide 10.

[0087] In some embodiments, also based on the aforementioned specific setting of the fixing part 13, such as... Figure 2 and 4 As shown, at least one side of the first telescopic part 121 is provided with a rack 1211 structure, that is, at least one surface of the first telescopic part 121 in contact with the fixed part 13 is provided with a rack 1211 structure. A telescopic ball structure (not shown in the figure) is provided inside the fixed part 13 corresponding to the rack 1211. The telescopic ball is located inside the fixed part 13 and is pressed against the surface provided with the rack 1211 structure by the elastic force provided by the elastic element. Through the unstable meshing of the telescopic ball and the rack 1211, the first telescopic part 121 can move more easily by an integer multiple of the tooth gap length according to the tooth gap of the rack 1211 during each telescopic adjustment. The meshing of the telescopic ball and the rack 1211 provides a certain damping, thereby further increasing the feel and accuracy during adjustment, facilitating the rapid and precise movement of the first telescopic part 121 to achieve the preset telescopic amount.

[0088] In some embodiments, such as Figure 1 , Figure 2 and Figure 3 As shown, the osteotomy guide plate portion 11 also includes a tracking mounting platform 116. The tracking mounting platform 116 includes an inclined surface M1 for mounting a tracking device (not shown in the figure). The tracking device is used to determine the position of the osteotomy guide plate 112 after being identified by external factors.

[0089] The tracking mounting platform 116 specifically includes a platform body 1161 and a mounting body 1162. The platform body 1161 may include an inclined surface M1 structure. The inclined surface M1 structure can be such that the edge of the osteotomy guide plate 112 with the osteotomy groove 111 is the top of the inclined surface M1, that is, the point where the distance between the inclined surface M1 and the osteotomy guide plate 112 is the smallest, and the distance between the inclined surface M1 and the osteotomy guide plate 112 gradually increases in the first direction Y. The mounting body 1162 can be located on this inclined surface M1 structure. By mounting the tracking device on the mounting body 1162, the tracking device can be mounted on the tracking mounting platform 116.

[0090] Furthermore, the tracking device may include the ability to be identified by reflecting signals emitted from the outside world (e.g., visible light, infrared light, ultraviolet light, and millimeter waves). By mounting the tracking device on the inclined plane M1 structure, so that the tracking device forms an angle between the osteotomy guide plates 112, the problem of weak tracking effect caused by the weak reflection effect of the tracking device in a specific direction, such as the first direction Y, when there is no angle between the tracking device and the osteotomy guide plates 112 can be effectively avoided.

[0091] Therefore, through the above embodiments, while specifically tracking the pose of the osteotomy guide plate 112, the problem of weak tracking effect caused by weak reflection effect of the tracking device in a specific direction can be effectively avoided, thereby specifically achieving stable tracking of the pose of the osteotomy guide plate 112.

[0092] This application also provides an osteotomy device, including any of the aforementioned osteotomy guides 10.

[0093] The osteotomy device also includes a movable robotic arm, the end of which is used to mount medical instruments. The robotic arm is used to drive the medical instruments mounted on its end, so as to perform or assist in performing osteotomy operations in orthopedic surgery. The fixing part 13 of the aforementioned osteotomy guide 10 is mounted on the end of the robotic arm of the osteotomy device. Specifically, the osteotomy device may include an orthopedic surgical robot.

[0094] The above embodiments of this application can complement each other without causing conflict.

[0095] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.

[0096] The term “multiple” means two or more, unless otherwise expressly defined.

[0097] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0098] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An osteotomy guide, comprising: The application relates to an osteotomy guide device. The hinge part is hinged with the telescopic part and forms a first hinge axis which rotates around each other; the first hinge axis is consistent with the depth direction of the osteotomy groove of the osteotomy guide plate part; the hinge part is hinged with the osteotomy guide plate part and forms a second hinge axis which rotates around each other; the second hinge axis is consistent with the length direction of the osteotomy groove of the osteotomy guide plate part. The fixed part is used for keeping fixed relative to other structures of the osteotomy guide device; the telescopic part comprises a first telescopic part and a second telescopic part; the first telescopic part passes through the fixed part and can move relative to the fixed part along the direction passing through the fixed part. The swing angle adjusting part comprises a swing angle adjusting knob, a swing angle adjusting rod and a swing angle connecting piece; the swing angle adjusting knob is installed on the second telescopic part and can rotate in the direction around the first hinge axis; the hinge part is provided with a swing groove; the swing angle adjusting rod is parallel to the first hinge axis and matches the swing groove; the swing angle connecting piece connects the swing angle adjusting rod and the swing angle adjusting knob. The inclination angle adjusting part is installed on the hinge part; the inclination angle adjusting part can move relative to the hinge part along the direction perpendicular to the second hinge axis; the inclination angle adjusting part is provided with an inclination angle groove; the osteotomy guide plate part comprises an osteotomy guide plate, an inclination angle adjusting rod and an inclination angle connecting piece; the inclination angle adjusting rod is parallel to the second hinge axis; the inclination angle connecting piece connects the inclination angle adjusting rod and the osteotomy guide plate; the osteotomy guide plate is provided with the osteotomy groove; the inclination angle adjusting rod matches the inclination angle groove. The inclination angle adjusting part comprises a fixedly connected inclination angle adjusting knob and a threaded part; the inclination angle adjusting knob is used for driving other structures of the inclination angle adjusting part to realize the inclination angle adjustment of the osteotomy guide device; 2. The osteotomy guide of claim 1, wherein, The hinge part is provided with an inclination angle adjusting hole corresponding to the inclination angle adjusting part; at least part of the inner wall of the inclination angle adjusting hole is provided with a thread corresponding to the threaded part and is used for matching the threaded part; The surface of the inclination angle adjusting knob is provided with a plurality of inclination angle fixing grooves which are arranged in an array and extend along the extending direction of the inclination angle adjusting knob; the hinge part is provided with an inclination angle limiting structure which extends along the extending direction of the inclination angle adjusting knob and is oppositely arranged with the inclination angle fixing groove; the inclination angle limiting structure is internally provided with a limiting bolt which can move in the direction towards the inclination angle adjusting knob; the limiting bolt is used for being fixedly matched with the inclination angle fixing groove after moving. The inclination angle adjusting part further comprises a linkage part; the linkage part is provided with the inclination angle groove; the linkage part is fixedly connected with the threaded part and is located on the side of the threaded part away from the inclination angle adjusting knob; the inclination angle groove surrounds the linkage part.

3. The osteotomy guide of claim 2, wherein, ​ 4. The osteotomy guide of claim 1, wherein, The inclination adjusting part comprises an inclination adjusting knob, an inclination threaded part and a linkage part; the inclination adjusting knob is fixedly connected with the inclination threaded part and is used to drive other structures of the inclination adjusting part to realize the adjustment of the inclination angle of the osteotomy guide; the cross-sectional diameter of the inclination threaded part is smaller than that of the linkage part; the linkage part is provided with an inclination groove; The linkage part is provided with an inclination threaded hole corresponding to the inclination threaded part, and a thread is arranged on the inner wall of the inclination threaded hole corresponding to the inclination threaded part; The surface of the inclination adjusting knob is provided with a plurality of inclination fixing grooves arranged in an array along the extending direction of the inclination adjusting knob; the articulation part is provided with an inclination limiting structure extending along the extending direction of the inclination adjusting knob and arranged opposite to the inclination fixing grooves; the inclination limiting structure is provided with a limiting pin inside; the limiting pin can move towards the inclination adjusting knob; the limiting pin is used to be fixedly matched with the inclination fixing grooves after moving.

5. The osteotomy guide of claim 1, wherein, The inclination adjusting part comprises an inclination adjusting knob and a linkage part; the inclination adjusting knob is used to drive other structures of the inclination adjusting part to realize the adjustment of the inclination angle of the osteotomy guide; the linkage part is provided with the inclination groove; The surface of the inclination adjusting knob is provided with a plurality of inclination fixing grooves arranged in an array around the inclination adjusting knob and in the extending direction of the inclination adjusting knob; the articulation part is provided with an inclination limiting structure extending along the extending direction of the inclination adjusting knob and arranged opposite to the inclination fixing grooves; the inclination limiting structure is provided with a limiting pin inside; the limiting pin can move towards the inclination adjusting knob; the limiting pin is used to be fixedly matched with the inclination fixing grooves after moving.

6. The osteotomy guide of Claims 2, 4, or 5, wherein, The inclination limiting structure is provided with a limiting pin hole; the limiting pin is located in the limiting pin hole; An elastic member is arranged between the limiting pin and the limiting pin hole; the limiting pin comprises a first pin segment and a second pin segment; the diameter of the first pin segment is larger than that of the second pin segment; one end of the elastic member abuts against the first pin segment, and the other end abuts against the bottom of the limiting pin hole; the first pin segment can extend out of the inclination limiting structure towards the inclination adjusting knob and be matched with the inclination fixing grooves; the second pin segment extends into the elastic member.

7. The osteotomy guide of claim 1, wherein, A swing angle limiting member is further included; the swing angle limiting member is mounted on the second telescopic part and can move along the first articulation axis; The swing angle connecting member comprises a swing angle connecting plate with at least part of the edge being arc-shaped; at least part of the arc-shaped edge of the swing angle connecting plate is a gear structure; the swing angle limiting member comprises a limiting base, a limiting adjusting knob and a limiting protrusion; the limiting adjusting knob is used to drive the swing angle limiting member to move as a whole; the limiting adjusting knob and the limiting protrusion are located on the same side of the limiting base; the limiting protrusion is used to be engaged with the gear structure of the swing angle connecting plate after the swing angle limiting member moves towards the swing angle connecting plate.

8. The osteotomy guide of claim 1, wherein, The fixed part comprises a telescopic limiting member, a telescopic limiting hole and a fixed part base. The telescopic limiting hole is located on the fixed base; the telescopic limiting part is matched with the telescopic limiting hole; the telescopic limiting part comprises a telescopic limiting knob and a telescopic threaded part fixedly connected; the telescopic limiting hole is provided with threads corresponding to the telescopic threaded part; the telescopic threaded part is in abutment with the first telescopic part through the telescopic limiting hole on the side away from the telescopic limiting knob.

9. The osteotomy guide of claim 1, wherein, The osteotomy guide plate further comprises a tracking installation platform; the tracking installation platform comprises an inclined surface for installing a tracking device; the tracking device is used for determining the pose of the osteotomy guide plate after being identified by the outside world.

10. An osteotomy apparatus, characterized by The osteotomy guide further comprises the osteotomy guide plate according to any one of claims 1 to 9; The osteotomy device further comprises a movable mechanical arm, the end of the mechanical arm being capable of being used for installing a medical instrument; the mechanical arm is used for driving the medical instrument installed at the end thereof; the fixed part of the osteotomy guide is installed at the end of the mechanical arm of the osteotomy device.

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