Surgical tool fixing device, guider applied to surgical tool fixing device and surgical tool fixing method

Abstract

The invention discloses a surgical tool fixing device, a guider applied to the surgical tool fixing device and a surgical tool fixing method. The surgical tool fixing device comprises a fixing seat, a snake-shaped joint and a clamping mechanism, wherein the snake-shaped joint comprises a plurality of unit joints and a tail end joint which are connected in sequence; the fixed seat comprises a shell, a sliding block, a wedge-shaped pin and a screw handle; the sliding block is arranged on the inner side of the shell and provided with a wedge-shaped hole, the wedge-shaped pin is arranged in the wedge-shaped hole in a sliding and penetrating mode, the wedge-shaped pin is provided with an inner screw hole, the screw handle sequentially comprises a knob part, an upper rotating shaft, a screw part and a lower rotating shaft from top to bottom, the screw part is in threaded connection with the inner screw hole, and the upper rotating shaft and the lower rotating shaft are rotationally connected with the upper end and the lower end of the shell respectively; the sliding block is connected with a pull wire, and the pull wire penetrates through the joint through holes of all the unit joints and then is connected with the tail end joint. The operation is simple, convenient and efficient, the operation difficulty and risk can be effectively reduced, and the safety, accuracy and overall efficiency of the operation can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and particularly to a surgical tool fixing device, a guide device applied thereto, and a surgical tool fixing method. Background Art

[0002] In the field of modern medical surgery, precise operation plays a key role in the success of surgery. The stable fixation and precise positioning of surgical tools are important foundations for achieving precise operation. With the development of medical technology, especially the wide application of minimally invasive surgery, higher requirements are put forward for the performance of surgical tool fixing devices.

[0003] Traditional surgical tool fixing methods, such as simple clamps or fixing frames, are difficult to meet the requirements of multi-angle and high-precision positioning of surgical tools in complex surgical scenarios. In some surgical operations, doctors need to precisely control the position and angle of surgical tools to avoid damaging surrounding tissues, and the limitations of traditional fixing methods become more prominent.

[0004] In recent years, pneumatic arms have been applied to a certain extent in the field of surgical tool fixing. For example, the pneumatic arm fixing device for quickly clamping minimally invasive surgical instruments or equipment disclosed in Chinese invention patent document CN103932802A, and a minimally invasive channel support and assistance set for spinal surgery disclosed in Chinese invention patent document CN118141530A. Although these pneumatic arm devices have improved the fixing effect of surgical tools to a certain extent, there are still many defects: In terms of usage convenience, since pneumatic arms rely on external air sources and need to connect compressed air pipelines, this limits the flexibility of equipment layout and cannot be used in environments without a stable air source.

[0005] In terms of accuracy, since the pneumatic system relies on compressed air, subtle changes in gas pressure will also cause slight vibrations of surgical tools, affecting surgical accuracy.

[0006] In terms of stability, when the air source pressure is unstable, it will cause changes in the attitude or clamping force of the pneumatic arm; more seriously, air source failures or pipeline disconnections may cause the attitude or clamping force of the pneumatic arm to be lost instantly, resulting in accidental detachment of surgical tools and damage to patient tissues, posing a greater safety hazard.

[0007] In terms of maintenance cost, aging or wear of pneumatic arm seals easily leads to air leakage, and components need to be frequently replaced, resulting in higher maintenance costs; moreover, the internal structure of pneumatic arms is complex and difficult to be thoroughly disinfected, increasing the risk of nosocomial infection.

[0008] In addition, air pumps and valves generate obvious noise during operation, interfering with the operating room environment and affecting the concentration of medical staff.

[0009] In summary, the existing surgical tool fixing devices have many deficiencies and cannot meet the growing demands of modern complex surgeries. Therefore, it is of great clinical significance and application value to develop a new type of surgical tool fixing device to solve the above problems. Summary of the Invention

[0010] To solve one or more technical problems in the prior art, the present invention provides a surgical tool fixing device, which includes a fixing base, a serpentine joint, and a clamping mechanism connected in sequence: The serpentine joint includes a plurality of unit joints and a terminal joint connected in sequence; The first unit joint is connected to the fixing base, the last unit joint is connected to the clamping mechanism through the terminal joint. One end of the unit joint is a groove structure, and the other end of the unit joint is a convex structure. Adjacent unit joints are spliced by inserting the convex structure into the groove structure. A joint through-hole is provided in the middle of the unit joint; The fixing base includes a housing, a slider, a wedge pin, and a screw handle; The slider is arranged inside the housing. The slider is provided with a wedge-shaped hole. The wedge pin slides through the wedge-shaped hole. The wedge pin is provided with an internal thread hole. The screw handle sequentially includes a knob part, an upper rotating shaft, a screw part, and a lower rotating shaft from top to bottom. The screw part is threadedly connected to the internal thread hole. The upper rotating shaft and the lower rotating shaft are respectively rotatably connected to the upper and lower ends of the housing; The slider is connected with a wire rope. The wire rope passes through all the joint through-holes and is connected to the terminal joint.

[0011] Preferably, the terminal joint is further connected with a first calibration plate. The clamping mechanism includes at least two jaws arranged oppositely. The clamping axes of the two jaws are parallel to the normal line of the positioning surface of the first calibration plate.

[0012] Preferably, the clamping mechanism includes a first jaw, a second jaw, a first clamping body, a pressing block, a first side cover, a first spring, and a pressing handle; The clamping axes of the first jaw and the second jaw are parallel to the normal line of the positioning surface of the first calibration plate; The bottom of the first clamping body is connected to the end joint. The first clamping jaw is arranged on the upper right side of the first clamping body. The first clamping body is provided with a first hole at the top. The middle of the first clamping body is provided with a second hole communicating with the first hole. The pressing block is movably embedded in the first hole and the second hole. The second clamping jaw is connected to the right side of the pressing block. The first side cover is buckled on the left side of the second hole. The left side of the first side cover is provided with a first sliding groove. The right side of the pressing block is slidably connected to the first sliding groove. The first spring abuts between the pressing block and the first clamping body. The bottom of the pressing handle is connected to the pressing block.

[0013] Preferably, the clamping mechanism includes a third clamping jaw, a fourth clamping jaw, a second clamping body, and a first threaded handle; The clamping axes of the third clamping jaw and the fourth clamping jaw are parallel to the normal line of the positioning surface of the first calibration plate; The bottom of the second clamping body is connected to the end joint. The third clamping jaw is arranged at the left end of the second clamping body. The inner side of the second clamping body is provided with a second sliding groove. The right end of the second clamping body is provided with a boss. The middle of the boss is provided with a first threaded hole. The first threaded handle includes a first screwing member and a first screw rod connected to each other. The fourth clamping jaw is connected to the bottom of the first screw rod. The first screw rod is in threaded connection with the first threaded hole. The tail of the fourth clamping jaw is slidably connected to the second sliding groove.

[0014] Preferably, the clamping mechanism includes a fifth clamping jaw, a sixth clamping jaw, a third clamping body, a second threaded handle, a shaft pin, and a second spring; The clamping axes of the fifth clamping jaw and the sixth clamping jaw are parallel to the normal line of the positioning surface of the first calibration plate; The bottom of the third clamping body is connected to the end joint. The top of the third clamping body is provided with a second screw rod. The middle of the second threaded handle is provided with a second threaded hole. The second threaded hole is in threaded connection with the second screw rod. The middle of the third clamping body is provided with a third hole and a fourth hole that penetrate perpendicularly to each other. The shaft pin is inserted into the third hole. The fifth clamping jaw and the sixth clamping jaw are hinged through the shaft pin and inserted into the fourth hole. The inner side of the clamping part of the fifth clamping jaw is provided with a first protrusion. The inner side of the clamping part of the sixth clamping jaw is provided with a second protrusion. The second spring abuts between the first protrusion and the second protrusion. The tail of the fifth clamping jaw is provided with a first contact point. The outer side of the clamping part of the sixth clamping jaw is provided with a second contact point. Both the first contact point and the second contact point abut against the bottom of the second threaded handle. Preferably, the clamping mechanism includes a seventh clamping jaw, an eighth clamping jaw, a fourth clamping body, a first threaded sleeve, a second threaded sleeve, a second side cover, and a third threaded handle; The clamping axes of the seventh clamping jaw and the eighth clamping jaw are parallel to the normal line of the positioning surface of the first calibration plate; The bottom of the fourth clamping body is connected to the end joint. The top of the fourth clamping body is provided with a fifth hole, and the middle of the fourth clamping body is provided with a sixth hole communicating with the fifth hole. Both the first threaded sleeve and the second threaded sleeve are embedded in the sixth hole. The seventh clamping jaw is connected to the right side of the first threaded sleeve, and the eighth clamping jaw is connected to the right side of the second threaded sleeve. The second side cover is buckled to the left side of the sixth hole. The right side of the second side cover includes a third sliding groove, a bushing, and a fourth sliding groove in sequence from bottom to top. The left side of the first threaded sleeve is slidably connected to the third sliding groove, and the left side of the second threaded sleeve is slidably connected to the fourth sliding groove. The third threaded handle is inserted into the sixth hole from the fifth hole. The third threaded handle includes a lower screw rod, a lower positioning member, a rotating shaft, an upper positioning member, an upper screw rod, and a second screwing member in sequence from bottom to top. The thread directions of the lower screw rod and the upper screw rod are opposite. The lower screw rod is threadedly connected to the first threaded sleeve, and the upper screw rod is threadedly connected to the second threaded sleeve. The lower positioning member and the upper positioning member are respectively clamped on the upper and lower sides of the bushing, and the rotating shaft is rotatably connected to the bushing; When the clamping mechanism clamps surgical tools of different thickness specifications, the relative position between the clamping axes of the seventh clamping jaw and the eighth clamping jaw and the normal line of the positioning surface of the first calibration plate remains constant.

[0015] Preferably, a fixing seat plugging mechanism is connected to the bottom of the housing, and the fixing seat is connected to the front of the end of the robotic arm through the fixing seat plugging mechanism.

[0016] Preferably, the housing is provided with fixing holes for passing through fixing screws, and the fixing seat is connected to the side of the end of the robotic arm through the fixing screws.

[0017] The present invention also provides a guide, which is applied to the surgical tool fixing device. The guide includes a guide body. The bottom of the guide body is connected with a guide plugging mechanism, and the guide body is connected to the front of the end of the robotic arm through the guide plugging mechanism. The guide body is sleeved with a telescopic rod, and the top of the telescopic rod is connected with a quick pipe clamp. The guide body is also connected with a second calibration plate.

[0018] The present invention also provides a surgical tool fixing method, which adopts the surgical tool fixing device described above. The fixing method includes the following steps: S1. Fix the surgical tool on the surgical tool fixing device through the clamping mechanism; S2. Rotate the twisting part counterclockwise to make the snake-shaped joint in an adjustable state by relaxing the wire rope; S3. Install a shaping sleeve on the outside of the serpentine joint to make the serpentine joint reach a straight state; the shaping sleeve includes two semi-cylindrical magnetic sleeve bodies; S4. Rotate the knob part clockwise to make the serpentine joint in an unadjustable state by tightening the wire rope. At this time, the relative position between the first calibration plate and the fixed seat returns to the initial state; S5. In the initial state, the surgical navigation system performs an initial calibration on the position of the surgical tool through the first calibration plate; S6. After completing the initial calibration, the surgical navigation system continuously tracks the position of the surgical tool through the first calibration plate; S7. Remove the shaping sleeve and rotate the knob part counterclockwise to make the position of the surgical tool adjustable; S8. Adjust the position of the surgical tool by changing the posture of the serpentine joint to meet the surgical requirements; S9. After completing the position adjustment of the surgical tool, rotate the knob part clockwise to fix the position of the surgical tool.

[0019] Advantages of the present invention: The end joint of the present invention is connected to the first calibration plate, and the clamping axis of the clamping mechanism is parallel to the normal line of the positioning surface of the first calibration plate, which can provide an accurate positioning reference for the surgical navigation system, realize the accurate initial calibration and continuous tracking of the surgical tool, greatly improve the accuracy of surgical operation, and avoid damaging the surrounding tissues. In complex surgeries, it can accurately position the surgical tool and reduce the surgical risk.

[0020] The present invention provides a variety of clamping mechanisms, each with its own advantages. The first type of clamping mechanism is easy to operate and is conducive to quickly replacing surgical tools; the second type of clamping mechanism has a large clamping force and high stability; the third type of clamping mechanism has a compact structure and reliable clamping; the fourth type of clamping mechanism can clamp centrically, and when clamping surgical tools of different thicknesses, the relative position between the clamping axis and the normal line of the positioning surface of the calibration plate is constant. After switching surgical tools, it is not necessary to re-calibrate, improving the surgical accuracy and efficiency.

[0021] The screw handle, wedge pin and slider in the fixed seat of the present invention form an increasing-force locking mechanism. Using the wedge principle, an effective locking of the serpentine joint can be achieved with a small external force, ensuring that the surgical tool remains stable during the surgery and avoiding accidental movement. The fixed seat has a variety of connection methods. It is connected to the front of the end of the robotic arm through the fixed seat plug-in mechanism, or connected to the side of the end of the robotic arm through the fixing hole with fixing screws, which can not only ensure the connection strength, but also reasonably utilize the space of the robotic arm, avoid interference with other devices, and meet the installation requirements of different surgical scenarios.

[0022] Compared with the pneumatic arm that relies on an external air source, the present invention does not require complex air source equipment, avoiding equipment damage and increased maintenance costs caused by problems such as air source failures and pipeline disconnections. There are no safety hazards such as pneumatic arm air pressure fluctuations and air leakage, and the surgical tool will not fall off and damage the patient's tissue due to sudden changes in the clamping force, ensuring the safe progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0024] Figure 1 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 1 ; Figure 2 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 2 ; Figure 3 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 3 ; Figure 4 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 4 ; Figure 5 is Figure 4 a cross-sectional view taken along the line A-A in Figure 6 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 5 ; Figure 7 is Figure 6 a cross-sectional view taken along the line B-B in Figure 8 is an exploded view of the fixing device according to an embodiment of the present invention Figure 1 ; Figure 9 is an exploded view of the fixing device according to an embodiment of the present invention Figure 2 ; Figure 10 is an exploded view of the fixing device according to an embodiment of the present invention Figure 3 ; Figure 11 is an exploded view of the fixing device according to an embodiment of the present invention Figure 4 ; Figure 12 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 5 ; Figure 13 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 6 ; Figure 14 is a schematic diagram of the fixing device according to an embodiment of the present inventionFigure 7 ; Figure 15 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 8 ; Figure 16 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 9 ; Figure 17 is an exploded view of the fixing device according to an embodiment of the present invention Figure 6 ; Figure 18 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 10 ; Figure 19 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 10 One; Figure 20 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 10 Two; Figure 21 is an exploded view of the fixing device according to an embodiment of the present invention Figure 7 ; Figure 22 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 10 Three; Figure 23 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 10 Four; Figure 24 is a schematic diagram of the fixing device according to an embodiment of the present invention Figure 10 Five; Figure 25 is an exploded view of the fixing device according to an embodiment of the present invention Figure 8 ; Figure 26 is an exploded view of the fixing device according to an embodiment of the present invention Figure 9 ; Figure 27 is a schematic diagram of the connection between the fixing device and the robotic arm according to an embodiment of the present invention Figure 1 ; Figure 28 is a schematic diagram of the connection between the fixing device and the robotic arm according to an embodiment of the present invention Figure 2 ; Figure 29 is a schematic diagram of the connection between the fixing device and the robotic arm according to an embodiment of the present invention Figure 3 ; Figure 30 is a schematic diagram of the connection between the fixing device and the robotic arm according to an embodiment of the present invention Figure 4 ; Figure 31 is a schematic diagram of the shaping sleeve according to an embodiment of the present invention; Figure 32 Schematic diagram of the connection between the fixing device and the robotic arm according to an embodiment of the present invention Figure 5 ; In the figure: 1. Fixed seat; 11. Housing; 111. Fixing hole; 112. Upper end cover; 113. Lower end cover; 12. Slide block; 121. Wedge-shaped hole; 13. Wedge-shaped pin; 131. Internal threaded hole; 14. Screw handle; 141. Knurled part; 142. Upper rotating shaft; 143. Screw part; 144. Lower rotating shaft; 15. Fixed seat plug-in mechanism; 2. Serpentine joint; 21. Unit joint; 211. Joint through hole; 22. End joint; 3. Clamping mechanism; 311. First jaw; 312. Second jaw; 313. First clamping body; 3131. First hole; 3132. Second hole; 314. Pressure block; 315. First side cover; 3151. First chute; 316. First spring; 317. Pressing handle; 321. Third jaw; 322. Fourth jaw; 323. Second clamping body; 3231. Second chute; 3232. Boss; 3233. First threaded hole; 324. First threaded handle; 3241. First screwing part; 3242. First screw; 331. Fifth jaw; 3311. First protrusion; 3312. First contact point; 332. Sixth jaw; 3321. Second protrusion; 3322. Second contact point; 333. Third clamping body; 3331. Second screw; 3332. Third hole; 3333. Fourth hole; 334. Second threaded handle; 3341. Second threaded hole; 335. Axle pin; 336. Second spring; 341. Seventh jaw; 342. Eighth jaw; 343. Fourth clamping body; 3431. Fifth hole; 3432. Sixth hole; 344. First threaded sleeve; 345. Second threaded sleeve; 346. Second side cover; 3461. Third chute; 3462. Bush; 3463. Fourth chute; 347. Third threaded handle; 3471. Lower screw; 3472. Lower positioning part; 3473. Rotating shaft; 3474. Upper positioning part; 3475. Upper screw; 3476. Second screwing part; 4. Pull wire; 51. First calibration plate; 52. Second calibration plate; 53. Calibration plate connecting part; 6. Robotic arm; 61. Robotic arm end; 7. Guide; 71. Guide body; 72. Guide plug-in mechanism; 73. Telescopic rod; 74. Quick pipe clamp; 8. Shaping sleeve; 81. Magnetic sleeve body. Detailed implementation mode

[0025] The surgical tool fixing device of the present invention can be applied to the field of surgical robots. The device is installed at the end of the robotic arm on the operating trolley. Through the control system on the operating trolley, the movement posture of the robotic arm is controlled, so as to control the position of the end of the fixing device. When the preset position is reached, the robotic arm can be fixed and immobile, and the spatial position can be adjusted by adjusting the serpentine joint.

[0026] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application rather than a limitation thereof. In fact, those skilled in the art will appreciate that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, features shown or described as part of one embodiment can be used in another embodiment to yield yet another embodiment. Accordingly, it is desirable that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0027] In the description of the present application, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application rather than requiring the present application to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present application. The terms "connected", "connected to", and "disposed" used in the present application should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate member. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0028] As Figures 1 - 32 shown, the surgical tool fixing device includes a fixing base 1, a serpentine joint 2, and a clamping mechanism 3 that are connected in sequence: The serpentine joint 2 includes a plurality of unit joints 21 connected in sequence and a terminal joint 22; The first unit joint 21 is connected to the fixing base 1, and the last unit joint 21 is connected to the clamping mechanism 3 through the terminal joint 22. One end of the unit joint 21 is a groove structure, and the other end of the unit joint 21 is a convex structure. Adjacent unit joints 21 are spliced by embedding the convex structure into the groove structure. A joint through hole 211 is provided in the middle of the unit joint 21; The fixing base 1 includes a housing 11, a slider 12, a wedge pin 13, and a screw handle 14; The slider 12 is disposed inside the housing 11. The slider 12 is provided with a wedge hole 121. The wedge pin 13 slides through the wedge hole 121. The wedge pin 13 is provided with an internal thread hole 131. The screw handle 14 sequentially includes a knob portion 141, an upper rotating shaft 142, a screw portion 143, and a lower rotating shaft 144 from top to bottom. The screw portion 143 is threadedly connected to the internal thread hole 131. The upper rotating shaft 142 and the lower rotating shaft 144 are respectively rotatably connected to the upper and lower ends of the housing 11; The slider 12 is connected to a wire 4. The wire 4 passes through all the joint through holes 211 and is connected to the terminal joint 22.

[0029] The serpentine joint 2 (or universal serpentine joint) can be directly mounted on an operating table, medical equipment, or the end of a robotic arm through a fixing seat 1, so as to make full use of the automatic positioning and wide-range adjustment capabilities of the robotic arm. The clamping mechanism 3 provided at the front end of the serpentine joint 2 can be used to clamp various surgical tools, such as endoscopes, puncture needles, probes, catheters, adapters, etc. The clamping mechanism 3 can be designed as a quick-install structure, which can be quickly clamped by pressing or twisting, and the clamping range can be adapted according to different sizes.

[0030] There is a force-enhancing locking mechanism inside the fixing seat 1, and the user can lock all joints of the serpentine joint 2 without much force. The principle of the force-enhancing locking mechanism is: using a wedge-shaped mechanism, the smaller the inclination angle, the more obvious the force amplification;

[0031] in is the inclination angle of the inclined plane. When the inclination angle is 10°, the force is amplified by about 5.8 times, and when the inclination angle is 5°, the force is amplified by about 11.5 times.

[0032] Preferably, the wedge-shaped surface inclination angle of the wedge-shaped pin 13 is 8°. At this time, the force is amplified by about 7.1 times, and 8° is a self-locking angle, which is safer, that is, even if there is an external force, this structure will not slide by itself.

[0033] The self-locking angle is related to the friction angle, and the specific value may depend on the friction coefficient of the material ( μ The core condition is: the lead angle (the inclination angle of the bevel or thread) ≤ the friction angle ( φ ). ψ =arctan( μ ). When the slope angle ( λ ) or the helix angle of the thread satisfies λ ≤ φ The mechanism is self-locking.

[0034] The self-locking angle range of common materials is shown in the following table:

[0035] Ordinary threads (such as bolts): The lead angle is usually designed to be 2°~5°, which is much smaller than the friction angle of steel (above 5.7°), ensuring self-locking.

[0036] Inclined mechanism: If the friction coefficient μ =0.15( φ ≈8.5°), the inclination angle of the inclined plane must be ≤8.5° for self-locking.

[0037] Safety factor: A margin must be left in actual design, usually 80%~90% of the theoretical value (such as φ =10°, the actual use angle ≤8°).

[0038] Lubrication effect: Lubrication will reduce μ , which may destroy self-locking (e.g., when μ = 0.05, φ ≈ 2.9°, a smaller lift angle is required).

[0039] Dynamic load: Vibration or impact may cause an instantaneous decrease in the friction coefficient, which needs to be considered additionally.

[0040] The self-locking angle is not a fixed value and needs to be calculated based on the material friction coefficient. The typical range is between 5° and 15°. Specifically, it needs to be analyzed in combination with the actual working conditions.

[0041] During specific use, first install the fixed seat 1 on the operating table or robotic arm, and then fix the surgical tool on the device through the clamping mechanism 3. By rotating the screw handle 14, control the position of the slider 12, and then adjust the tension of the cable 4 to make the snake-shaped joint 2 in an adjustable state. At this time, the doctor can manually adjust the posture of the snake-shaped joint 2 according to the surgical needs to make the surgical tool reach the appropriate position and angle. After the adjustment is completed, rotate the screw handle 14 again to tighten the cable 4. The cable 4 locks all the unit joints 21 and the end joint 22, locking the snake-shaped joint 2 in the current posture, thereby fixing the position of the surgical tool and ensuring its stability during the operation.

[0042] The cable passes through the joint through-holes of all the unit joints and then connects to the end joint. This connection method enables the cable to apply a pulling force to each unit joint. When the cable is tightened, the relative movement between the unit joints is restricted. One end of the unit joint is a groove structure, and the other end is a convex structure. Adjacent unit joints are spliced by inserting the convex into the groove. Under normal conditions, the unit joints can move relative to each other, but under the pulling force generated by tightening the cable, the grooves and protrusions between the unit joints fit tightly. Under the action of pressure and friction, they cannot rotate or displace randomly, thereby ensuring that the snake-shaped joint can be stably maintained after being adjusted to the appropriate posture and preventing the posture from changing due to external forces or vibrations during the operation.

[0043] Preferably, an upper end cover 112 is provided at the upper end of the housing 11, and a lower end cover 113 is provided at the lower end of the housing 11. The upper rotating shaft 142 is connected to the upper end cover 112, and the lower rotating shaft 144 is connected to the lower end cover 113. The upper end cover 112 and the lower end cover 113 can be integrally formed with the rest of the housing 11 or assembled from parts.

[0044] Preferably, the groove structure is a spherical groove structure, and the convex structure is a spherical convex structure, so that smooth deformation of the snake-shaped joint in multiple directions can be achieved.

[0045] In specific design, both ends of the wire can be connected to the slider 12 or the end joint 22 through components such as protrusions, bushings or screws that are convenient for dragging. The wire can be selected from stainless steel wire, titanium alloy wire, nylon wire, polyester fiber wire, carbon fiber wire, Kevlar wire, etc.

[0046] In this embodiment, a surgical tool fixing device is constructed by sequentially connecting a fixed seat, a snake-shaped joint and a clamping mechanism. Among them, the snake-shaped joint adopts a unique unit joint splicing structure, and the unit joints are matched through grooves and protrusions to achieve flexible bending in multiple directions; the force-increasing locking mechanism composed of a screw handle, a wedge pin and a slider in the fixed seat uses the wedge principle to effectively lock the snake-shaped joint with a small external force. Compared with the traditional surgical tool fixing methods, such as simple jigs or pneumatic arm fixing devices, there are essential differences in the structural design. Traditional jigs cannot achieve flexible positioning at multiple angles, and although the pneumatic arm can be adjusted, it depends on the air source and has problems with accuracy and stability.

[0047] In a specific embodiment of the present invention, the end joint 22 is further connected with a first calibration plate 51. The clamping mechanism 3 includes at least two clamping jaws arranged oppositely, and the clamping axes of the two clamping jaws are parallel to the normal line of the positioning surface of the first calibration plate 51.

[0048] The end of the snake-shaped joint 2 is an end joint 22 with an interface for the first calibration plate 51 (or called a marker plate, marker, navigation marker). The first calibration plate 51 can be one of a visible light calibration plate, an infrared light calibration plate or a magnetic marker plate. The function of the first calibration plate 51 is to accurately calibrate and continuously track the position of the surgical tool in the surgical navigation system. By setting the first calibration plate 51 on the end joint 22, it can ensure that the positional relationship between the calibration plate and the surgical tool fixed by the clamping mechanism 3 is accurate and stable, thereby improving the accuracy and reliability of surgical navigation.

[0049] Preferably, the first calibration plate 51 is connected to the end joint 22 through a calibration plate connecting piece 53. There is a mutually matching protrusion and groove structure at the bottom of the first calibration plate 51 and the top of the calibration plate connecting piece 53 to ensure that the calibration plate will not rotate after installation. The clamping axes of the first clamping jaw and the second clamping jaw are like the b line shown in Figure 4 、 16 、20 and 24, and the normal line of the positioning surface of the first calibration plate 51 is like the a line shown in Figure 4 、 16 、20 and 24.

[0050] In this embodiment, a first calibration plate is added and the clamping axis is parallel to the normal line of the positioning surface. This design correlates the clamping direction of the surgical tool with the positioning surface of the calibration plate, providing a precise positioning basis for the surgical navigation system. In the prior art, the positioning of surgical tools mainly relies on the experience of doctors or simple auxiliary markings, lacking precise positioning benchmarks and systematic positioning methods. By introducing a calibration plate and specific geometric relationships in this embodiment, precise initial calibration and continuous tracking of surgical tools are achieved, making an innovative improvement in positioning technology. With the help of the surgical navigation system, precise positioning is realized, significantly improving the accuracy of surgical operations, avoiding damage to surrounding tissues, and promoting the progress of surgical techniques.

[0051] There are various types of clamping mechanisms 3 in the present invention. Four embodiments are given below: Embodiment 1, the first type of clamping mechanism, such as Figures 1 - 12 shown: The clamping mechanism 3 includes a first jaw 311, a second jaw 312, a first clamping body 313, a pressing block 314, a first side cover 315, a first spring 316, and a pressing handle 317; The clamping axes of the first jaw 311 and the second jaw 312 are parallel to the normal line of the positioning surface of the first calibration plate 51; The bottom of the first clamping body 313 is connected to the end joint 22. The first jaw 311 is arranged on the right side of the top of the first clamping body 313. A first hole 3131 is provided at the top of the first clamping body 313, and a second hole 3132 communicating with the first hole 3131 is provided in the middle of the first clamping body 313. The pressing block 314 is movably embedded in the first hole 3131 and the second hole 3132. The second jaw 312 is connected to the right side of the pressing block 314. The first side cover 315 is buckled on the left side of the second hole 3132. A first sliding groove 3151 is provided on the left side of the first side cover 315. The right side of the pressing block 314 is slidably connected to the first sliding groove 3151. The first spring 316 abuts between the pressing block 314 and the first clamping body 313, and the bottom of the pressing handle 317 is connected to the pressing block 314.

[0052] During specific use, when the pressing handle 317 is pressed, the pressing block 314 slides under the action of the pressing force, driving the second jaw 312 away from the first jaw 311, thereby loosening the clamping of the surgical tool. At this time, the surgical tool can be removed or replaced. When the pressing handle 317 is released, the elastic force of the first spring 316 acts on the pressing block 314, pushing the pressing block 314 to slide, and then driving the second jaw 312 to approach the first jaw 311 to clamp the surgical tool. This design makes the clamping mechanism 3 easy to operate, capable of quickly and reliably completing the fixing and replacement of surgical tools, meeting the frequent replacement requirements of different tools during the surgical process, and improving the surgical efficiency.

[0053] Embodiment 2, the second type of clamping mechanism, such as Figures 13 - 17 shown in The clamping mechanism 3 includes a third jaw 321, a fourth jaw 322, a second clamping body 323, and a first threaded handle 324; The clamping axes of the third jaw 321 and the fourth jaw 322 are parallel to the normal of the positioning surface of the first calibration plate 51; The bottom of the second clamping body 323 is connected to the end joint 22. The third jaw 321 is arranged at the left end of the second clamping body 323. A second chute 3231 is arranged inside the second clamping body 323. A boss 3232 is arranged at the right end of the second clamping body 323. A first screw hole 3233 is arranged in the middle of the boss 3232. The first threaded handle 324 includes a first screwing part 3241 and a first screw rod 3242 which are connected to each other. The fourth jaw 322 is connected to the bottom of the first screw rod 3242. The first screw rod 3242 is in threaded connection with the first screw hole 3233. The tail of the fourth jaw 322 is slidably connected to the second chute 3231.

[0054] During specific use, when the first threaded handle 324 is rotated clockwise, the first screw rod 3242 screws into the first screw hole 3233, pushing the fourth jaw 322 to move along the second chute 3231 towards the third jaw 321, thereby gradually clamping the surgical tool. On the contrary, when the first threaded handle 324 is rotated counterclockwise, the first screw rod 3242 screws out, and the fourth jaw 322 moves away from the third jaw 321 in the second chute 3231, loosening the surgical tool. The clamping mechanism 3 adopts a threaded transmission method, which has the advantages of large clamping force and high stability, can ensure that the surgical tool is firmly fixed during the operation, and will not loosen due to external force or vibration, thus ensuring the safety and accuracy of the operation.

[0055] Embodiment 3, the third type of clamping mechanism, such as Figures 18 - 21 shown in The clamping mechanism 3 includes a fifth jaw 331, a sixth jaw 332, a third clamping body 333, a second threaded handle 334, a pin 335, and a second spring 336; The clamping axes of the fifth jaw 331 and the sixth jaw 332 are parallel to the normal of the positioning surface of the first calibration plate 51; The bottom of the third clamping body 333 is connected to the end joint 22. A second screw 3331 is provided at the top of the third clamping body 333. A second screw hole 3341 is provided in the middle of the second threaded handle 334. The second screw hole 3341 is threadedly connected to the second screw 3331. A third hole 3332 and a fourth hole 3333 that penetrate each other perpendicularly are provided in the middle of the third clamping body 333. The axle pin 335 is inserted into the third hole 3332. The fifth jaw 331 and the sixth jaw 332 are hinged through the axle pin 335 and inserted into the fourth hole 3333. A first protrusion 3311 is provided on the inner side of the clamping portion of the fifth jaw 331. A second protrusion 3321 is provided on the inner side of the clamping portion of the sixth jaw 332. The second spring 336 abuts between the first protrusion 3311 and the second protrusion 3321. A first contact 3312 is provided at the tail of the fifth jaw 331. A second contact 3322 is provided on the outer side of the clamping portion of the sixth jaw 332. Both the first contact 3312 and the second contact 3322 abut against the bottom of the second threaded handle 334.

[0056] During specific use, when the second threaded handle 334 is rotated clockwise, the second threaded handle 334 moves downward along the second screw 3331, and its bottom applies a downward pressure to the first contact 3312 and the second contact 3322. Since the first contact 3312 and the second contact 3322 are respectively connected to the fifth jaw 331 and the sixth jaw 332, this pressure will drive the two jaws to rotate inward around the axle pin 335, thereby clamping the surgical tool. At the same time, the second spring 336 is compressed and stores elastic potential energy. When it is necessary to release the surgical tool, the second threaded handle 334 is rotated counterclockwise, and the second threaded handle 334 moves upward to reduce the pressure on the first contact 3312 and the second contact 3322. Under the elastic force of the second spring 336, the two jaws rotate outward to release the surgical tool. This design makes the clamping mechanism 3 have the characteristics of compact structure, simple operation, and reliable clamping, and can meet the requirements of quickly clamping and replacing surgical tools with different diameters during the surgical process. Clamping mechanism 3 Embodiment 4, the fourth type of clamping mechanism, such as Figures 22 - 26 shown: The clamping mechanism 3 includes a seventh jaw 341, an eighth jaw 342, a fourth clamping body 343, a first threaded sleeve 344, a second threaded sleeve 345, a second side cover 346, and a third threaded handle 347; The clamping axes of the seventh jaw 341 and the eighth jaw 342 are parallel to the normal of the positioning surface of the first calibration plate 51; The bottom of the fourth clamping body 343 is connected to the end joint 22. A fifth hole 3431 is provided at the top of the fourth clamping body 343. A sixth hole 3432 communicating with the fifth hole 3431 is provided in the middle of the fourth clamping body 343. The first threaded sleeve 344 and the second threaded sleeve 345 are both embedded in the sixth hole 3431. The seventh jaw 341 is connected to the right side of the first threaded sleeve 344. The eighth jaw 342 is connected to the right side of the second threaded sleeve 345. The second side cover 346 is snap-connected to the left side of the sixth hole 3432. The right side of the second side cover 346 includes a third chute 3461, a bushing 3462, and a fourth chute 3463 in sequence from bottom to top. The left side of the first threaded sleeve 344 is slidably connected to the third chute 3461. The left side of the second threaded sleeve 345 is slidably connected to the fourth chute 3463. The third threaded handle 347 is inserted into the sixth hole 3432 from the fifth hole 3431. The third threaded handle 347 includes a lower screw 3471, a lower positioning member 3472, a rotating shaft 3473, an upper positioning member 3474, an upper screw 3475, and a second screwing member 3476 in sequence from bottom to top. The thread directions of the lower screw 3471 and the upper screw 3475 are opposite. The lower screw 3471 is threadedly connected to the first threaded sleeve 344. The upper screw 3475 is threadedly connected to the second threaded sleeve 345. The lower positioning member 3472 and the upper positioning member 3474 are respectively clamped on the lower and upper sides of the bushing 3462. The rotating shaft 3473 is rotatably connected to the bushing 3462; When the clamping mechanism 3 clamps surgical tools of different thickness specifications, the relative positions between the clamping axes of the seventh jaw 341 and the eighth jaw 342 and the normal line of the positioning surface of the first calibration plate 51 remain constant.

[0057] During specific use, rotate the third threaded handle 347. Since the thread directions of the lower screw 3471 and the upper screw 3475 are opposite, the first threaded sleeve 344 and the second threaded sleeve 345 will move towards or away from each other. For example, when the third threaded handle 347 is rotated clockwise, the first threaded sleeve 344 moves to the right driven by the lower screw 3471, and the second threaded sleeve 345 moves to the left driven by the upper screw 3475, thereby driving the seventh jaw 341 and the eighth jaw 342 to move towards each other to clamp the surgical tool. Conversely, when the third threaded handle 347 is rotated counterclockwise, the two threaded sleeves move in opposite directions, driving the jaws to separate and release the surgical tool. This centering clamping design can ensure that the surgical tool always remains centered during the clamping process, avoiding tool position deviation caused by jaw offset. At the same time, since when the clamping mechanism 3 clamps surgical tools of different thickness specifications, the relative positions between the clamping axes of the seventh jaw 341 and the eighth jaw 342 and the normal line of the positioning surface of the first calibration plate 51 remain constant, this enables the surgical navigation system to always accurately track the position of the surgical tool. Regardless of how the thickness of the tool changes, there is no need to recalibrate, greatly improving the efficiency and accuracy of the surgical operation.

[0058] The thread directions of the lower screw 3471 and the upper screw 3475 are opposite. During the locking process, the seventh jaw 341 and the eighth jaw 342 can be simultaneously driven to move towards each other, thereby achieving centering and clamping. Taking the surgical tool as an endoscope as an example, this centering and clamping mechanism in this embodiment can ensure that the distance between the first calibration plate 51 and the center line of the clamped endoscope remains constant.

[0059] In a specific embodiment of the present invention, a fixed seat plug-in mechanism 15 is connected to the bottom of the housing 11, and the fixed seat 1 is connected to the front of the end of the robotic arm 61 through the fixed seat plug-in mechanism 15.

[0060] In actual surgical operations, especially in minimally invasive surgeries assisted by robotic arms, this fixing method can fully utilize the motion accuracy and flexibility of the robotic arm. By installing the surgical tool fixing device at the end of the robotic arm, the doctor can use the precise motion control function of the robotic arm to quickly and accurately move the surgical tool to the surgical area. At the same time, due to the high-precision connection of the fixed seat plug-in mechanism 15, the position and posture of the surgical tool can be accurately corresponding to the motion coordinate system of the robotic arm, and the surgical navigation system can understand the position of the surgical tool in real time through the feedback information of the robotic arm, realizing a more intelligent and automated surgical operation process. In addition, the design of quick plug-in is also beneficial to the preparation before surgery and the disassembly after surgery, improving the overall efficiency of the surgery.

[0061] In addition to being connected to the robotic arm, the fixed seat 1 can also be designed to be directly connected to the operating table or other surgical devices. Such prior arts are relatively mature and will not be elaborated here.

[0062] In a specific embodiment of the present invention, the housing 11 is provided with a fixing hole 111 for passing through a fixing screw, and the fixed seat 1 is connected to the side of the end of the robotic arm 61 through the fixing screw.

[0063] In some complex surgical scenarios, multiple tools or devices may need to be installed at the end of the robotic arm simultaneously. By installing the surgical tool fixing device on the side of the end of the robotic arm, the space of the robotic arm can be reasonably utilized to avoid interference with other devices. At the same time, this connection method can also ensure the connection strength between the surgical tool fixing device and the robotic arm, ensuring the stable position of the surgical tool during the surgical operation. In addition, the side installation method is beneficial to the operation of certain specific surgical angles, and the doctor can select the most suitable installation position according to the surgical needs, improving the flexibility and operability of the surgery.

[0064] A guide for a surgical tool fixing device, the guide 7 includes a guide body 71, a guide insertion mechanism 72 is connected to the bottom of the guide body 71, and the guide body 71 is connected to the front of the end 61 of the robotic arm through the guide insertion mechanism 72. A telescopic rod 73 is sleeved on the guide body 71, a quick pipe clamp 74 is connected to the top of the telescopic rod 73, and the guide body 71 is also connected to a second calibration plate 52.

[0065] According to the needs of the application scenario during the operation, the guide 7 in the present invention can be connected to the end 61 of the robotic arm together with the snake joint 2 for cooperative use; the guide 7 and the snake joint 2 can also be separately connected to the end 61 of the robotic arm for use.

[0066] In some surgical operations that require high-precision positioning, such as brain surgery, spinal surgery, etc., the guide 7 can provide accurate initial guidance for surgical tools. Before the operation starts, the surgical tool is installed on the quick pipe clamp 74 of the guide 7, and the robotic arm 6 drives the guide 7 to quickly and accurately move the surgical tool to the approximate position of the surgical area. At this time, the surgical navigation system calibrates the initial position of the tool through the second calibration plate 52, and then the doctor can make fine adjustments according to the actual situation.

[0067] The calibration plate in the present invention can be a calibration plate with black and white blocks crossed, or a calibration plate with different color reflective layers crossed. The calibration plate is used for calibration and positioning in the surgical robot. Of course, the structure of the calibration plate can be designed as a plane, which is convenient for manufacturing and identification, or a curved surface structure can be adopted. When a calibration plate with a curved surface design is used, it is advisable to adopt a calibration plate with reflective layer crossing, because in some environments, there is interference from ambient light, so that the corner points can be recognized more accurately in special environments. Similar to normal black and white QR codes, or QR codes with reflective layers can be set on the calibration plate. The calibration plate can be curved or flat, and currently the main application in surgery is a flat substrate.

[0068] Switching the surgical tool from the guide 7 to the clamping mechanism on the snake joint 2 can perform more flexible and delicate surgical operations. This design combines the advantages of the quick positioning of the guide and the flexible adjustment of the snake joint, which not only improves the initial positioning efficiency of the operation, but also ensures the flexibility and accuracy of the surgical operation.

[0069] Such as Figure 32 As shown, in specific use, taking an endoscope as an example, the endoscope body is installed on the quick pipe clamp 74 through an adapter, and the robotic arm 6 can quickly and accurately position the endoscope to reach the lesion, realizing an accurate stereotactic function. After positioning, the guide 7 can also be removed at any time. When more flexible surgical operations are required, the endoscope can be switched from the guide 7 to the clamping mechanism on the snake joint 2. The guide 7 is provided with a telescopic rod 73 (front end joint) to avoid the situation where it cannot be flexibly switched with the snake joint 2.

[0070] A surgical tool fixing method, using the above-mentioned surgical tool fixing device, the fixing method includes the following steps: S1. Fix the surgical tool on the surgical tool fixing device through the clamping mechanism 3; S2. Rotate the knob part 141 counterclockwise to make the snake joint 2 in an adjustable state by relaxing the wire 4; S3. Install the shaping sleeve 8 outside the snake joint 2 to make the snake joint 2 in a straight state; the shaping sleeve 8 includes two semi-cylindrical magnetic sleeve bodies 81; S4. Rotate the knob part 141 clockwise to make the snake joint 2 in a non-adjustable state by tightening the wire 4, and at this time, the relative position between the first calibration plate 51 and the fixed seat 1 returns to the initial state; S5. In the initial state, the surgical navigation system performs an initial calibration on the position of the surgical tool through the first calibration plate 51; S6. After completing the initial calibration, the surgical navigation system continuously tracks the position of the surgical tool through the first calibration plate 51; S7. Disassemble the shaping sleeve 8, rotate the knob part 141 counterclockwise to make the position of the surgical tool adjustable; S8. Adjust the position of the surgical tool by changing the posture of the snake joint 2 to meet the surgical requirements; S9. After completing the position adjustment of the surgical tool, rotate the knob part 141 clockwise to fix the position of the surgical tool.

[0071] The surgical tool fixing method of the present invention combines the flexibility of the mechanical structure with the accuracy of the surgical navigation system, and can realize the rapid positioning, flexible adjustment and stable fixation of the surgical tool during the operation. With the assistance of the shaping sleeve 8 (or position retainer), the accuracy of the initial calibration is ensured, and the adjustability of the snake joint 2 meets the position adjustment requirements caused by the complex anatomical structure or surgical procedure changes during the operation. The whole process is easy to operate, without complex auxiliary equipment, reducing the surgical preparation time and operation difficulty, while improving the surgical safety and success rate.

[0072] Before use, the serpentine joint of the surgical tool fixing device may be in a bent or irregular state, which affects the positioning accuracy of the surgical tool. The shaping sleeve 8 composed of two semi-cylindrical magnetic sleeves 81 can attract each other by means of magnetism. Moreover, since the serpentine joint 2 is mostly made of ferromagnetic materials (such as stainless steel), the magnetic sleeve 8 can be directly adsorbed and closely attached to the outside of the serpentine joint 2. During the installation of the shaping sleeve 8, the serpentine joint 2 can reach the straight state smoothly, laying a foundation for subsequent precise adjustment and positioning. During minimally invasive surgery, the straight serpentine joint can more accurately guide the surgical tool to the target position, avoiding path deviation caused by joint bending and improving the accuracy of surgical operations. In this way, the surgical navigation system can quickly find the calibration position every time and achieve precise positioning. After reaching the calibration position, the shaping sleeve 8 can be disassembled, enabling the surgical tool to flexibly change its direction. The end of the serpentine joint 2 is equipped with a calibration plate, enabling the surgical navigation system to track the position of the surgical tool in real time and achieve the precise navigation function.

[0073] Although the pneumatic arm for traditionally clamping surgical tools has certain practicality in medical scenarios, it also has the following obvious disadvantages, which will affect surgical efficiency, safety, and user experience. Taking the clamping of an endoscope as an example: (1)Insufficient precision and stability The pneumatic system relies on compressed air. The compressibility of the gas will result in relatively low position control precision, and "drift" or jitter is likely to occur during fine adjustment, affecting the stability of the endoscope.

[0074] Poor anti-interference ability: External vibrations or load changes (such as the movement of the endoscope) may cause unexpected displacement of the pneumatic arm, increasing the surgical risk. (2)Dependence on external gas sources Limited mobility: It is necessary to connect a compressed air pipeline, which restricts the flexibility of the equipment layout and cannot be used in an environment without a stable gas source.

[0075] Risk of air pressure fluctuations: When the gas source pressure is unstable, it may cause sudden changes or even loss of control of the clamping force.

[0076] (3)Complex maintenance and high cost Air leakage problem: Aging or wear of the seals is likely to cause air leakage, and components need to be frequently replaced, resulting in relatively high maintenance costs.

[0077] Difficulty in cleaning: The internal structure of the pneumatic arm is complex, making it difficult to thoroughly disinfect, increasing the risk of nosocomial infection.

[0078] (4)Noise pollution High operating noise: The air pump and valves generate obvious noise during operation, which may interfere with the operating room environment and affect the concentration of medical staff.

[0079] (5)Safety hazards Sudden pressure loss risk: Gas source failure or pipeline detachment may cause the clamping force to be instantly lost, and accidental detachment of the endoscope may damage the patient's tissues.

[0080] However, the present invention can overcome the problems of insufficient precision and stability in the prior art, dependence on external gas sources, complex maintenance and high costs, noise pollution, and potential safety hazards.

[0081] Taking the surgical tool as an endoscope as an example, in this embodiment, the operation method of screwing the knob part 141 located at the tail of the device has the technical advantage of being far from the lesion, which is of great significance for ensuring surgical safety and improving surgical quality. In the actual endoscope surgery scenario, the tissues around the lesion are relatively fragile and sensitive, and any unnecessary touch may cause serious consequences. The operation method of screwing the tail can effectively avoid this risk, reduce the disturbance to the lesion and the surrounding tissues, reduce the infection risk, and improve the accuracy and stability of the operation.

[0082] In summary, the present invention is simple and efficient to operate, can effectively reduce the surgical difficulty and risk, and can effectively improve the safety, accuracy, and overall efficiency of the surgery.

[0083] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A surgical tool fixing device, comprising a fixing seat (1), a serpentine joint (2) and a clamping mechanism (3) connected in sequence, characterized in that: The serpentine joint (2) comprises a plurality of unit joints (21) connected in sequence and an end joint (22); The first unit joint (21) is connected to the fixing seat (1), and the last unit joint (21) is connected to the clamping mechanism (3) via the end joint (22); one end of the unit joint (21) is a groove structure, and the other end of the unit joint (21) is a protrusion structure; adjacent unit joints (21) are spliced ​​by embedding the protrusion structure into the groove structure; a joint through hole (211) is provided in the middle of the unit joint (21); The fixing seat (1) comprises a housing (11), a sliding block (12), a wedge pin (13) and a screw handle (14); The slider (12) is arranged on the inner side of the housing (11), the slider (12) is provided with a wedge-shaped hole (121), the wedge-shaped pin (13) is slidably inserted into the wedge-shaped hole (121), the wedge-shaped pin (13) is provided with an inner screw hole (131), the screw handle (14) comprises, from top to bottom, a twisting portion (141), an upper rotating shaft (142), a screw portion (143) and a lower rotating shaft (144), the screw portion (143) is threadedly connected to the inner screw hole (131), and the upper rotating shaft (142) and the lower rotating shaft (144) are rotatably connected to the upper and lower ends of the housing (11) respectively; The sliding block (12) is connected to a pull wire (4), and the pull wire (4) passes through all the joint through holes (211) and is connected to the end joint (22).

2. The surgical tool fixing device according to claim 1, characterized in that: The end joint (22) is also connected to a first calibration plate (51), and the clamping mechanism (3) comprises at least two clamping jaws arranged opposite to each other, wherein the clamping axes of the two clamping jaws are parallel to the normal line of the positioning surface of the first calibration plate (51).

3. The surgical tool fixing device according to claim 2, characterized in that: The clamping mechanism (3) comprises a first clamping jaw (311), a second clamping jaw (312), a first clamping body (313), a pressing block (314), a first side cover (315), a first spring (316) and a pressing handle (317); The clamping axes of the first clamping jaw (311) and the second clamping jaw (312) are parallel to the normal line of the positioning surface of the first calibration plate (51); The bottom of the first clamping body (313) is connected to the end joint (22), the first clamping claw (311) is arranged on the right side of the top of the first clamping body (313), the top of the first clamping body (313) is provided with a first hole (3131), the middle of the first clamping body (313) is provided with a second hole (3132) which is connected with the first hole (3131), the pressing block (314) is movably embedded in the first hole (3131) and the second hole (3132), and the first The two clamping claws (312) are connected to the right side of the pressing block (314), the first side cover (315) is buckled on the left side of the second hole (3132), a first sliding groove (3151) is provided on the left side of the first side cover (315), the right side of the pressing block (314) is slidably connected to the first sliding groove (3151), the first spring (316) is in contact between the pressing block (314) and the first clamping body (313), and the bottom of the pressing handle (317) is connected to the pressing block (314).

4. The surgical tool fixing device according to claim 2, characterized in that: The clamping mechanism (3) comprises a third clamping jaw (321), a fourth clamping jaw (322), a second clamping body (323) and a first threaded handle (324); The clamping axes of the third clamping jaw (321) and the fourth clamping jaw (322) are parallel to the normal line of the positioning surface of the first calibration plate (51); The bottom of the second clamping body (323) is connected to the end joint (22), the third clamping jaw (321) is arranged at the left end of the second clamping body (323), the inner side of the second clamping body (323) is provided with a second sliding groove (3231), the right end of the second clamping body (323) is provided with a boss (3232), the middle part of the boss (3232) is provided with a first screw hole (3233), the first threaded handle (324) includes a first screw member (3241) and a first screw rod (3242) connected to each other, the fourth clamping jaw (322) is connected to the bottom of the first screw rod (3242), the first screw rod (3242) and the first screw hole (3233) are threadedly connected, and the tail of the fourth clamping jaw (322) is slidably connected to the second sliding groove (3231).

5. The surgical tool fixing device according to claim 2, characterized in that: The clamping mechanism (3) comprises a fifth clamping jaw (331), a sixth clamping jaw (332), a third clamping body (333), a second threaded handle (334), an axle pin (335) and a second spring (336); The clamping axes of the fifth clamping jaw (331) and the sixth clamping jaw (332) are parallel to the normal line of the positioning surface of the first calibration plate (51); The bottom of the third clamping body (333) is connected to the end joint (22), the top of the third clamping body (333) is provided with a second screw rod (3331), the middle of the second threaded handle (334) is provided with a second screw hole (3341), the second screw hole (3341) is threadedly connected to the second screw rod (3331), the middle of the third clamping body (333) is provided with a third hole (3332) and a fourth hole (3333) which are vertically connected to each other, the shaft pin (335) is inserted into the third hole (3332), and the fifth clamping jaw (331) and the sixth clamping jaw (332) are connected through the shaft pin (335). The fifth clamping jaw (331) is hinged and inserted into the fourth hole (3333), a first protrusion (3311) is provided on the inner side of the clamping portion of the fifth clamping jaw (331), a second protrusion (3321) is provided on the inner side of the clamping portion of the sixth clamping jaw (332), the second spring (336) abuts between the first protrusion (3311) and the second protrusion (3321), a first contact point (3312) is provided at the tail of the fifth clamping jaw (331), a second contact point (3322) is provided on the outer side of the clamping portion of the sixth clamping jaw (332), and the first contact point (3312) and the second contact point (3322) both abut against the bottom of the second threaded handle (334).

6. The surgical tool fixing device according to claim 2, characterized in that: The clamping mechanism (3) comprises a seventh clamping jaw (341), an eighth clamping jaw (342), a fourth clamping body (343), a first threaded sleeve (344), a second threaded sleeve (345), a second side cover (346) and a third threaded handle (347); The clamping axes of the seventh clamping jaw (341) and the eighth clamping jaw (342) are parallel to the normal line of the positioning surface of the first calibration plate (51); The bottom of the fourth clamping body (343) is connected to the end joint (22), the top of the fourth clamping body (343) is provided with a fifth hole (3431), the middle of the fourth clamping body (343) is provided with a sixth hole (3432) which is connected to the fifth hole (3431), the first threaded sleeve (344) and the second threaded sleeve (345) are both embedded in the sixth hole (3431), and the seventh clamping jaw (341) is connected to the The eighth clamping jaw (342) is connected to the right side of the first threaded sleeve (344), the second side cover (346) is buckled on the left side of the sixth hole (3432), and the right side of the second side cover (346) includes a third slide groove (3461), a sleeve (3462) and a fourth slide groove (3463) from bottom to top. The left side of the first threaded sleeve (344) is slidably connected to the third slide groove (3461). The left side of the second threaded sleeve (345) is slidably connected to the fourth slide groove (3463), and the third threaded handle (347) is inserted from the fifth hole (3431) into the sixth hole (3432). The third threaded handle (347) includes, from bottom to top, a lower screw rod (3471), a lower positioning member (3472), a rotating shaft (3473), an upper positioning member (3474), an upper screw rod (3475) and a second screw member (3476). The thread directions of the lower screw rod (3471) and the upper screw rod (3475) are opposite, the lower screw rod (3471) is threadedly connected to the first threaded sleeve (344), the upper screw rod (3475) is threadedly connected to the second threaded sleeve (345), the lower positioning member (3472) and the upper positioning member (3474) are respectively clamped on the lower and upper sides of the shaft sleeve (3462), and the rotating shaft (3473) is rotatably connected to the shaft sleeve (3462); When the clamping mechanism (3) clamps surgical tools of different thicknesses, the relative positions between the clamping axes of the seventh clamping jaw (341) and the eighth clamping jaw (342) and the normal line of the positioning surface of the first calibration plate (51) remain constant.

7. The surgical tool fixing device according to any one of claims 2 to 6, characterized in that: The bottom of the housing (11) is connected to a fixing seat plug-in mechanism (15), and the fixing seat (1) is connected to the front side of the end of the mechanical arm (61) via the fixing seat plug-in mechanism (15).

8. The surgical tool fixing device according to any one of claims 2 to 6, characterized in that: The housing (11) is provided with a fixing hole (111) for inserting a fixing screw, and the fixing seat (1) is connected to the side surface of the end (61) of the mechanical arm via the fixing screw.

9. A guide, the guide being applied to the surgical tool fixing device according to claim 8, characterized in that: The guide (7) comprises a guide body (71), the bottom of the guide body (71) is connected to a guide plug-in mechanism (72), the guide body (71) is connected to the front of the end (61) of the mechanical arm via the guide plug-in mechanism (72), the guide body (71) is sleeved with a telescopic rod (73), the top of the telescopic rod (73) is connected to a quick pipe clamp (74), and the guide body (71) is also connected to a second calibration plate (52).

10. A method for fixing a surgical tool, characterized in that: Using the surgical tool fixing device as described in any one of claims 2 to 8, the fixing method comprises the following steps: S1. Fixing the surgical tool on the surgical tool fixing device through the clamping mechanism (3); S2. Rotate the knob (141) counterclockwise to loosen the pull wire (4) so ​​that the serpentine joint (2) is in an adjustable state; S3. Installing a shaping sleeve (8) on the outside of the serpentine joint (2) so that the serpentine joint (2) reaches a straightened state; the shaping sleeve (8) comprises two semi-cylindrical magnetic sleeves (81); S4. The knob (141) is rotated clockwise to make the serpentine joint (2) in an unadjustable state by tightening the pull wire (4). At this time, the relative position between the first calibration plate (51) and the fixing seat (1) is restored to the initial state; S5. In the initial state, the surgical navigation system initially calibrates the position of the surgical tool through the first calibration plate (51); S6. After the initial calibration is completed, the surgical navigation system continuously tracks the position of the surgical tool through the first calibration plate (51); S7. Remove the plastic sleeve (8), rotate the knob (141) counterclockwise to make the position of the surgical tool adjustable; S8. By changing the posture of the serpentine joint (2) to adjust the position of the surgical tool to adapt to surgical needs; S9. After completing the position adjustment of the surgical tool, rotate the knob (141) clockwise to fix the position of the surgical tool.

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