Support arm for optical positioning system of orthopedic surgical robot and surgical positioning system

Abstract

The invention discloses a support arm for an optical positioning system of an orthopedic surgery robot and a surgery positioning system, and relates to the field of orthopedic surgery robotics.The support arm comprises a main frame of a tubular structure, and a front telescopic arm and a rear telescopic arm are inserted into the two ends of the main frame respectively; the ball screw is rotationally arranged in the main frame, the two ends of the ball screw are connected with the front telescopic arm and the rear telescopic arm through nuts respectively, and the rotating direction of a front-end thread of the ball screw is opposite to that of a rear-end thread of the ball screw; the end, away from the main frame, of the front telescopic arm is connected with an optical locator, and the end, away from the main frame, of the rear telescopic arm is provided with a balance weight. According to the support arm, the front-back telescopic arm can be retracted into the main frame in the transportation process, so that the length of the support arm can be shortened, and the occupied space in the transportation process is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of orthopedic surgical robots, and more specifically, relates to a support arm and a surgical positioning system for an optical positioning system of an orthopedic surgical robot. Background Art

[0002] Optical positioning systems such as NDI are usually used in orthopedic surgical robots to accurately locate the position. The optical system is usually fixed on a foldable arm. In this way, during the operation of the orthopedic surgical robot, the pitch and front and back positions of the optical positioning system need to be adjusted according to different surgical procedures, different installation positions of the reflective ball bracket, and the movement of personnel during the operation, so as to avoid blocking the reflective ball. However, the current mainstream design of orthopedic surgical robots is to connect the optical positioning system through a structure with a spring arm and a rotatable cross arm. In this structure, the cross arm is used to adjust the azimuth along the rotation of the main machine, and the spring arm is used to adjust the height. The two arms cooperate to achieve all-round adjustment. Although this structural form can currently meet the use requirements of existing optical positioning systems, the spring arm itself is relatively long, and there is a disadvantage that it is too long to be transported. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and to provide a support arm and a surgical positioning system for an orthopedic surgical robot optical positioning system. The support arm can retract the front and rear telescopic arms into the main frame during transportation, thereby shortening the length of the support arm and reducing the space occupied during transportation.

[0004] In order to achieve the above object, the present invention provides a support arm for an optical positioning system of an orthopedic surgical robot, comprising:

[0005] The main frame is a tubular structure, and a front telescopic arm and a rear telescopic arm are respectively inserted at both ends of the main frame;

[0006] A ball screw is rotatably arranged inside the main frame, two ends of the ball screw are respectively connected to the front telescopic arm and the rear telescopic arm through nuts, and the rotation directions of the front end thread and the rear end thread of the ball screw are opposite to each other;

[0007] One end of the front telescopic arm away from the main frame is used to be connected to an optical positioner, and one end of the rear telescopic arm away from the main frame is provided with a counterweight.

[0008] Optionally, nuts are respectively provided at one end of the front telescopic arm and the rear telescopic arm close to the main frame, a bearing seat is fixedly provided on the main frame along the cross-sectional direction, and the ball screw is connected to the bearing seat via a bearing.

[0009] Optionally, the pitch ratio between the front end thread and the rear end thread of the ball screw is 2:1.

[0010] Optionally, a first locking knob is provided at one end of the main frame close to the front telescopic arm, and the end of the first locking knob abuts against the front telescopic arm.

[0011] Optionally, a connecting piece structure is provided between the front telescopic arm and the optical locator. The connecting piece structure includes a universal ball head connected to the optical locator and a ball head seat connected to the front telescopic arm. The universal ball head is arranged in the ball head seat, and a locking screw is penetrated through the ball head seat. The locking screw is attached to the universal ball head through a rubber head.

[0012] Optionally, the main frame is connected to the main control trolley through a column. A rotating shaft is arranged along the axial direction at the top end of the column. The rotating shaft is connected to the main frame through a U-shaped bracket. The main frame is rotatably connected to the two side walls of the U-shaped bracket. Second locking knobs are respectively arranged on the rotating shaft and the U-shaped bracket.

[0013] Optionally, the main frame, the front telescopic arm and the rear telescopic arm are made of carbon fiber material.

[0014] Optionally, the nut is a ball nut.

[0015] The present invention also provides a surgical positioning system, including the arm for the optical positioning system of the orthopedic surgical robot as described above.

[0016] The present invention provides an arm for the optical positioning system of an orthopedic surgical robot and a surgical positioning system. The beneficial effects are as follows: The ball screw in the main frame of the arm can only rotate and cannot displace within the main frame. The front and rear telescopic arms are screwed to the two ends of the ball screw through ball nuts. In this way, when adjusting the telescopic position of the rear telescopic arm in the main frame, the ball screw can be driven to rotate, so that the front telescopic arm undergoes synchronous telescopic movement. This is convenient for adjusting the position of the optical locator. Only by adjusting the rear telescopic arm can the length position of the optical locator on the arm be achieved. In addition, a first locking knob is provided on the front telescopic arm. After the length position of the optical locator on the arm is adjusted, the first locking knob is locked, so that the front and rear telescopic arms cannot perform telescopic movement on the main frame.

[0017] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By describing the exemplary embodiments of the present invention in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present invention will become more obvious. Among them, in the exemplary embodiments of the present invention, the same reference numerals generally represent the same components.

[0019] Figure 1 Shows a schematic structural diagram of a surgical positioning system according to an embodiment of the present invention.

[0020] Figure 2 Shows an internal cross-sectional view of an arm of an optical positioning system for an orthopedic surgical robot according to an embodiment of the present invention.

[0021] Figure 3 Shows a schematic structural diagram of a ball screw according to an embodiment of the present invention.

[0022] Figure 4 Shows a schematic connection diagram of the arm and the optical locator according to an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1. Arm; 2. Optical locator; 3. Column; 4. Main control cart; 5. Front telescopic arm; 6. Rear telescopic arm; 7. Main frame; 8. Ball screw; 9. Rear ball nut; 10. Front ball nut; 11. Bearing; 12. Bearing seat; 13. Counterweight; 14. Thread at the front end of the forearm; 15. Thread at the rear end of the arm; 16. Rotating shaft; 17. Rotating knob; 18. First locking knob; 19. Connecting piece structure. Detailed implementation manners

[0025] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0026] The present invention provides an arm for an optical positioning system of an orthopedic surgical robot, including:

[0027] A main frame, which is a tubular structure, and a front telescopic arm and a rear telescopic arm are respectively inserted at both ends of the main frame;

[0028] A ball screw, which is rotatably arranged inside the main frame, and both ends of the ball screw are respectively connected to the front telescopic arm and the rear telescopic arm through nuts, and the thread directions of the front end thread and the rear end thread of the ball screw are opposite to each other;

[0029] One end of the front telescopic arm away from the main frame is used to connect with the optical locator, and a counterweight is arranged at one end of the rear telescopic arm away from the main frame.

[0030] Specifically, the support arm includes a main frame and front and rear telescopic arms. The front and rear telescopic arms are respectively inserted into both ends of the main frame. The front and rear telescopic arms are connected to the ball screw inside the main frame through nuts. When it is necessary to adjust the position of the optical locator, only the telescopic length of the rear telescopic arm in the main frame needs to be adjusted, so that the front telescopic arm together with the optical locator can be telescopically adjusted relative to the main frame, without separately adjusting the front and rear telescopic arms, improving the adjustment efficiency of the optical locator. In addition, the threads at both ends of the ball screw corresponding to the front and rear telescopic arms are set in opposite helix directions, so that the front and rear telescopic arms can be retracted and extended synchronously. The optical locator is connected to the distal end of the front telescopic arm, and a counterweight is arranged at the distal end of the rear telescopic arm, which can ensure the stability of the support arm at all times when the optical locator is adjusted in space.

[0031] Optionally, nuts are respectively arranged at one ends of the front telescopic arm and the rear telescopic arm close to the main frame. The main frame is fixedly provided with a bearing seat in the cross-sectional direction. The ball screw is connected to the bearing seat through a bearing.

[0032] Specifically, a bearing seat is fixedly installed in the main frame. The bearing rotates along the cross-section of the main frame on the bearing seat, and the bearing cannot move in the axial direction of the main frame. The ball screw is installed in the main frame through the bearing, so that the spatial position of the ball screw in the main frame cannot change, and the ball screw only rotates self in the main frame.

[0033] Optionally, the pitch ratio of the front end thread to the rear end thread of the ball screw is 2:1.

[0034] Specifically, the pitch ratio of the threads on the ball screw corresponding to the front and rear telescopic arms is 2:1. In this way, when the ball screw rotates, the moving distance of the front telescopic arm can be greater than that of the rear telescopic arm.

[0035] In an embodiment, the front end thread of the ball screw is a left-handed trapezoidal thread, the rear end thread is a right-handed trapezoidal thread, and the pitch of the rear end thread is 1 / 2 of the pitch of the front end thread. Together with the counterweight, the left and right side force arms can be balanced in the case of elongation or contraction.

[0036] Optionally, a first locking knob is arranged at one end of the main frame close to the front telescopic arm, and the end of the first locking knob abuts against the front telescopic arm.

[0037] Specifically, at both ends of the main frame are a front telescopic arm and a rear telescopic arm. Adjusting either telescopic arm can drive the ball screw in the middle to rotate, thereby driving the other telescopic arm to achieve synchronous telescopic movement. Thus, a first locking knob is provided on the front telescopic arm. After the first locking knob abuts against the front telescopic arm, the screwing position of the nut on the front telescopic arm and the ball screw is locked. In this way, the rear telescopic arm and the ball screw cannot rotate relative to each other either, thereby locking the position of the optical locator on the support arm. The support arm can simultaneously lock or loosen the front and rear telescopic arms through a locking knob, optimizing the locking structure on the support arm.

[0038] Optionally, a connecting piece structure is provided between the front telescopic arm and the optical locator. The connecting piece structure includes a universal ball head connected to the optical locator and a ball head seat connected to the front telescopic arm. The universal ball head is arranged in the ball head seat, and a locking screw is penetrated through the ball head seat. The locking screw is attached to the universal ball head through a rubber head.

[0039] Specifically, a connecting piece structure is provided between the front telescopic arm and the optical locator. The connecting angle position of the optical locator relative to the support arm can be locked through the locking screw. The connecting piece structure includes a universal ball head and a ball head seat. When the rubber head of the locking screw does not abut against the universal ball, the universal ball head can only rotate in the ball head seat. Thus, the universal ball drives the optical locator to swing and adjust in the up, down, left, and right directions. After the position of the optical locator is adjusted, the rubber head of the locking screw can be abutted against the universal ball, thus locking the rotation position of the universal ball head in the ball head seat and ensuring the relative position between the optical locator and the support arm. This connecting piece structure facilitates the adjustment of the orientation of the optical locator and avoids blocking the reflecting ball.

[0040] Optionally, the main frame is connected to the main control trolley through a column. A rotating shaft is arranged along the axial direction at the top of the column. The rotating shaft is connected to the main frame through a U-shaped bracket. The main frame is rotatably connected to the two side walls of the U-shaped bracket. Second locking knobs are respectively arranged on the rotating shaft and the U-shaped bracket.

[0041] Specifically, the main frame, as the relatively fixed part of the support arm, is arranged above the main control trolley through the column. When the orientation of the optical locator needs to be adjusted, the second locking knob can be loosened to enable the rotating shaft to freely rotate on the column. When the upward inclination angle between the support arm and the column needs to be adjusted, the second locking knob on the U-shaped bracket can be loosened to enable the main frame and the U-shaped bracket to rotate relative to each other. After the optical locator and the support arm are adjusted in place, the two second locking knobs are locked.

[0042] Optionally, the main frame, the front telescopic arm, and the rear telescopic arm are made of carbon fiber material.

[0043] Specifically, the main frame, the front telescopic arm, and the rear telescopic arm are all made of carbon fiber material, which can effectively reduce the weight of the boom while ensuring strength and enhance the stability of the trolley.

[0044] Optionally, the nut is a ball nut.

[0045] The present invention also provides a surgical positioning system, including the boom for the optical positioning system of the orthopedic surgical robot as described above.

[0046] Embodiment

[0047] As Figures 1 to 4 shown, the present invention provides a boom for the optical positioning system of an orthopedic surgical robot, including:

[0048] A main frame 7, which is a tubular structure, and a front telescopic arm 5 and a rear telescopic arm 6 are respectively inserted at both ends of the main frame 7;

[0049] A ball screw 8 is rotatably arranged inside the main frame 7. The two ends of the ball screw 8 are respectively connected to the front telescopic arm 5 and the rear telescopic arm 6 through a front ball nut 10 and a rear ball nut 9. Threads with opposite helix directions, namely a front arm end thread 14 and a rear arm end thread 15, are respectively arranged at both ends of the ball screw 8;

[0050] One end of the front telescopic arm 5 away from the main frame 7 is used to connect to an optical locator 2, and a counterweight 13 is arranged at one end of the rear telescopic arm 6 away from the main frame 7.

[0051] In this embodiment, a bearing seat 12 is fixedly arranged on the main frame 7 in the cross-sectional direction, and the ball screw 8 is connected to the bearing seat 12 through a bearing 11.

[0052] In this embodiment, the pitch ratio of the front arm end thread 14 and the rear arm end thread 15 on the ball screw 8 is 2:1.

[0053] In this embodiment, a first locking knob 18 is arranged at one end of the main frame 7 close to the front telescopic arm 5, and the end of the first locking knob 18 abuts against the front telescopic arm 5.

[0054] In this embodiment, a connecting piece structure 19 is arranged between the front telescopic arm 5 and the optical locator 2. The connecting piece structure 19 includes a universal ball head connected to the optical locator 2 and a ball head seat connected to the front telescopic arm 5. The universal ball head is rotatably arranged in the ball head seat, and a locking screw penetrates through the ball head seat. The locking screw is attached to the universal ball head through a rubber head.

[0055] In this embodiment, the main frame 7 is connected to the main control trolley 4 through the column 3. A rotating shaft 16 is arranged along the axial direction at the top end of the column 3. The rotating shaft 16 is connected to the main frame 7 through a U-shaped bracket. The main frame 7 is rotatably connected to the two side walls of the U-shaped bracket through a rotating knob 17. Second locking knobs are respectively arranged on the rotating shaft 16 and the U-shaped bracket.

[0056] In this embodiment, the main frame 7, the front telescopic arm 5 and the rear telescopic arm 6 are made of carbon fiber material.

[0057] The present invention also provides a surgical positioning system, including the arm for the optical positioning system of the orthopedic surgical robot as described above.

[0058] In summary, when it is necessary to adjust the orientation of the optical locator 2, the locking screw in the connecting piece structure 19 can be loosened, so that the optical locator 2 and the universal ball head can be freely adjusted in the ball seat; when it is necessary to adjust the height of the optical locator 2 and the inclination angle of the arm, the second locking knobs on the rotating shaft 16 and the U-shaped bracket can be loosened, so that the main frame 7 can rotate freely around the upper end of the column 3; during the transportation of the arm, the first locking knob 18 needs to be loosened, so that the front telescopic arm 5 is inserted into the main frame 7, so that the ball screw 8 can rotate in the main frame 7, thereby driving the rear ball nut 9 to move axially on the ball screw 8, and finally the front telescopic arm 5 together with the optical locator 2 retracts into the main frame 7. When the optical locator 2 is adjusted, the first locking knob 18 is locked again, so that the front and rear telescopic arms retract into the main frame 7, shortening the overall length of the arm in the transportation state.

[0059] The various embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments.

Claims

1. A support arm for an optical positioning system of an orthopedic surgical robot, characterized in that: include: The main frame is a tubular structure, and a front telescopic arm and a rear telescopic arm are respectively inserted at both ends of the main frame; A ball screw is rotatably arranged inside the main frame, two ends of the ball screw are respectively connected to the front telescopic arm and the rear telescopic arm through nuts, and the rotation directions of the front end thread and the rear end thread of the ball screw are opposite to each other; One end of the front telescopic arm away from the main frame is used to be connected to an optical positioner, and one end of the rear telescopic arm away from the main frame is provided with a counterweight.

2. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 1, characterized in that: The front telescopic arm and the rear telescopic arm are respectively provided with nuts at one end close to the main frame, and the main frame is fixedly provided with a bearing seat along the cross-sectional direction, and the ball screw is connected to the bearing seat through a bearing.

3. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 1, characterized in that: The pitch ratio between the front end thread and the rear end thread of the ball screw is 2:

1.

4. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 1, characterized in that: A first locking knob is provided at one end of the main frame close to the front telescopic arm, and an end of the first locking knob abuts against the front telescopic arm.

5. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 1, characterized in that: A connecting structure is arranged between the front telescopic arm and the optical locator, and the connecting structure includes a universal ball head connected to the optical locator and a ball head seat connected to the front telescopic arm. The universal ball head is arranged in the ball head seat, and a locking screw is penetrated through the ball head seat. The locking screw is fitted with the universal ball head through a rubber head.

6. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 1, characterized in that: The main frame is connected to the main control trolley through a column, a rotating shaft is axially arranged at the top of the column, the rotating shaft is connected to the main frame through a U-shaped bracket, the main frame is rotatably connected to the two side walls of the U-shaped bracket, and a second locking knob is respectively arranged on the rotating shaft and the U-shaped bracket.

7. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 1, characterized in that: The main frame, the front telescopic arm and the rear telescopic arm are made of carbon fiber material.

8. The support arm for the optical positioning system of an orthopedic surgical robot according to claim 2, characterized in that: The nut is a ball nut.

9. A surgical positioning system, characterized in that: It comprises a support arm for an optical positioning system of an orthopedic surgical robot according to any one of claims 1-8.

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