A navigation scalpel for surgical robots

Abstract

The application discloses a navigation type scalpel for surgical robot and relates to the technical field of medical devices.The scheme comprises a guider provided with a through guide channel at one end and used for detachable connection with an external navigation device;the navigation scalpel comprises a navigation handle and a cutting blade, the cutting blade is detachably connected with one end of the navigation handle, the other end of the navigation handle is provided with a tracer, and the tracer is used for identification and positioning by the external navigation device;the outer wall of the navigation handle is circumferentially limitedly connected with the inner wall of the guide channel, the navigation handle is used for insertion into the guide channel, and the guide channel is used for axial and circumferential guidance of the advancing path of the cutting blade.Through the arrangement of the guider and the navigation scalpel, the external navigation device can position the scalpel, monitor the cutting path and the cutting depth of the scalpel, and through the axial and circumferential limitation of the guide channel on the scalpel, the cutting position and direction of the scalpel are ensured to be accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a navigation type scalpel for surgical robots. BACKGROUND

[0002] The scalpel is a commonly used tool in surgical tools, usually a blade with a sharp edge, mainly used for cutting skin and tissue to expose lesions and open the surgical operating area.

[0003] Currently, there is no scalpel for surgical robots in the field of minimally invasive surgery that can accurately complete incision. The scalpel cannot monitor the cutting path and depth in real time under the navigation system when cutting soft tissue in the surgical channel, and cannot guarantee accurate cutting along the designated axis and channel, which leads to deviation of the surgical channel made at the soft tissue level from the planned surgical channel, resulting in a larger wound size, affecting the accurate advancement of the subsequent surgical sleeve and puncture needle. At the same time, excessive muscle traction can also cause the surgical sleeve and puncture needle advancement channel to completely deviate from the surgical plan, resulting in serious clinical accidents. SUMMARY

[0004] In view of the above-mentioned defects or shortcomings in the prior art, the present application provides a navigation type scalpel for surgical robots.

[0005] To achieve the above-mentioned purpose, the navigation type scalpel for surgical robots of the present application comprises:

[0006] A guide is provided with a through guide channel at one end and is used for detachable connection with an external navigation device at the other end;

[0007] A navigation scalpel comprises a navigation handle and a cutting blade, the cutting blade is detachably connected with one end of the navigation handle, the other end of the navigation handle is provided with a tracer, and the tracer is used for identification and positioning by an external navigation device;

[0008] The outer wall of the navigation handle is circumferentially limitedly connected with the inner wall of the guide channel, the navigation handle is used for inserting into the guide channel, and the guide channel is used for axial and circumferential guidance of the advancing path of the cutting blade.

[0009] Preferably, the guide comprises a first guide, a second guide and a locking member, the first guide is detachably connected with the second guide, and the locking member is used for locking the connection of the first guide and the second guide;

[0010] A quick-connector is provided on one side wall of the first guide member for connecting to an external navigation device. A first groove is provided on the other side wall of the first guide member, a second groove is provided on the side wall of the second guide member, and a third groove is provided on the side wall of the second groove away from the first guide member. The two ends of the first groove, the second groove, and the third groove are connected to the outside. The second groove is used for the insertion of the first guide member. The guide channel is formed in the space surrounded by the first groove and the third groove.

[0011] Preferably, the locking member includes a first pressure block, a first pin, and an elastic member. A first through hole is provided on the first guide member, and the elastic member is disposed in the first through hole. The first pressure block is used to insert into the first through hole and abut against the elastic member.

[0012] A second through hole is provided on the first pressure block, and a first sliding groove is provided on the first guide member. The first sliding groove is arranged along the axial direction of the first through hole and penetrates the first through hole.

[0013] A through-hole second groove is provided on the side wall of the second groove. One end of the second groove extends to the edge of the second groove near the first guide member and communicates with the outside. The end of the second groove away from the first guide member gradually slopes towards the center of the second groove from the other end.

[0014] The top of the first slide groove is positioned at a height corresponding to the end of the second slide groove away from the first guide member. The first pin is used to pass through the second slide groove and the first slide groove in sequence and be inserted into the second through hole. When the first pin is located at the end of the second slide groove away from the first guide member, the elastic member is compressed.

[0015] Preferably, the locking member further includes a second pressure block and a second pin, and a third through hole is provided on the second pressure block. The first through hole penetrates the first guide member, and the first pressure block and the second pressure block are used to be inserted into the first through hole from both ends of the first through hole to compress the elastic member.

[0016] A third sliding groove is also provided on the first guide member along the axial direction of the first through hole. The third sliding groove and the first sliding groove are symmetrically arranged about the center of the first guide member. A fourth sliding groove is also provided on the second groove along the axial direction of the first through hole. The fourth sliding groove and the second sliding groove are symmetrically arranged about the center of the second guide member.

[0017] The second pin is used to be inserted into the fourth slide groove, the third slide groove and the third through hole in sequence. When the first pin is located at the end of the second slide groove away from the first guide member and the second pin is located at the end of the fourth slide groove away from the first guide member, the elastic member is compressed.

[0018] Preferably, a first limiting protrusion is provided on the side wall of the navigation tool holder, the first limiting protrusion protruding from the surface and extending along the axial direction of the navigation tool holder;

[0019] A first limiting groove is provided on the inner wall of the guide channel. The first limiting groove is recessed into the setting surface and extends along the axial direction of the guide channel.

[0020] The first limiting protrusion and the first limiting groove are of the same shape and size, and the first limiting protrusion and the first limiting groove are used to limit the cutting direction of the navigation scalpel.

[0021] Preferably, at least one of the first limiting protrusion and the first limiting groove is provided.

[0022] Preferably, the cutting blade includes a mounting end and a cutting end, the mounting end being used for mounting to the navigation handle;

[0023] The cutting end and the mounting end are tapered and symmetrically arranged about the axis of the cutting blade. Blades are provided on both sides of the cutting end for cutting.

[0024] Preferably, the cutting edge of the blade is provided with anti-slip serrations.

[0025] Preferably, a second limiting groove and a second limiting protrusion are provided at one end of the navigation tool holder. The second limiting protrusion is fixedly connected to the second limiting groove and is located at the end of the second limiting groove away from the navigation tool holder. The second limiting groove and the second limiting protrusion are respectively symmetrically arranged about the axis of the navigation tool holder.

[0026] A through-hole third limiting groove is provided on the cutting blade. The third limiting groove is equal in shape and size to the second limiting protrusion. The second limiting groove is equal in shape and size to the mounting end. The second limiting groove is used for mounting the mounting end to center the cutting blade. The second limiting protrusion is used to insert into the third limiting groove to position the cutting blade in the axial direction.

[0027] Preferably, a fourth limiting groove is provided on both sides of the second limiting protrusion in the axial direction, one end of the fourth limiting groove extends to the edge of the second limiting protrusion away from the navigation handle and communicates with the outside.

[0028] A third limiting protrusion is provided on the inner wall of the third limiting groove. When the cutting blade is installed on the navigation handle, the third limiting protrusion is inserted into the fourth limiting groove to restrict the circumferential rotation of the cutting blade.

[0029] Based on this, the beneficial effects of the present invention are as follows:

[0030] The present invention provides a navigation scalpel that can be used in conjunction with a surgical robot. The navigation scalpel has a tracer that can be identified by external navigation devices to indicate the cutting path and depth of the scalpel tip. At the same time, a guide channel is provided on the guide. When the navigation scalpel is inserted into the guide channel, the guide channel can constrain the cutting range of the navigation scalpel, so that the scalpel can cut accurately and directly and precisely pierce the required position along the required path, opening up a dedicated surgical channel and reducing unnecessary wounds. Attached Figure Description

[0031] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0032] Figure 1 This schematic diagram illustrates the structure of a navigation-type surgical knife according to one embodiment of the present invention.

[0033] Figure 2 This schematic diagram illustrates a disassembled guide according to one embodiment of the present invention.

[0034] Figure 3 This schematic diagram illustrates the structure of a first guide member according to one embodiment of the present invention.

[0035] Figure 4 This schematic diagram illustrates the structure of a second guide member according to one embodiment of the present invention.

[0036] Figure 5 This schematic diagram illustrates the structure of a navigation tool holder according to one embodiment of the present invention.

[0037] Figure 6 A schematic diagram illustrating the structure of a cutting blade according to one embodiment of the present invention;

[0038] Explanation of reference numerals in the attached drawings: 10-Guide, 101-Guide channel, 1011-First limiting groove, 102-First guide, 1021-First groove, 1022-First through hole, 1023-First slide groove, 1024-Third slide groove, 103-Second guide, 1031-Second groove, 10311-Second slide groove, 10312-Fourth slide groove, 1032-Third groove, 104-Locking element, 1041-First pressure block, 10411-Second through hole, 1042-First pin, 1043-Elastic element, 1044-Second pressure block, 10441-Third through hole, 1045-Second pin, 105-Quick connector;

[0039] 20-Navigation scalpel, 201-Navigation handle, 2011-First limiting protrusion, 2012-Second limiting groove, 2013-Second limiting protrusion, 2014-Fourth limiting groove, 202-Cutting blade, 2021-Mounting end, 2022-Cutting end, 20221-Blade edge, 20222-Anti-slip serrations, 2023-Third limiting groove, 2024-Third limiting protrusion, 203-Tracer. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms "a," "the," and "the" as used in the embodiments of this application are also intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should be understood that although the terms first, second, third, etc., may be used to describe related structures in the embodiments of this application, these related structures should not be limited to these terms. These terms are only used to distinguish related structures from each other.

[0043] Depending on the context, the word "if" as used here can be interpreted as "when" or "when". Similarly, depending on the context, the phrase "if determined" can be interpreted as "when determined" or "when (the condition or event of the statement) is detected".

[0044] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should also be understood that when it is mentioned that an element is formed "upper" or "lower" of another element, it can not only be formed directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through an intermediate element.

[0045] Figure 1 This schematic diagram illustrates the structure of a navigation-type surgical knife according to one embodiment of the present invention, as shown below. Figure 1 As shown, a navigation-type surgical scalpel for a surgical robot according to the present invention includes:

[0046] The guide 10 has a through guide channel 101 at one end and is detachably connected to an external navigation device at the other end.

[0047] The navigation scalpel 20 includes a navigation handle 201 and a cutting blade 202. The cutting blade 202 is detachably connected to one end of the navigation handle 201. The other end of the navigation handle 201 is provided with a tracer 203, which is used for external navigation device identification and positioning.

[0048] The outer wall of the navigation tool holder 201 is circumferentially limited to the inner wall of the guide channel 101. The navigation tool holder 201 is used to insert into the guide channel 101, and the guide channel 101 is used to guide the forward path of the cutting blade 202 axially and circumferentially.

[0049] Specifically, the tracer 203 is an identification ball, and the number can be set to 4, located at different positions on the navigation scalpel handle 201. When the guide 10 is connected to an external navigation device, by inserting the navigation scalpel 20 into the guide channel 101, the external guide device can identify the tracer 203 and thus position the navigation scalpel 20. When the navigation scalpel 20 is controlled to move downward to cut, the external navigation device can monitor its cutting path and depth in real time to ensure that the surgical channel created by the navigation scalpel 20 in the soft tissue layer matches the planned surgical channel, thereby improving surgical safety.

[0050] Meanwhile, by providing a guide channel 101 on the guide 10, when the navigation scalpel 20 is inserted into the guide channel 101, the axial channel of the guide channel 101 can constrain the cutting path of the navigation scalpel 20, so that it can accurately pierce the position to be cut, and will not be skewed, resulting in an excessively large incision, so that subsequent surgical operations can be carried out.

[0051] Furthermore, the guide channel 101 is circumferentially limited to the navigation scalpel 20. By limiting the circumferential rotation of the navigation scalpel 20, a fixed cutting angle can be provided, avoiding the incorrect orientation of the cutting blade 202 caused by the rotation of the navigation scalpel 20, thereby avoiding damage caused by different cutting depths and wound sizes.

[0052] Figure 2 This diagram illustrates a disassembled guide according to one embodiment of the present invention. Figure 3 This schematic diagram illustrates the structure of a first guide member according to one embodiment of the present invention. Figure 4 This schematic diagram illustrates the structure of a second guide member according to one embodiment of the present invention, as shown below. Figures 2-4 As shown:

[0053] The guide 10 includes a first guide 102, a second guide 103 and a locking member 104. The first guide 102 and the second guide 103 are detachably connected, and the locking member 104 is used to lock the connection between the first guide 102 and the second guide 103.

[0054] A quick-connector 105 is provided on one side wall of the first guide member 102 for connecting to an external navigation device. A first groove 1021 is provided on the other side wall of the first guide member 102. A second groove 1031 is provided on the side wall of the second guide member 103. A third groove 1032 is provided on the side wall of the second groove 1031 away from the first guide member 102. The two ends of the first groove 1021, the second groove 1031 and the third groove 1032 are connected to the outside. The second groove 1031 is used for the insertion of the first guide member 102. A guide channel 101 is formed in the space surrounded by the first groove 1021 and the third groove 1032.

[0055] Specifically, this device splits the guide 10 into a first guide 102 and a second guide 103, which are detachably connected. During installation, the first guide 102 is inserted into the second groove 1031 of the second guide 103 and locked by the locking member 104. When the first guide 102 is connected to the second guide 103, the first groove 1021 corresponds to and splices with the third groove 1032, so that a guide channel 101 is formed in the space enclosed by the two.

[0056] With this configuration, when the navigation scalpel 20 is inserted into the guide channel 101, the navigation scalpel 20 can be vertically inserted into the guide channel 101 based on the connection between the first guide member 102 and the second guide member 103. At the same time, for easier installation, the navigation scalpel 20 can also be horizontally moved so that it abuts against the first groove 1021 when the first guide member 102 and the second guide member 103 are not installed, and the second guide member 103 can be moved closer to the first guide member 102 so that the third groove 1032 and the first groove 1021 together clamp the navigation scalpel 20, thereby achieving axial positioning.

[0057] Furthermore, the quick connector 105 is used to connect to an external navigation device, and different external navigation devices have different quick connectors, so its style and structure need to match the quick connector of the external navigation device.

[0058] The quick connector 105 can be fixedly connected to the first guide 102. When a quick connector 105 with a different structure is required, the entire first guide 102 can be replaced simultaneously. Alternatively, the quick connector 105 can be detachably connected to the first guide 102. By disassembling and replacing the quick connector 105 with different structural types, it can be adapted to different external navigation devices.

[0059] Furthermore, in the first embodiment of the present invention, the locking member 104 may be configured as a locking pin (not shown in the figure), and locking through holes (not shown in the figure) may be provided on the first guide member 102 and the second guide member 103. When the first guide member 102 is inserted into the second guide member 103, the two locking through holes correspond to each other. At this time, by inserting the locking pin into the locking through hole, the first guide member 102 and the second guide member 103 can be fixedly connected.

[0060] In a second embodiment of the present invention, the locking member 104 includes a first pressing block 1041, a first pin 1042 and an elastic member 1043. A first through hole 1022 is provided on the first guide member 102, and the elastic member 1043 is disposed in the first through hole 1022. The first pressing block 1041 is used to insert into the first through hole 1022 and abut against the elastic member 1043.

[0061] A second through hole 10411 is provided on the first pressure block 1041, and a first sliding groove 1023 is provided on the first guide member 102. The first sliding groove 1023 is axially arranged along the first through hole 1022 and penetrates the first through hole 1022.

[0062] A through second groove 10311 is provided on the side wall of the second groove 1031. One end of the second groove 10311 extends to the edge of the second groove 1031 near the first guide member 102 and communicates with the outside. The end of the second groove 10311 away from the first guide member 102 gradually slopes towards the center of the second groove 1031.

[0063] The top of the first slide groove 1023 is set at a height corresponding to the end of the second slide groove 10311 away from the first guide member 102. The first pin 1042 is used to pass through the second slide groove 10311 and the first slide groove 1023 in sequence and be inserted into the second through hole 10411. When the first pin 1042 is located at the end of the second slide groove 10311 away from the first guide member 102, the elastic member 1043 is compressed.

[0064] Specifically, in the first embodiment, the locking through holes on the first guide 102 and the second guide 103 need to correspond to each other before they can be fixed by inserting a locking pin. This method is relatively difficult to install.

[0065] In the second embodiment, a first through hole 1022 is provided on the first guide 102, and an elastic element 1043 is provided inside it. The elastic element 1043 can be a spring or other elastic component. The first pressing block 1041 is inserted into the first through hole 1022 and abuts against the elastic element 1043. At the same time, a first sliding groove 1023 is provided on the first guide 102. The first sliding groove 1023 communicates with the first through hole 1022. The first pin 1042 can be inserted into the first sliding groove 1023 and inserted into the first through hole 1022. When the first pressing block 1041 is pressed, the first pin 1042 can move vertically along the first sliding groove 1023.

[0066] Meanwhile, a second groove 10311 is provided on the second guide member 103, and the second groove 10311 passes through the second recess 1031. When the first guide member 102 is inserted into the second recess 1031 of the second guide member 103, the first pin 1042 moves downward along the first groove 1023 by pressing the first pressing block 1041, corresponding to the groove opening position of the second groove 10311. At this time, if the second guide member 103 is pushed in further, the first pin 1042 is simultaneously inserted into the second groove 10311. When the first pressing block is no longer pressed, the first pin 1042 moves downward along the first groove 1023, corresponding to the groove opening position of the second groove 10311. At time 1041, the first pressing block 1041 moves upward under the elastic force of the elastic element 1043, which in turn drives the first pin 1042 to move upward. At this time, the second guide element 103 is gradually pushed forward, so that the first pin 1042 moves upward along the second slide groove 10311 until it is located at the end of the second slide groove 10311 away from the first guide element 102. At this time, the displacement of the first pin 1042 is restricted by the top of the second slide groove 10311 and the first slide groove 1023, thus completing the installation and locking of the first guide element 102 and the second guide element 103.

[0067] With this configuration, pressing the first pressure block 1041 allows the first pin 1042 to be positioned at the opening of the second slide groove 10311, and releasing the first pressure block 1041 allows the first pin 1042 to move along the second slide groove 10311, thus achieving a limiting connection between the first guide 102 and the second guide 103. This eliminates the need for hole-to-hole alignment, making it convenient and easy to use.

[0068] It should be noted that the elastic force of the elastic element 1043 is set such that when the first pin 1042 is located at the end of the second groove 10311 away from the first guide 102, it is either in a fully extended state or still in a compressed state. In both cases, it can be ensured that the first pin 1042 reaches the end of the second groove 10311 away from the first guide 102 under the elastic force of the elastic element 1043, ensuring that the first groove 1021 and the third groove 1032 fit together. A more preferred solution is that the elastic element 1043 is still in a compressed state, so that the elastic element 1043 can continuously provide elastic force to push the first pin 1042 upward, thereby achieving a more secure connection between the first guide 102 and the second guide 103.

[0069] Furthermore, in a third embodiment of the present invention, the locking member 104 further includes a second pressing block 1044 and a second pin 1045. A third through hole 10441 is provided on the second pressing block 1044. A first through hole 1022 penetrates the first guide member 102. The first pressing block 1041 and the second pressing block 1044 are used to be inserted into the first through hole 1022 from both ends of the first through hole 1022 to compress the elastic member 1043.

[0070] A third slide groove 1024 is also provided on the first guide member 102. Along the axial direction of the first through hole 1022, the third slide groove 1024 and the first slide groove 1023 are symmetrically arranged with respect to the center of the first guide member 102. A fourth slide groove 10312 is also provided on the second groove 1031. Along the axial direction of the first through hole 1022, the fourth slide groove 10312 and the second slide groove 10311 are symmetrically arranged with respect to the center of the second guide member 103.

[0071] The second pin 1045 is used to be inserted into the fourth slide groove 10312, the third slide groove 1024 and the third through hole 10441 in sequence. When the first pin 1042 is located at the end of the second slide groove 10311 away from the first guide member 102 and the second pin 1045 is located at the end of the fourth slide groove 10312 away from the first guide member 102, the elastic member 1043 is compressed.

[0072] With this configuration, the connection between the first guide 102 and the second guide 103 is fixed and limited at the upper and lower points in the axial direction by the first pin 1042 and the second pin 1045, respectively. This ensures that the diameter of the guide channel 101 formed by the first groove 1021 and the third groove 1032 remains consistent, allowing the navigation scalpel 20 to move straight along the axial direction of the guide channel 101 and ensuring the accuracy of the cutting position of the navigation scalpel 20.

[0073] Furthermore, Figure 5 This schematic diagram illustrates the structure of a navigation tool holder according to one embodiment of the present invention. Figure 6 This schematic diagram illustrates the structure of a cutting blade according to one embodiment of the present invention, as shown below. Figure 5 , 6 As shown:

[0074] A first limiting protrusion 2011 is provided on the side wall of the navigation tool holder 201. The first limiting protrusion 2011 protrudes from the surface and extends along the axial direction of the navigation tool holder 201.

[0075] A first limiting groove 1011 is provided on the inner wall of the guide channel 101. The first limiting groove 1011 is recessed in the surface and extends along the axial direction of the guide channel 101.

[0076] The first limiting protrusion 2011 and the first limiting groove 1011 are of the same shape and size. The first limiting protrusion 2011 and the first limiting groove 1011 are used to limit the cutting direction of the navigation scalpel 20.

[0077] Specifically, the first limiting groove 1011 is located on the inner wall of the first groove 1021 and the third groove 1032, and can cooperate with the first limiting protrusion 2011 to limit the circumferential rotation of the navigation scalpel 20, so as to prevent the navigation scalpel 20 from deviating from the rotational cutting direction after being inserted into the guide channel 101. At the same time, the limiting of both can make the navigation scalpel 20 require a specific insertion angle to be inserted into the guide channel 101, so as to realize the use of the navigation scalpel 20 with a specific cutting direction.

[0078] At the same time, at least one first limiting protrusion 2011 and one first limiting groove 1011 are provided. When multiple first limiting protrusions 2011 and multiple first limiting grooves 1011 are provided at intervals, different cutting angles can be provided for the navigation scalpel 20.

[0079] Furthermore, the cutting blade 202 includes a mounting end 2021 and a cutting end 2022, the mounting end 2021 being used for mounting to the navigation handle 201;

[0080] The cutting end 2022 and the mounting end 2021 are tapered and symmetrically arranged about the axis of the cutting blade 202. Blade 20221 is provided on both sides of the cutting end 2022 and is used for cutting.

[0081] With this configuration, blades 20221 are provided on both sides of the cutting end 2022 and arranged symmetrically, so that the blade tip and the navigation handle 201 are axially aligned, ensuring that the center of the surgical area opening is aligned with the axis of the navigation handle 201, and ensuring that the surgical area opening matches the actual required channel without deviation.

[0082] Furthermore, the blade 20221 is provided with anti-slip serrations 20222. The anti-slip serrations 20222 can increase the sharpness of the cutting blade 20221 when it penetrates, and at the same time prevent the cut from sliding to one side, thus avoiding unnecessary trauma.

[0083] Furthermore, one end of the navigation tool holder 201 is provided with a second limiting groove 2012 and a second limiting protrusion 2013. The second limiting protrusion 2013 is fixedly connected to the second limiting groove 2012 and is located at the end of the second limiting groove 2012 away from the navigation tool holder 201. The second limiting groove 2012 and the second limiting protrusion 2013 are respectively symmetrically arranged about the axis of the navigation tool holder 201.

[0084] A through-hole third limiting groove 2023 is provided on the cutting blade 202. The third limiting groove 2023 is equal in shape and size to the second limiting protrusion 2013. The second limiting groove 2012 is equal in shape and size to the mounting end 2021. The second limiting groove 2012 is used for mounting the mounting end 2021 to center and position the cutting blade 202. The second limiting protrusion 2013 is used to insert into the third limiting groove 2023 to position the cutting blade 202 in the axial direction, ensuring that the blade tip does not shift after the cutting blade 202 is installed, and ensuring the precise position of the cut.

[0085] Specifically, the second limiting groove 2012 is set to a cone shape, which matches the shape and size of the mounting end 2021. The included angle of its cone tip is 90°. This setting enables the cutting blade 202 to be quickly centered and positioned during installation, and avoids the navigation handle 201 and the cutting blade 202 from being misaligned in the axial direction after installation.

[0086] Furthermore, a fourth limiting groove 2014 is provided on both sides of the second limiting protrusion 2013 in the axial direction. One end of the fourth limiting groove 2014 extends to the edge of the second limiting protrusion 2013 away from the navigation tool holder 201 and communicates with the outside.

[0087] A third limiting protrusion 2024 is provided on the inner wall of the third limiting groove 2023. When the cutting blade 202 is installed on the navigation handle 201, the third limiting protrusion 2024 is inserted into the fourth limiting groove 2014 to restrict the circumferential rotation of the cutting blade 202 and realize the fixed connection of the cutting blade 202.

[0088] In summary, the navigation scalpel 20 provided by the present invention has a tracer 203 and a navigation function. It can be identified by an external navigation device to monitor the real-time cutting path and cutting depth of the navigation scalpel 20, thereby achieving more precise control. Furthermore, the guide channel 101 on the guide 10 can limit the axial and circumferential cutting directions of the navigation scalpel 20, ensuring accurate incision position and reducing unnecessary trauma.

[0089] The above description is merely a preferred embodiment of this application. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A navigation-type surgical scalpel for a surgical robot, characterized in that, include: The guide has a through guide channel at one end and is detachably connected to an external navigation device at the other end. A navigation scalpel includes a navigation handle and a cutting blade. The cutting blade is detachably connected to one end of the navigation handle, and a tracer is provided at the other end of the navigation handle. The tracer is used for identification and positioning by an external navigation device. The outer wall of the navigation handle is circumferentially limited to the inner wall of the guide channel. The navigation handle is used to insert into the guide channel, and the guide channel is used to guide the forward path of the cutting blade in both the axial and circumferential directions. The guide includes a first guide member, a second guide member, and a locking member. The first guide member and the second guide member are detachably connected, and the locking member is used to lock the connection between the first guide member and the second guide member. A quick-connector is provided on one side wall of the first guide member for connecting to an external navigation device. A first groove is provided on the other side wall of the first guide member, a second groove is provided on the side wall of the second guide member, and a third groove is provided on the side wall of the second groove away from the first guide member. The two ends of the first groove, the second groove, and the third groove are connected to the outside. The second groove is used for the insertion of the first guide member. The guide channel is formed in the space surrounded by the first groove and the third groove. The locking member includes a first pressure block, a first pin, and an elastic member. A first through hole is provided on the first guide member, and the elastic member is disposed in the first through hole. The first pressure block is used to insert into the first through hole and abut against the elastic member. A second through hole is provided on the first pressure block, and a first sliding groove is provided on the first guide member. The first sliding groove is arranged along the axial direction of the first through hole and penetrates the first through hole. A through-hole second groove is provided on the side wall of the second groove. One end of the second groove extends to the edge of the second groove near the first guide member and communicates with the outside. The end of the second groove away from the first guide member gradually slopes towards the center of the second groove from the other end. The top of the first slide groove is positioned at a height corresponding to the end of the second slide groove away from the first guide member. The first pin is used to pass through the second slide groove and the first slide groove in sequence and be inserted into the second through hole. When the first pin is located at the end of the second slide groove away from the first guide member, the elastic member is compressed. A first limiting protrusion is provided on the side wall of the navigation tool holder. The first limiting protrusion protrudes from the surface and extends along the axial direction of the navigation tool holder. A first limiting groove is provided on the inner wall of the guide channel. The first limiting groove is recessed into the setting surface and extends along the axial direction of the guide channel. The first limiting protrusion and the first limiting groove are of the same shape and size, and the first limiting protrusion and the first limiting groove are used to limit the cutting direction of the navigation scalpel.

2. The navigation-type surgical scalpel for a surgical robot according to claim 1, characterized in that, The locking component further includes a second pressure block and a second pin. A third through hole is provided on the second pressure block. The first through hole penetrates the first guide component. The first pressure block and the second pressure block are used to be inserted into the first through hole from both ends of the first through hole to compress the elastic component. A third sliding groove is also provided on the first guide member along the axial direction of the first through hole. The third sliding groove and the first sliding groove are symmetrically arranged about the center of the first guide member. A fourth sliding groove is also provided on the second groove along the axial direction of the first through hole. The fourth sliding groove and the second sliding groove are symmetrically arranged about the center of the second guide member. The second pin is used to be inserted into the fourth slide groove, the third slide groove and the third through hole in sequence. When the first pin is located at the end of the second slide groove away from the first guide member and the second pin is located at the end of the fourth slide groove away from the first guide member, the elastic member is compressed.

3. The navigation-type surgical scalpel for a surgical robot according to claim 1, characterized in that, At least one of the first limiting protrusion and the first limiting groove is provided.

4. The navigation-type surgical scalpel for a surgical robot according to claim 1, characterized in that, The cutting blade includes a mounting end and a cutting end, the mounting end being used for mounting to the navigation handle; The cutting end and the mounting end are tapered and symmetrically arranged about the axis of the cutting blade. Blades are provided on both sides of the cutting end for cutting.

5. A navigation-type surgical scalpel for a surgical robot according to claim 4, characterized in that, The blade edge is provided with anti-slip serrations.

6. A navigation-type surgical scalpel for a surgical robot according to claim 4, characterized in that, A second limiting groove and a second limiting protrusion are provided at one end of the navigation tool holder. The second limiting protrusion is fixedly connected to the second limiting groove and is located at the end of the second limiting groove away from the navigation tool holder. The second limiting groove and the second limiting protrusion are respectively symmetrically arranged about the axis of the navigation tool holder. A through-hole third limiting groove is provided on the cutting blade. The third limiting groove is equal in shape and size to the second limiting protrusion. The second limiting groove is equal in shape and size to the mounting end. The second limiting groove is used for mounting the mounting end to center the cutting blade. The second limiting protrusion is used to insert into the third limiting groove to position the cutting blade in the axial direction.

7. A navigation-type surgical scalpel for a surgical robot according to claim 6, characterized in that, A fourth limiting groove is provided on both sides of the second limiting protrusion in the axial direction. One end of the fourth limiting groove extends to the edge of the second limiting protrusion away from the navigation handle and communicates with the outside. A third limiting protrusion is provided on the inner wall of the third limiting groove. When the cutting blade is installed on the navigation handle, the third limiting protrusion is inserted into the fourth limiting groove to restrict the circumferential rotation of the cutting blade.

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