Placement robot

Abstract

The invention particularly relates to a placing robot which is used for being installed on an operating table, the placing robot comprises a thigh placing device and a shank placing device, the thigh placing device comprises a fixing block and a thigh support, the fixing block is connected with the operating table, the thigh support is connected with the fixing block through a ball shaft, and the shank placing device is connected with the thigh support. And the fixed block and the thigh bracket have a locking state and a locking release state. The crus placing device comprises a universal cantilever support with a locking function and a foot support, the universal cantilever support comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged, the first connecting rod is arranged in the first direction, and the first direction is perpendicular to the stretching direction of the legs of the patient; the end, away from the second connecting rod, of the first connecting rod is detachably arranged on the operating table, and the foot support is connected with the fourth connecting rod. According to the placing robot, the legs of a patient can be placed, so that the manpower requirement for body position placing and maintaining is reduced, and the safety of an operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a placement robot. Background Art

[0002] Knee arthroscopy is the longest-running and most frequently performed surgery in the sports medicine department. A wide range of body positioning is involved during knee arthroscopy, and how to accurately position and maintain that position is a crucial issue in knee arthroscopy.

[0003] The knee joint mainly involves the angles of flexion and extension, internal and external rotation, and internal and external rotation stress. Currently, two assistants are usually required to assist in positioning the body during surgery, which consumes a huge amount of human resources. At the same time, if the operation time is long, the assistants are prone to fatigue and use inappropriate force, which in turn leads to unstable position of the surgical limb, which is not conducive to the precise placement of the knee prosthesis, prolongs the operation time, and increases the difficulty, injury and risk of the operation. Summary of the Invention

[0004] The purpose of the present invention is to at least solve the problems of high labor input and high surgical risk in existing knee arthroscopy surgery. This purpose is achieved through the following technical solutions:

[0005] The present invention provides a placement robot for installation on an operating table, comprising:

[0006] A thigh placement device, comprising a fixed block and a thigh support, wherein the fixed block is connected to the operating table, the thigh support and the fixed block are connected via a ball shaft, and the fixed block and the thigh support have a locked state and an unlocked state;

[0007] A calf placement device, the calf placement device includes a universal cantilever bracket and a footrest with a locking function, the universal cantilever bracket includes a first link, a second link, a third link and a fourth link hinged in sequence, the first link is arranged along a first direction, the first direction is perpendicular to the extension direction of the patient's legs, and the end of the first link away from the second link is detachably arranged on the operating table, the second link is arranged perpendicular to the first link, and the second link is rotated around the first link, the third link is arranged perpendicular to the second link, and the third link is rotated around the second link, the fourth link is arranged perpendicular to the third link, and the fourth link is rotated around the third link, and the footrest is connected to the fourth link.

[0008] The placement robot described in the present invention can place and adjust the patient's thigh by providing a fixed block and a thigh support connected by a ball joint, and making the fixed block and the thigh support have a locked state and a unlocked state. At the same time, by providing a calf placement device with a universal cantilever support and a footrest, and making the universal cantilever support have a locking function, the footrest tied to the patient's calf can be rotated in at least two planes. The coordinated arrangement of the thigh placement device and the calf placement device can place the patient's legs, thereby reducing the manpower required for positioning and maintaining the body position, and also helps to ensure that the flexion and extension angles, internal and external rotation, and internal and external rotation stresses of the patient's knee joint can meet the surgical requirements, thereby improving the safety of the operation and avoiding the problem of iatrogenic injury.

[0009] In addition, the placement robot according to the present invention may also have the following additional technical features:

[0010] In some embodiments of the present invention, the universal cantilever bracket further comprises:

[0011] a fifth connecting rod, the fifth connecting rod being arranged perpendicular to the fourth connecting rod and being rotatable about the fourth connecting rod;

[0012] The sixth connecting rod is vertically arranged with respect to the fifth connecting rod and is rotatably arranged with respect to the fifth connecting rod as the center. The footrest is connected to an end of the sixth connecting rod away from the fifth connecting rod.

[0013] In some embodiments of the present invention, the universal cantilever bracket further includes a locking mechanism having a first locking switch, the first locking switch being arranged on the sixth connecting rod, and the first locking switch being used to control the locking and unlocking of the universal cantilever bracket.

[0014] In some embodiments of the present invention, the calf placement device further includes a connecting member having two mounting slots, the two mounting slots being respectively disposed on opposite sides of the connecting member;

[0015] The sixth connecting rod is provided with a first plug-in portion, and the footrest is provided with a second plug-in portion. The first plug-in portion and the second plug-in portion are respectively adapted to be connected with the two mounting grooves.

[0016] In some embodiments of the present invention, the placement robot further includes an angle detection component, and the angle detection component includes:

[0017] a first sensor, wherein the first sensor is detachably disposed on the universal cantilever bracket and is disposed parallel to the footrest;

[0018] A second sensor is detachably arranged on the thigh support, and the second sensor is used to be arranged parallel to the patient's thigh.

[0019] In some embodiments of the present invention, the thigh placement device further comprises:

[0020] a fixing member, the fixing member being detachably arranged on the operating table;

[0021] A mounting plate is connected to the fixing member, the mounting plate has a slide rail arranged along a second direction, the second direction is perpendicular to the first direction, and limiting portions are respectively provided at opposite ends of the slide rail, and the fixing block is movably arranged on the slide rail.

[0022] In some embodiments of the present invention, the mounting plate comprises:

[0023] a first mounting plate, the first mounting plate having an inserting portion and a first guide rail;

[0024] The second mounting plate has an assembly groove, a locking piece and a second guide rail, the assembly groove is adapted to be connected with the plug-in portion, the locking piece can be inserted into the assembly groove and locked with the plug-in portion, the first guide rail is docked with the second guide rail to form the slide rail.

[0025] In some embodiments of the present invention, the fixing block includes:

[0026] a first part, the first part being movably disposed on the operating table, the first part having a first receiving groove;

[0027] a second portion, the second portion being rotatably disposed on the first portion, the second portion having a second accommodating groove, the second accommodating groove cooperating with the first accommodating groove to form a mounting cavity for accommodating the ball shaft;

[0028] The second locking switch is arranged on the first part, and one end of the second locking switch can be inserted into the interior of the second part to press the second accommodating groove against the ball shaft.

[0029] In some embodiments of the present invention, a second fastener is provided on the first portion, and the second fastener can protrude from the first portion and press against the slide rail to connect the fixing block to the mounting plate.

[0030] In some embodiments of the present invention, the thigh support comprises:

[0031] A support plate, the support plate is arranged along the first direction, and the ball shaft is arranged on the support plate;

[0032] A splint, wherein the splint and the ball shaft are respectively arranged on opposite sides of the support plate. There are two splints, and along the first direction, the two splints are respectively movably arranged on opposite sides of the support plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference numerals are used throughout the accompanying drawings to denote the same components. In the accompanying drawings:

[0034] Figure 1 This is a schematic diagram of the structure of the placement robot connected to the operating table according to an embodiment of the present invention;

[0035] Figure 2 for Figure 1 The schematic diagram of the structure of the placement robot when working is shown;

[0036] Figure 3 for Figure 1 The schematic diagram of the structure of the placement robot and the operating table at a certain viewing angle is shown;

[0037] Figure 4 for Figure 1 The enlarged schematic diagram of the local structure of A shown;

[0038] Figure 5 for Figure 1 A partial structural diagram of the calf placement device shown;

[0039] Figure 6 for Figure 3 A schematic diagram of a partial cross-sectional structure of the calf placement device in the AA direction shown in FIG.

[0040] Figure 7 for Figure 4 The schematic diagram of the structure of the thigh placement device connected to the operating table;

[0041] Figure 8 for Figure 1 A schematic diagram of a partial structure of the thigh placement device from a certain perspective is shown;

[0042] Figure 9 for Figure 8 The schematic diagram of the partial cross-sectional structure of the fixing member in the DD direction is shown;

[0043] Figure 10 for Figure 3 The schematic diagram of the partial cross-sectional structure of the mounting plate in the BB direction is shown;

[0044] Figure 11 for Figure 1 The enlarged schematic diagram of the local structure of B shown;

[0045] Figure 12 for Figure 8 The schematic diagram of the partial cross-section structure of the thigh placement device in the EE direction is shown;

[0046] Figure 13 for Figure 3 The schematic diagram of the partial cross-section structure of the thigh placement device in the CC direction is shown;

[0047] Figure 14 A schematic structural diagram of a sensor assembly shown in an embodiment of the present invention;

[0048] Figure 15 Schematic diagram of simulation data of a placement robot shown in an embodiment of the present invention.

[0049] The symbols in the accompanying drawings represent the following:

[0050] 1000, robot placement; 2000, operating table; 2001, mounting pole; 3000, patient;

[0051] 100. Calf placement device; 200. Thigh placement device;

[0052] 10. Universal cantilever bracket;

[0053] 11. Connecting rod mechanism; 111. First connecting rod; 112. Second connecting rod; 113. Third connecting rod; 114. Fourth connecting rod; 115. Fifth connecting rod; 116. Sixth connecting rod; 1161. First inserting portion; 117. Fourth fastener;

[0054] 12. Locking mechanism; 121. First locking switch;

[0055] 20. Connector; 21. First switch; 22. Second switch;

[0056] 30. Footrest; 301. Second insertion portion;

[0057] 40. Sensor; 41. Mounting bracket; 411. Fixing slot; 42. Mounting compartment; 43. Fifth fastener;

[0058] 50. Fixed block; 51. First portion; 511. Guide groove; 512. First receiving groove; 52. Second portion; 521. Second receiving groove; 53. Rotating shaft; 54. Second locking switch; 55. Second fastener;

[0059] 60. Thigh support; 61. Support plate; 611. Ball shaft; 612. Positioning slot; 62. Clamp; 621. Binding hole; 63. Third fastener;

[0060] 70. Fixing member; 71. First body; 711. Clamping rod; 72. Second body; 73. Third body; 74. Pressing member; 741. Operating portion; 742. Pressing portion; 75. Clamping groove; 76. Positioning member;

[0061] 80, mounting plate; 801, slide rail; 802, connecting groove; 803, connecting plate;

[0062] 81. First mounting plate; 811. Connecting portion; 812. First guide rail;

[0063] 82. Second mounting plate; 821. Assembly groove; 822. Second guide rail; 823. Locking member;

[0064] 83. Guide rod. DETAILED DESCRIPTION

[0065] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0066] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0067] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0068] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," and the like. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is flipped over, an element described as "below" or "beneath" another element or feature would then be oriented "above" or "above" the other element or feature. Thus, the example term "below" can encompass both above and below orientations.

[0069] like Figures 1-13 As shown, the present invention proposes a placement robot 1000, which is installed on an operating table 2000 to solve the problems of large manpower investment and high surgical risks in existing knee arthroscopic surgery.

[0070] In terms of overall design, the placement robot 1000 includes a thigh placement device 200 and a calf placement device 100, wherein the thigh placement device 200 includes a fixed block 50 and a thigh support 60, the fixed block 50 is connected to the operating table 2000, the thigh support 60 is connected to the fixed block 50 through a ball shaft 611, and there is a locked state and an unlocked state between the fixed block 50 and the thigh support 60.

[0071] The calf placement device 100 includes a universal cantilever bracket 10 with a locking function and a footrest 30. The universal cantilever bracket 10 includes a first link 111, a second link 112, a third link 113 and a fourth link 114 that are hinged in sequence. The first link 111 is arranged along a first direction, which is perpendicular to the extension direction of the patient's 3000 legs, and the end of the first link 111 away from the second link 112 is detachably arranged on the operating table 2000. The second link 112 is arranged perpendicular to the first link 111, and the second link 112 is rotated around the first link 111. The third link 113 is arranged perpendicular to the second link 112, and the third link 113 is rotated around the second link 112. The fourth link 114 is arranged perpendicular to the third link 113, and the fourth link 114 is rotated around the third link 113. The footrest 30 is connected to the fourth link 114.

[0072] Specifically, the placement robot 1000 described in the present invention can place and adjust the thigh of patient 3000 by providing a fixed block 50 and a thigh support 60 connected by a ball joint, and providing a locking state and a unlocked state between the fixed block 50 and the thigh support 60. At the same time, by providing a calf placement device 100 having a universal cantilever support 10 and a footrest 30, and providing the universal cantilever support 10 with a locking function, the footrest 30 tied to the calf of patient 3000 can be rotated in at least two planes. The coordinated arrangement of the thigh placement device 200 and the calf placement device 100 can place the legs of patient 3000, thereby reducing the manpower required for positioning and maintaining the body position, and also helps ensure that the flexion and extension angles, internal and external valgus, and internal and external rotation stresses of the patient 3000's knee joint can meet the surgical requirements, thereby improving the safety of the surgery and avoiding the problem of iatrogenic injury.

[0073] It is important to understand that if Figure 1-6 As shown, the aforementioned placement robot 1000 is mounted on an operating table 2000. The operating table 2000 extends in a second direction to facilitate a patient 3000 lying flat on it. Furthermore, a mounting rod 2001 is provided on one side of the operating table 2000 along the first direction. This mounting rod 2001 extends in the second direction to connect and secure the thigh placement device 200 and the calf placement device 100. The first direction is perpendicular to the second direction.

[0074] In this embodiment, the universal cantilever support 10 has a locking function. Optionally, the universal cantilever support 10 includes a linkage mechanism 11 and a locking mechanism 12. The linkage mechanism 11 includes at least a first link 111, a second link 112, a third link 113, and a fourth link 114, which are connected in sequence. The first link 111 extends in a first direction perpendicular to the direction in which the patient's legs 3000 extend. In this case, the second direction corresponds to the direction in which the patient's legs 3000 extend when lying flat. Furthermore, the end of the first link 111 facing away from the second link 112 is detachably mounted on the operating table 2000. In this embodiment, a mounting structure is provided at one end of the first connecting rod 111 facing away from the second connecting rod 112, and the mounting structure includes a hanging portion and a fourth fastener 117, wherein the hanging portion is adaptively connected to the mounting rod 2001, and the fourth fastener 117 can lock the hanging portion and the mounting rod 2001 by screwing, or press against the mounting rod 2001 by screwing.

[0075] like Figure 2 As shown, the second link 112 is perpendicular to the first link 111, and the second link 112 is rotatably arranged around the first link 111. The third link 113 is perpendicular to the second link 112, and the third link 113 is rotatably arranged around the second link 112. The fourth link 114 is perpendicular to the third link 113, and the fourth link 114 is rotatably arranged around the third link 113. By vertically connecting the first link 111, the second link 112, the third link 113, and the fourth link 114 in sequence, and rotating the second link 112, the third link 113, and the fourth link 114 respectively, the footrest 30 connected to the fourth link 114 can be rotated in at least two vertical planes, thereby achieving a binding connection of the patient's calf 3000.

[0076] It should be noted that the articulation method of the first link 111, the second link 112, the third link 113 and the fourth link 114 can adopt an existing mechanism or other mechanical structure to achieve the rotation effect of the above-mentioned universal cantilever bracket 10, and more restrictions are imposed in this part.

[0077] Furthermore, the universal cantilever bracket 10 also includes a fifth link 115 and a sixth link 116, wherein the fifth link 115 is arranged perpendicular to the fourth link 114 and is rotatably arranged around the fourth link 114, and the sixth link 116 is arranged perpendicular to the fifth link 115 and is rotatably arranged around the fifth link 115, and the footrest 30 is connected to the end of the sixth link 116 facing away from the fifth link 115. The arrangement of the fifth link 115 and the sixth link 116 can further improve the adjustment effect of the universal cantilever bracket 10. In this embodiment, the first link 111, the third link 113, and the fifth link 115 are all short rods, and the second link 112, the fourth link 114, and the sixth link 116 are all long rods, thereby improving the accuracy and convenience of adjusting the spatial position of the output end (footrest 30) of the universal cantilever bracket 10. Optionally, the length of the sixth link 116 is smaller than the length of the second link 112 , and the length of the second link 112 is the same as the length of the fourth link 114 .

[0078] It should be further understood that the locking mechanism 12 has a first locking switch 121, wherein the first locking switch 121 is disposed on the sixth connecting rod 116. The first locking switch 121 is used to control the locking and unlocking of the universal cantilever bracket 10. In this embodiment, the locking mechanism 12 is disposed inside the connecting rod mechanism 11, and the first locking switch 121 is disposed on the sixth connecting rod 116. By holding or driving the first locking switch 121, the locking mechanism 12 can be switched between locking and unlocking. When the first locking switch 121 is not subjected to an external force, the locking mechanism 12 is in a locked state. At this time, the universal cantilever bracket 10 cannot be adjusted in angle. When the first locking switch 121 is subjected to an external force, the locking mechanism 12 is in an unlocked state. At this time, the universal cantilever bracket 10 can be adjusted in angle to facilitate the movement of the footrest 30.

[0079] It should be noted that the locking mechanism 12 may adopt an existing steering locking structure, or may adopt other mechanical structures to achieve multi-position (multi-hinged point) rotation locking, which will not be elaborated here.

[0080] Furthermore, the calf placement device 100 includes a connector 20 having two mounting slots, one on each opposite side of the connector 20. The sixth connecting rod 116 is provided with a first insertion portion 1161, and the footrest 30 is provided with a second insertion portion 301. The first insertion portion 1161 and the second insertion portion 301 are respectively adapted to connect with the two mounting slots.

[0081] Specifically, by providing the connector 20, the connecting rod mechanism 11 and the footrest 30 can be effectively detachably connected, which helps to improve the convenience of installing the footrest 30. At the same time, the size of the footrest 30 can be adjusted or changed as needed to facilitate an effective and stable connection between the footrest 30 and the patient's calf 3000.

[0082] It is important to understand that if Figure 6 As shown, the connecting member 20 is provided with two mounting grooves (not shown in the figure), a first switch 21 and a second switch 22, wherein the two mounting grooves are respectively provided on opposite sides of the connecting member 20, and the first switch 21 and the second switch 22 are both movably provided on the connecting member 20, and the first switch 21 and the second switch 22 can respectively be inserted into the two mounting grooves. At the same time, the end of the sixth connecting rod 116 facing away from the fifth connecting rod 115 is provided with a first plug-in portion 1161, and the footrest 30 is provided with a second plug-in portion 301, and the first plug-in portion 1161 and the second plug-in portion 301 are respectively adapted to be connected with the two mounting grooves. Optionally, the first plug-in portion 1161 and the second plug-in portion 301 are respectively provided with jacks, and the first switch 21 and the second switch 22 can be respectively inserted into the two jacks to achieve the connection and fixation between the connecting member 20 and the sixth connecting rod 116, and the connecting member 20 and the footrest 30.

[0083] In this embodiment, a binding connection hole is provided on the footrest 30 for fixing the binding belt, thereby facilitating binding and connecting the patient's 3000 lower leg to the footrest 30 to ensure that the patient's 3000 lower leg will not be displaced due to prolonged placement.

[0084] Furthermore, the thigh placement device 200 also includes a fixing member 70 and a mounting plate 80. The fixing member 70 is detachably mounted on the operating table 2000. The mounting plate 80 is connected to the fixing member 70 and includes a slide rail 801 extending along a second direction perpendicular to the first direction. The slide rail 801 has limiters at opposite ends thereof. The fixing block 50 is movably mounted on the slide rail 801.

[0085] Specifically, by setting a fixing member 70 and a mounting plate 80, and setting a slide rail 801 along the second direction on the mounting plate 80 for installing the fixing block 50, the thigh support 60 can be movably set on the operating table 2000, and ensure that the thigh support 60 can better adapt and connect with the thigh of the patient 3000.

[0086] It is important to understand that if Figure 4As shown, the fixing member 70 is detachably mounted on the mounting rod 2001. Alternatively, the fixing member 70 may be similar to the fixing structure of existing operating table 2000 accessories that connect to the operating table 2000. In this embodiment, the fixing member 70 includes a first body 71 and a second body 72. The first body 71 is provided with a first hook, and the second body 72 is provided with a second hook. The second body 72 is movably mounted on the first body 71 to allow the fixing member 70 to be hooked to the mounting rod 2001. Alternatively, the first body 71 includes a rod (not shown) with a snap-fitting slot 75. The second body 72 includes a snap-fitting hole that mates with the snap-fitting rod 711. Furthermore, the second body 72 includes a positioning member 76 that extends through the second body 72 and mates with the snap-fitting slot 75 to achieve connection between the fixing member 70 and the mounting rod 2001.

[0087] like Figure 7 and Figure 9 As shown, a third body 73 is provided on the first body 71. Optionally, the third body 73 is provided on the rod. In this embodiment, a pressing member 74 is provided on the third body 73. Specifically, the pressing member 74 includes an operating portion 741 and a pressing portion 742. The operating portion 741 is provided through the third body 73 and is rotatably provided on the third body 73. One end of the operating portion 741 is located outside the third body 73, and the other end is provided with a pressing portion 742. Under the action of the operating portion 741, the pressing portion 742 can protrude from the third body 73 and press against the mounting rod 2001, thereby achieving fixed installation of the fixing member 70 and the mounting rod 2001.

[0088] It is necessary to further understand that Figure 8 and Figure 10 As shown, the mounting plate 80 includes a first mounting plate 81 and a second mounting plate 82, wherein the first mounting plate 81 has a plug-in portion 811 and a first guide rail 812. The second mounting plate 82 has a mounting groove 821, a locking member 823, and a second guide rail 822. The mounting groove 821 is adapted to be connected to the plug-in portion 811, and the locking member 823 is movably provided on the second mounting plate 82 so as to be inserted into the mounting groove 821 and locked with the plug-in portion 811. Optionally, a locking slot is provided on the plug-in portion 811, and the locking member 823 is inserted into and locked into the plug-in portion 811 by plugging or twisting. At this time, the first guide rail 812 and the second guide rail 822 are docked and form the above-mentioned slide rail 801.

[0089] In this embodiment, the first mounting plate 81 and the second mounting plate 82 are both provided with a guide rod 83. At the same time, the first main body 71 and the second main body 72 are both provided with fixed mounting holes, and the fixed mounting holes are both adapted to be connected with the guide rod 83, so that the first main body 71 and the second main body 72 are fixedly connected with the guide rod, thereby realizing a fixed connection between the mounting plate 80 and the fixing member 70.

[0090] In some embodiments of the present application, a connecting groove 802 is provided on both the first mounting plate 81 and the second mounting plate 82. The connecting groove 802 and the first guide rail 812 are respectively provided on opposite sides of the first mounting plate 81. Correspondingly, the connecting groove 802 and the second guide rail 822 are respectively provided on opposite sides of the second mounting plate 82. By simultaneously inserting the connecting plate 803 into the two connecting grooves 802, the first guide rail 812 and the second guide rail 822 can be docked, thereby facilitating the subsequent adaptive connection between the assembly groove 821 and the plug-in portion 811.

[0091] Furthermore, the fixing block 50 includes a first portion 51, a second portion 52, and a second locking switch 54. The first portion 51 is movably mounted on the operating table 2000 and includes a first receiving groove 512. The second portion 52 is rotatably mounted on the first portion 51 and includes a second receiving groove 521. The second receiving groove 521 cooperates with the first receiving groove 512 to form a mounting cavity for accommodating the ball shaft 611. The second locking switch 54 is mounted on the first portion 51, and one end of the second locking switch 54 is capable of protruding into the interior of the second portion 52, causing the second receiving groove 521 to press against the ball shaft 611.

[0092] Specifically, the first portion 51 is provided to provide a mounting base for the second portion 52 and the second locking switch 54, ensuring effective engagement between the fixed block 50 and the operating table 2000 (slide rail 801). Furthermore, by providing a rotatable second portion 52 on the first portion 51, and by cooperating with the second receiving groove 521 of the first portion 51 and the first receiving groove 512 of the second portion 52 to form a mounting cavity for accommodating the ball shaft 611, the second locking switch 54 is engaged to enable the fixed block 50 to press against or release the ball shaft 611, thereby locking or unlocking the ball shaft 611.

[0093] It is important to understand that if Figure 11-13As shown, the first portion 51 is provided with a guide groove 511, which is adapted to connect with the slide rail 801, so that the first portion 51 can move on the slide rail 801 of the mounting plate 80. Specifically, the first portion 51 has a first receiving groove 512, the inner wall of which is adapted to connect with the outer surface of the ball shaft 611. The second portion 52 is connected to the first portion 51 via a rotating shaft 53 and has a second receiving groove 521, the inner wall of which is adapted to connect with the outer surface of the ball shaft 611. The second receiving groove 521 cooperates with the first receiving groove 512 to form a mounting cavity for accommodating the ball shaft 611. At the same time, a second locking switch 54 is provided on the first part 51. The second locking switch 54 is rotatably and / or pluggably provided on the first part 51. One end of the second part 52 can be inserted into the interior of the second part 52 and press the second receiving groove 521 against the ball shaft 611. By operating the second locking switch 54, the distance between the first part 51 and the second part 52 can be reduced or increased, thereby achieving the first receiving groove 512 and the second receiving groove 521 to abut against the ball shaft 611 at the same time, so as to achieve the locking or unlocking of the ball shaft 611 on the fixed block 50.

[0094] It is necessary to further understand that Figure 13 As shown, the first portion 51 is provided with a second fastener 55. The second fastener 55 can extend out of the first portion 51 and press against the slide rail 801 to connect the fixed block 50 to the mounting plate 80. Optionally, the second fastener 55 can be rotatably disposed on the first portion 51. The second fastener 55 can be screwed into the guide groove 511 and abut against the slide rail 801 in the guide groove 511, thereby locking and unlocking the fixed block 50 on the slide rail 801. In this embodiment, the second fastener 55 can be configured as a bolt structure.

[0095] Furthermore, the thigh support 60 includes a support plate 61 and a clamping plate 62. The support plate 61 is arranged along a first direction and is provided with a ball shaft 611. The clamping plate 62 and the ball shaft 611 are respectively arranged on opposite sides of the support plate 61. There are two clamping plates 62, and the two clamping plates 62 are movably arranged on opposite sides of the support plate 61 along the first direction.

[0096] Specifically, by setting the support plate 61 and the splint 62, the distance between the two splints 62 can be adjusted, so that the thigh support 60 can better adapt to the thigh of the patient 3000, and cooperate with the above-mentioned ball joint structure and locking structure to better achieve the fixation and position adjustment of the thigh.

[0097] It is important to understand that, as shown in 11- Figure 13As shown, the thigh support 60 includes a support plate 61 and a splint 62. The support plate 61 is a long strip of plate structure, the splint 62 has an arc-shaped attachment structure, and an assembly structure connected to the support plate 61, the assembly structure having an assembly hole adapted to be connected to the support plate 61, so that the splint 62 can be sleeved on the support plate 61. Optionally, the support plate 61 is extended along a first direction. At the same time, the number of splints 62 is two, and along the first direction, the two splints 62 are movably arranged on opposite sides of the support plate 61, and both splints 62 can be fixedly connected to the support plate 61 to ensure the effective connection between the thigh support 60 and the leg of the patient 3000.

[0098] In this embodiment, the upper surface of the support plate 61 is provided with a plurality of positioning grooves 612. Meanwhile, the clamping plate 62 is provided with a third fastener 63. Optionally, a fixing groove 411 is provided on the assembly structure of the clamping plate 62. The third fastener 63 is disposed inside the fixing groove 411. The third fastener 63 is movably disposed in the fixing groove 411 by a spring. One end of the third fastener 63 is provided with a lifting structure, and the other end of the third fastener 63 is provided with a limiting structure. In this case, the third fastener 63 can be pulled to separate the limiting structure from the positioning groove 612, and the elastic action of the spring can achieve an adaptive connection between the limiting structure and the positioning groove 612, thereby ensuring the fixing effect of the support plate 61 and the clamping plate 62. The structure is simple, the operation is convenient, and the fixing effect is good.

[0099] It is important to further understand that the end of the splint 62 facing away from the support plate 61 is provided with a binding hole 621 for connecting with a tourniquet. In this case, the thigh support 60 can cooperate with the tourniquet to achieve both thigh fixation and movement, and provide hemostasis for subsequent knee surgery. This helps further enhance the performance of the thigh placement device 200 and, in conjunction with the movement and fixation of the calf support device, effectively improves the performance of the placement robot 1000.

[0100] Furthermore, the placement robot 1000 also includes an angle detection component, which includes a first sensor 40 and a second sensor 40. The first sensor 40 is detachably mounted on the universal cantilever support 10 and is arranged parallel to the foot support 30. The second sensor 40 is detachably mounted on the thigh support 60 and is arranged parallel to the thigh of the patient 3000.

[0101] Specifically, by setting up an angle detection component and cooperating with the above-mentioned thigh placement bracket and calf placement bracket, it is possible to complete the body positioning during knee arthroscopy and complete the real-time calculation of intraoperative data to achieve accurate, safe and intelligent operation of knee arthroscopy.

[0102] It should be understood that the angle detection component includes a sensor 40. In this embodiment, the number of sensors 40 is two. For ease of description, the two sensors 40 are respectively referred to as the first sensor 40 and the second sensor 40. Optionally, the first sensor 40 and the second sensor 40 are configured as inertial sensors 40 or torque sensors 40. In this embodiment, the first sensor 40 and the second sensor 40 are both inertial sensors 40. The first sensor 40 is detachably disposed on the sixth connecting rod 116, and the first sensor 40 is kept parallel to the footrest 30. At the same time, the second sensor 40 is detachably disposed on the support plate 61 and is located between the ball shaft 611 and the support plate 61, and the second sensor 40 is kept parallel to the thigh of the patient 3000. At this time, the first sensor 40 and the second sensor 40 can measure the positional relationship between the thigh and the calf in real time by establishing a relative spatial relationship, and determine the flexion and extension angle of the knee joint during surgery through the positional relationship between the thigh and the calf, thereby achieving the effect of real-time measurement of the angle during surgery.

[0103] In this embodiment, the angle detection assembly further includes a mounting frame 41, which has an annular groove that can be adapted to connect with the sixth connecting rod 116 or the support plate 61. A fifth fastener 43 is provided on the mounting frame 41. Optionally, the second fastener 55 includes a bolt or a screw that can be turned to improve the fit between the annular groove and the sixth connecting rod 116 or the support plate 61, thereby achieving a secure connection between the mounting frame 41 and the sixth connecting rod 116 or the support plate 61. Furthermore, the mounting frame 41 has a mounting compartment 42 for accommodating a sensor 40. When the mounting frame 41 is securely connected to the sixth connecting rod 116 or the support plate 61, the sensor 40 is parallel to the thigh or calf of the patient 3000. At this time, the two sensors 40 cooperate to achieve real-time measurement of the flexion and extension angles of the knee joint during surgery.

[0104] like Figure 15 As shown, in actual use, the real-time measurement software system of the inertial sensor 40 angle, in conjunction with the two inertial sensors 40, can realize the measurement of the knee joint angle. At this time, it is necessary to first perform preoperative zeroing on the patient's 3000 leg, and then by adjusting the first locking switch 121 and the second locking switch 54, the position of the thigh support 60 and the foot support 30 can be moved, thereby realizing the measurement of the knee joint angle. The placement robot 1000 of the present application is provided with a thigh placement support, a calf placement support and an angle detection component, and can complete real-time calculation during the operation while meeting the body position placement during knee arthroscopy, so as to realize the intelligent, precise and safe operation of knee arthroscopy, thereby laying a research foundation for the subsequent update and iteration of the system.

[0105] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A placement robot for installation on an operating table, characterized in that: include: A thigh placement device, comprising a fixed block and a thigh support, wherein the fixed block is connected to the operating table, the thigh support and the fixed block are connected via a ball shaft, and the fixed block and the thigh support have a locked state and an unlocked state; A calf placement device, the calf placement device includes a universal cantilever bracket and a footrest with a locking function, the universal cantilever bracket includes a first link, a second link, a third link and a fourth link hinged in sequence, the first link is arranged along a first direction, the first direction is perpendicular to the extension direction of the patient's legs, and the end of the first link away from the second link is detachably arranged on the operating table, the second link is arranged perpendicular to the first link, and the second link is rotated around the first link, the third link is arranged perpendicular to the second link, and the third link is rotated around the second link, the fourth link is arranged perpendicular to the third link, and the fourth link is rotated around the third link, and the footrest is connected to the fourth link.

2. The placement robot according to claim 1, characterized in that: The universal cantilever bracket further comprises: a fifth connecting rod, the fifth connecting rod being arranged perpendicular to the fourth connecting rod and being rotatable about the fourth connecting rod; The sixth connecting rod is vertically arranged with respect to the fifth connecting rod and is rotatably arranged with respect to the fifth connecting rod as the center. The footrest is connected to an end of the sixth connecting rod away from the fifth connecting rod.

3. The placement robot according to claim 2, characterized in that: The universal cantilever bracket further includes a locking mechanism having a first locking switch. The first locking switch is provided on the sixth connecting rod and is used to control the locking and unlocking of the universal cantilever bracket.

4. The placement robot according to claim 2, characterized in that: The calf placement device further includes a connecting member having two mounting slots, the two mounting slots being respectively arranged on opposite sides of the connecting member; The sixth connecting rod is provided with a first plug-in portion, and the footrest is provided with a second plug-in portion. The first plug-in portion and the second plug-in portion are respectively adapted to be connected with the two mounting grooves.

5. The placement robot according to claim 1, characterized in that: The placing robot further includes an angle detection component, which includes: a first sensor, wherein the first sensor is detachably disposed on the universal cantilever bracket and is disposed parallel to the footrest; A second sensor is detachably arranged on the thigh support, and the second sensor is used to be arranged parallel to the patient's thigh.

6. The placement robot according to claim 1, characterized in that: The thigh placement device also includes: a fixing member, the fixing member being detachably arranged on the operating table; A mounting plate is connected to the fixing member, the mounting plate has a slide rail arranged along a second direction, the second direction is perpendicular to the first direction, and limiting portions are respectively provided at opposite ends of the slide rail, and the fixing block is movably arranged on the slide rail.

7. The placement robot according to claim 6, characterized in that: The mounting plate comprises: a first mounting plate, the first mounting plate having an inserting portion and a first guide rail; The second mounting plate has an assembly groove, a locking piece and a second guide rail, the assembly groove is adapted to be connected with the plug-in portion, the locking piece can be inserted into the assembly groove and locked with the plug-in portion, the first guide rail is docked with the second guide rail to form the slide rail.

8. The placement robot according to claim 6, characterized in that: The fixing block includes: a first part, the first part being movably disposed on the operating table, the first part having a first receiving groove; a second portion, the second portion being rotatably disposed on the first portion, the second portion having a second accommodating groove, the second accommodating groove cooperating with the first accommodating groove to form a mounting cavity for accommodating the ball shaft; The second locking switch is arranged on the first part, and one end of the second locking switch can be inserted into the interior of the second part to press the second accommodating groove against the ball shaft.

9. The placement robot according to claim 8, characterized in that: A second fastener is provided on the first portion, and the second fastener can protrude from the first portion and press against the slide rail to connect the fixing block to the mounting plate.

10. The placement robot according to claim 1, characterized in that: The thigh support comprises: A support plate, the support plate is arranged along the first direction, and the ball shaft is arranged on the support plate; A splint, wherein the splint and the ball shaft are respectively arranged on opposite sides of the support plate. There are two splints, and along the first direction, the two splints are respectively movably arranged on opposite sides of the support plate.

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