Array positioning device, navigation array and positioning control method of navigation array

Abstract

The invention provides an array positioning device, a navigation array and a positioning control method of the navigation.The array positioning device comprises a rotary supporting structure and a rotary connecting structure, the rotary connecting structure is rotationally connected with the rotary supporting structure, and the rotary supporting structure is provided with a first magnetic part and a second magnetic part; a third magnetic part and a fourth magnetic part are arranged on the rotary connecting structure, mutual locking or loosening of the rotary connecting structure and the rotary supporting structure can be controlled by controlling the first magnetic part and the third magnetic part, and rotation of the array body can be controlled by controlling the second magnetic part and the fourth magnetic part. According to the array positioning device, the array does not need to be manually adjusted, and the position adjusting efficiency of the array is high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical treatment, and more particularly relates to an array positioning device, a navigation array and a positioning control method of the navigation array. BACKGROUND

[0002] In various navigation arrays, especially stereotactic navigation arrays, a key technology is to use an optical tracking system (OTS) to identify reflective markers on the array to accurately position the position of a surgical instrument, so as to achieve the purpose of precise surgery. However, in some surgical procedures, such as hip replacement surgery, the surgical instrument needs a large range of motion, which may require adjustment of the direction of the array in some positions to better be recognized by the OTS. Currently, the direction of the array is generally adjusted by screw threads and other structures, by loosening, rotating and tightening to adjust the direction of the array. This manual adjustment method is inconvenient to operate and sometimes requires multiple adjustments, resulting in low adjustment efficiency. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide an array positioning device, a navigation array and a positioning control method of the navigation array, to solve the technical problems of low adjustment efficiency and occupation of additional space in manual adjustment of the array in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is to provide an array positioning device, comprising a rotating support structure and a rotating connection structure, the rotating connection structure is rotatably connected with the rotating support structure, the rotating support structure is provided with a first magnetic part and a second magnetic part, the rotating connection structure is provided with a third magnetic part and a fourth magnetic part, the magnetic force between the first magnetic part and the third magnetic part is used to rotate the rotating connection structure relative to the rotating support structure, and the magnetic force between the second magnetic part and the fourth magnetic part is used to fix the rotating connection structure relative to the rotating support structure.

[0005] In the above scheme, the array positioning device comprises a rotating support structure and a rotating connecting structure, the rotating support structure is provided with a first magnetic part and a second magnetic part, the rotating connecting structure is provided with a third magnetic part and a fourth magnetic part, the magnetic force between the first magnetic part and the third magnetic part can lock the first magnetic part and the third magnetic part, and the magnetic force between the second magnetic part and the fourth magnetic part can drive the rotating connecting structure to rotate relative to the rotating support structure. In this way, the mutual locking or loosening of the rotating connecting structure and the rotating support structure can be controlled by controlling the first magnetic part and the third magnetic part, and the rotation of the rotating connecting structure can be controlled by controlling the second magnetic part and the fourth magnetic part. Therefore, the array positioning device provided by the application does not need to manually adjust the array, the position adjustment efficiency of the array is higher, and additional operators are not needed.

[0006] Optionally, the rotating support structure has a first circumferential side wall and a first end wall, the rotating connecting structure has a second circumferential side wall and a second end wall, the first circumferential side wall is coaxial and opposite to the second circumferential side wall, and the first end wall and the second end wall are opposite to each other; the first magnetic part is arranged adjacent to the first circumferential side wall, the third magnetic part is arranged adjacent to the second circumferential side wall, the second magnetic part is arranged adjacent to the first end wall, and the fourth magnetic part is arranged adjacent to the second end wall.

[0007] In the above scheme, by arranging the first circumferential side wall and the second circumferential side wall on the rotating support structure and the rotating connecting structure respectively, the first magnetic part and the third magnetic part have a circumferential distribution space, so as to form a rotating driving force for the array. By arranging the first end wall and the second end wall on the rotating support structure and the rotating connecting structure respectively, the second magnetic part and the fourth magnetic part are distributed on two adjacent end walls, so as to realize the locking and loosening of the two adjacent end walls.

[0008] Optionally, the rotating support structure comprises a rotating shaft and a limiting part connected to the end of the rotating shaft, the rotating connecting structure comprises a cylindrical part, and the cylindrical part is sleeved on the rotating shaft; or the rotating support structure comprises a cylindrical part, the rotating connecting structure comprises a rotating shaft and a limiting part connected to the end of the rotating shaft, and the cylindrical part is sleeved on the rotating shaft.

[0009] One of the inner circumferential wall of the cylindrical part and the outer circumferential wall of the rotating shaft is the first circumferential side wall, and the other is the second circumferential side wall, one of the end of the limiting part facing the cylindrical part and the end of the cylindrical part facing the limiting part is the first end wall, and the other is the second end wall.

[0010] In the above scheme, by setting one of the rotating support structure and the rotating connection structure as the rotating shaft and the limiting part, and the other as the cylindrical part, the rotating connection of the rotating support structure and the rotating connection structure can be realized, and installation positions are provided for the magnetic parts.

[0011] Optionally, the number of the limiting parts is two, and the two limiting parts are respectively connected to the two ends of the cylindrical part.

[0012] In the above scheme, the two limiting parts can respectively axially limit the two ends of the cylindrical part, and the axial relative position of the cylindrical part and the rotating shaft is fixed. The axial length of the cylindrical part can be the same as the length of the rotating shaft, so that the axial movement of the cylindrical part relative to the rotating shaft can be prevented.

[0013] Optionally, the magnetic force between the second magnetic part and the fourth magnetic part is magnetic attraction or magnetic repulsion.

[0014] In the above scheme, when the second magnetic assembly is energized and the second magnetic part and the fourth magnetic part attract each other, the first end of the cylindrical part and the first limiting part attract each other, and the rotating connection structure and the rotating support structure are locked. When the second magnetic assembly is energized and the second magnetic part and the fourth magnetic part repel each other, the second end of the cylindrical part and the second limiting part abut each other, and the rotating connection structure and the rotating support structure are locked.

[0015] Optionally, the second magnetic part includes a plurality of second magnetic units arranged circumferentially along the first end wall, and the fourth magnetic part includes a plurality of fourth magnetic units arranged circumferentially along the second end wall, and the second magnetic units and the fourth magnetic units are arranged one-to-one.

[0016] In the above scheme, by arranging the second magnetic part with a plurality of circumferentially distributed second magnetic units and the fourth magnetic part with a plurality of circumferentially distributed fourth magnetic units, the cost of the second magnetic part and the fourth magnetic part can be reduced, and the adjustment of the rotation angle of the rotating connection structure can be gear adjustment, such as 30 degrees, 60 degrees, 90 degrees, etc.

[0017] Optionally, the first magnetic part includes a plurality of first magnetic units arranged circumferentially along the first circumferential side wall, and the third magnetic part includes a plurality of third magnetic units arranged circumferentially along the second circumferential side wall.

[0018] In the above scheme, when the first magnetic assembly is energized, the first magnetic part on the rotating support structure can generate a permanent magnetic field, the third magnetic part on the rotating connection structure generates an induced electromotive force with the first magnetic part, forms a rotating magnetic field, thereby generating a rotating driving force to drive the rotating connection structure to rotate relative to the rotating support structure.

[0019] Optionally, at least one of the first magnetic part and the third magnetic part comprises an electromagnet; and / or, at least one of the second magnetic part and the fourth magnetic part comprises an electromagnet.

[0020] In the above scheme, the electromagnet generates a magnetic force when energized, and the magnetic force disappears when de-energized, and the magnetic pole direction of the electromagnet can be controlled by the size and direction of the current, so that the size and direction of the magnetic force can be conveniently controlled.

[0021] The application also provides a navigation array, comprising an array body for optical tracking and identification, and the array positioning device described above, wherein the array body is connected with the rotating connection structure.

[0022] In the above scheme, the array positioning device comprises a rotating support structure and a rotating connection structure, the rotating support structure is provided with a first magnetic part and a second magnetic part, and the rotating connection structure is provided with a third magnetic part and a fourth magnetic part, the mutual locking or loosening of the array body and the rotating support structure can be controlled by controlling the first magnetic part and the third magnetic part, and the rotation of the array body can be controlled by controlling the second magnetic part and the fourth magnetic part. Therefore, the array positioning device provided by the application does not need to manually adjust the array, the position adjustment efficiency of the array is higher, and additional operators are not needed.

[0023] The application also provides a positioning control method of a navigation array, which is applied to the navigation array described above, at least one of the first magnetic part and the third magnetic part comprises a first electromagnet, at least one of the second magnetic part and the fourth magnetic part comprises a second electromagnet, and the method comprises the following steps.

[0024] Obtaining a positioning control instruction of the array body;

[0025] Determining first working current information of the first electromagnet and second working current information of the second electromagnet according to the positioning control instruction, wherein the first working current information and the second working current information each comprise the direction, size and duration of the corresponding working current;

[0026] Applying a first working current to the first electromagnet according to the first working current information, and applying a second working current to the second electromagnet according to the second working current information, so as to control the movement and positioning of the array body.

[0027] The control method of the array positioning device in the above scheme has the following advantages: 1. The position of the array main body does not need to be manually adjusted, and the array main body can be automatically adjusted by issuing instructions in various ways; 2. The rotation angle of the array main body is accurate, which can be better recognized by the OTS; 3. The mechanical wear between parts can be reduced by the magnetic force control method, prolonging the service life of the instrument; 4. The array main body can be automatically locked after adjustment, preventing the array main body from shaking and increasing the stability of the OTS recognition. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] Figure 1 A perspective view of the array positioning device provided by the embodiment of the present application is provided.

[0030] Figure 2 An internal structure diagram of the array positioning device provided by the embodiment of the present application is provided.

[0031] Figure 3 A schematic diagram of the arrangement of the second magnetic part and the fourth magnetic part provided by the embodiment of the present application is provided.

[0032] Figure 4 A schematic diagram of the arrangement of the first magnetic part and the third magnetic part provided by the embodiment of the present application is provided.

[0033] Figure 5 A schematic diagram of part of the structure of the surgical instrument provided by the embodiment of the present application is provided.

[0034] Figure 6 A schematic diagram of the structure of the navigation array provided by the embodiment of the present application is provided.

[0035] In the drawings, various reference signs represent:

[0036] 100-array positioning device; 10-rotating support structure; 11-rotating shaft; 111-first circumferential side wall; 12-limiting part; 121-first end wall; 13-first magnetic part; 131-first magnetic unit; 14-second magnetic part; 141-second magnetic unit; 21-rotating connection structure; 211-second circumferential side wall; 212-second end wall; 22-third magnetic part; 221-third magnetic unit; 23-fourth magnetic part; 231-fourth magnetic unit; 24-array main body;

[0037] 200-fixing device; 300-mechanical arm. DETAILED DESCRIPTION

[0038] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0041] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0042] In various navigation arrays, especially orthopedic navigation arrays, one key technology is to use OTS to identify the reflective markers on the array to accurately position the surgical instrument, so as to achieve the purpose of precise surgery. However, in some surgical procedures, such as hip replacement surgery, the surgical instrument needs a large range of motion, which may require changing the direction of the rotation array in some positions to be better identified by the OTS. In order to solve the problem that the array cannot be identified in special positions: the first solution is to set multiple arrays, for example, by setting reflective markers on multiple surfaces, the identification purpose can also be achieved when the surgical instrument has a large range of motion, but this solution may have the problem of interference of multiple reflective marker information being identified at the same time, in addition, the position of the reflective marker is fixed, and may be blocked in some extreme positions and cannot be adjusted; the second solution is to set the array structure as an adjustable array structure, which is manually adjusted by the doctor during the operation. At present, it is generally cooperated through threads and other structures to achieve the functions of loosening, rotating and tightening, etc. This solution often requires additional personnel to operate the instrument during the operation, and at the same time, due to the mechanical arm, navigation system and other equipment in the surgical area, the additional personnel adjusting the array structure will cause the surgical area to be very crowded and difficult to operate, and the adjustment efficiency is low.

[0043] In order to alleviate the above technical problems, the present application provides an array positioning device, a navigation array and a positioning control method of the navigation array, which effectively solves the problem that the array cannot be rotated or is inconvenient to rotate in the prior art, causing the optical tracking system to be unable to effectively identify during the operation, and helps to improve the operation efficiency. Specifically, the array positioning device includes a rotating support structure and a rotating connection structure, and the rotating connection structure can rotate relative to the rotating support structure. The magnetic force between the first magnetic part on the rotating support structure and the third magnetic part on the rotating connection structure can make the rotating connection structure rotate relative to the rotating support structure, automatically adjust the position of the rotating connection structure, and the magnetic force between the second magnetic part on the rotating support structure and the fourth magnetic part on the rotating connection structure can make the rotating connection structure and the rotating support structure fixed to each other, so that the rotating connection structure is locked. In this way, the rotating connection structure can control the rotation of the array by controlling the on-off electricity of the electromagnet in the first magnetic part 13 and the third magnetic part, and control the locking and loosening of the array by controlling the on-off electricity of the electromagnet in the second magnetic part and the fourth magnetic part, and then the position of the array can be automatically adjusted.

[0044] The array positioning device provided by the embodiment of the present application will be described.

[0045] Please refer to Figure 1 and Figure 2The array positioning device 100 comprises a rotating support structure 10 and a rotating connecting structure 21, the rotating connecting structure 21 is rotatably connected with the rotating support structure 10, the rotating support structure 10 is provided with a first magnetic part 13 and a second magnetic part 14, the rotating connecting structure 21 is provided with a third magnetic part 22 and a fourth magnetic part 23, the magnetic force between the first magnetic part 13 and the third magnetic part 22 is used to rotate the rotating connecting structure 21 relative to the rotating support structure 10, and the magnetic force between the second magnetic part 14 and the fourth magnetic part 23 is used to fix the rotating connecting structure 21 relative to the rotating support structure 10.

[0046] The rotating support structure 10 is used to support the rotating connecting structure 21, and the rotating support structure 10 can be fixedly arranged. The main function of the rotating support structure 10 is to provide a mounting position for the navigation array. The rotating support structure 10 is provided with the first magnetic part 13 and the second magnetic part 14, and the first magnetic part 13 and the second magnetic part 14 can be permanent magnets or electromagnets.

[0047] The rotating connecting structure 21 is used to be connected with the array main body 24, and the array main body 24 can be provided with a reflective marker for OTS identification, positioning the array main body 24, and further positioning the surgical instrument comprising the array main body 24. The reflective marker can be a reflective ball or a reflective patch. The rotating connecting structure 21 is rotatably connected with the rotating support structure 10, so that the array main body 24 can rotate as a whole relative to the rotating support structure 10. In this way, when the surgical instrument is in an irregular position or a position that is difficult to detect, the position of the reflective marker can be changed by rotating the array main body 24, so that the reflective marker is more easily identified by the OTS, and further the position and posture of the surgical instrument are identified. The rotating connecting structure 21 is provided with the third magnetic part 22 and the fourth magnetic part 23, and the third magnetic part 22 and the fourth magnetic part 23 can be permanent magnets or electromagnets.

[0048] At least one of the first magnetic part 13 and the third magnetic part 22 is an electromagnet, and the magnetic force between the first magnetic part 13 and the third magnetic part 22 is used to rotate the rotating connecting structure 21 relative to the rotating support structure 10. By energizing the electromagnet in the first magnetic part 13 and the third magnetic part 22, the magnetic force between the first magnetic part 13 and the third magnetic part 22 is generated, and the rotating connecting structure 21 is rotated. By de-energizing the electromagnet in the first magnetic part 13 and the third magnetic part 22, the magnetic force between the first magnetic part 13 and the third magnetic part 23 is lost, and the array main body 24 stops rotating.

[0049] At least one of the second magnetic part 14 and the fourth magnetic part 23 is an electromagnet, and the magnetic force between the second magnetic part 14 and the fourth magnetic part 23 is used to lock the rotating connection structure 21 and the rotating support structure 10. By energizing the electromagnet in the second magnetic part 14 and the fourth magnetic part 23, the magnetic force between the second magnetic part 14 and the fourth magnetic part 23 is generated, and the rotating connection structure 21 is locked to the rotating support structure 10. By de-energizing the electromagnet in the second magnetic part 14 and the fourth magnetic part 23, the magnetic force between the second magnetic part 14 and the fourth magnetic part 23 is lost, and the rotating connection structure 21 and the rotating support structure 10 are loosened.

[0050] For the convenience of description, the assembly composed of the first magnetic part 13 and the third magnetic part 22 is referred to as the first magnetic assembly, and the assembly composed of the second magnetic part 14 and the fourth magnetic part 23 is referred to as the second magnetic assembly.

[0051] When it is necessary to adjust the position of the array body 24, first, the rotation information of the array body 24 is obtained, such as the rotation speed, the rotation angle, the current position of the array body 24, etc. Then, the second magnetic assembly is de-energized or energized with a small current, so that the rotating connection structure 21 can rotate under the magnetic force of the first magnetic assembly and will not rotate under the action of gravity. Moreover, the first magnetic assembly is energized, so that the rotating connection structure 21 rotates relative to the rotating support structure 10, and after being adjusted to a predetermined position, the first magnetic assembly is de-energized, and the second magnetic assembly is energized, so that the rotating connection structure 21 and the rotating support structure 10 are locked. Finally, the OTS identifies the reflective markers on the array body 24 to detect the position of the surgical instrument. Therefore, the array positioning device 100 in this embodiment has the following advantages: first, the position of the array body 24 does not need to be manually adjusted, and various ways can be used to issue instructions to control the array body 24 to automatically adjust; second, the rotation angle of the array body 24 is accurate, which can be better recognized by the OTS; third, the magnetic force control method can reduce the mechanical wear between parts and prolong the service life of the instrument; fourth, the array body 24 can be automatically locked after adjustment, which prevents the array body 24 from shaking and increases the stability of the OTS recognition.

[0052] The array positioning device 100 in the above embodiment comprises a rotating support structure 10 and a rotating connecting structure 21, the rotating support structure 10 is provided with a first magnetic part 13 and a second magnetic part 14, the rotating connecting structure 21 is provided with a third magnetic part 22 and a fourth magnetic part 23, the magnetic force between the first magnetic part 13 and the third magnetic part 22 can lock the first magnetic part 13 and the third magnetic part 22, and the magnetic force between the second magnetic part 14 and the fourth magnetic part 23 can drive the rotating connecting structure 21 to rotate relative to the rotating support structure 10. In this way, the mutual locking or loosening of the rotating connecting structure 21 and the rotating support structure 10 can be controlled by controlling the first magnetic part 13 and the third magnetic part 22, and the rotation of the rotating connecting structure 21 can be controlled by controlling the second magnetic part 14 and the fourth magnetic part 23. Therefore, the array positioning device 100 provided by the application does not need to manually adjust the array, the position adjustment efficiency of the array body 24 is higher, and additional operators are not needed.

[0053] In some embodiments of the application, referring to Figures 2 to 4 , Figure 3 the left view of FIG. 1 is a sectional view of the rotating support structure 10 at the second magnetic part 14, Figure 3 the right view of FIG. 1 is a sectional view of the array positioning device 100 at the fourth magnetic part 23. The rotating support structure 10 has a first circumferential side wall 111 and a first end wall 121, and the rotating connecting structure 21 has a second circumferential side wall 211 and a second end wall 212, the first circumferential side wall 111 is coaxial with and opposite to the second circumferential side wall 211, and the first end wall 121 and the second end wall 212 are opposite to each other; the first magnetic part 13 is arranged adjacent to the first circumferential side wall 111, the third magnetic part 22 is arranged adjacent to the second circumferential side wall 211, the second magnetic part 14 is arranged adjacent to the first end wall 121, and the fourth magnetic part 23 is arranged adjacent to the second end wall 212. The first circumferential side wall 111 and the second circumferential side wall 211 are coaxial and adjacent, one of the circumferential side walls is an outer circumferential wall, and the other is an inner circumferential wall, and the inner circumferential wall and the outer circumferential wall are adjacent. When the first magnetic assembly is energized, the first magnetic part 13 and the third magnetic part 22 interact to make the first circumferential side wall 111 and the second circumferential side wall 211 rotate relative to each other.

[0054] By arranging the first circumferential side wall 111 and the second circumferential side wall 211 on the rotating support structure 10 and the rotating connecting structure 21 respectively, the first magnetic part 13 and the third magnetic part 22 have a circumferential distribution space, thereby forming a rotating driving force for the rotating connecting structure 21. By arranging the first end wall 121 and the second end wall 212 on the rotating support structure 10 and the rotating connecting structure 21 respectively, the second magnetic part 14 and the fourth magnetic part 23 are distributed on two adjacent end faces, thereby achieving the locking and loosening of the two adjacent end walls.

[0055] In some embodiments, the first magnetic part 13 and the second magnetic part 14 are hidden inside the rotating support structure 10, that is, the surface of the rotating support structure 10 is relatively smooth and has no magnetic part, and the friction is relatively small when the rotating connecting structure 21 rotates relative to the rotating support structure 10, and the wear is small.

[0056] In some embodiments, the third magnetic part 22 and the fourth magnetic part 23 are hidden inside the rotating connecting structure 21, that is, the surface of the rotating connecting structure 21 is relatively smooth and has no magnetic part, and the friction is relatively small when the rotating connecting structure 21 rotates relative to the rotating support structure 10, and the wear is small.

[0057] In some embodiments, the first magnetic part 13 and the second magnetic part 14 are embedded on the surface of the rotating support structure 10, so that the first magnetic part 13 and the second magnetic part 14 are easier to install and fix, and the processing cost is relatively low.

[0058] In some embodiments, the third magnetic part 22 and the fourth magnetic part 23 are embedded inside the rotating connecting structure 21, so that the third magnetic part 22 and the fourth magnetic part 23 are easier to install and fix, and the processing cost is relatively low.

[0059] In some embodiments, the first circumferential side wall 111 is an inner circumferential wall, and the second circumferential side wall 211 is an outer circumferential wall. Alternatively, the first circumferential side wall 111 is an outer circumferential wall, and the second circumferential side wall 211 is an inner circumferential wall.

[0060] In some embodiments of the present application, please refer to Figures 2 to 4The rotating support structure 10 comprises a rotating shaft 11 and a limiting portion 12 connected to the end of the rotating shaft 11, and the rotating connecting structure 21 comprises a cylindrical portion which is sleeved on the rotating shaft 11. The outer circumferential wall of the rotating shaft 11 is a first circumferential side wall 111, and the inner circumferential wall of the cylindrical portion is a second circumferential side wall 211. The end of the limiting portion 12 facing the rotating shaft 11 (facing the cylindrical portion) is a first end wall 121, and the end of the cylindrical portion facing the limiting portion 12 is a second end wall 212. In this embodiment, the outer circumferential wall of the rotating shaft 11 is provided with a first magnetic portion 13, the inner circumferential wall of the cylindrical portion is provided with a third magnetic portion 22, the limiting portion 12 is provided with a second magnetic portion 14, and the end of the cylindrical portion is provided with a fourth magnetic portion 23. The cross section of the rotating shaft 11 is circular, the cross section of the cylindrical portion is annular, and the rotating shaft 11 is arranged in the interior of the cylindrical portion, so that the cylindrical portion can rotate smoothly relative to the rotating shaft 11. The limiting portion 12 can be understood as extending radially outward from one end of the rotating shaft 11, and the cross-sectional area of the limiting portion 12 is greater than that of the rotating shaft 11, so that the limiting portion 12 can limit the axial position between the rotating shaft 11 and the cylindrical portion, and the axial positions of the rotating support structure 10 and the rotating connecting structure 21 are relatively fixed, and the second magnetic portion 14 and the fourth magnetic portion 23 are provided with installation spaces.

[0061] By arranging the rotating support structure 10 as the rotating shaft 11 and the limiting portion 12 and arranging the rotating connecting structure 21 as the cylindrical portion, the rotating connection of the rotating connecting structure 21 and the rotating support structure 10 can be realized, and installation positions of the magnetic portions are provided.

[0062] In some embodiments of the present application, the rotating support structure 10 comprises a cylindrical portion, and the rotating connecting structure 21 comprises a rotating shaft 11 and a limiting portion 12 connected to the end of the rotating shaft 11, and the cylindrical portion is sleeved on the rotating shaft 11. The inner circumferential wall of the cylindrical portion is a first circumferential side wall 111, and the outer circumferential wall of the rotating shaft 11 is a second circumferential side wall 211. The end of the cylindrical portion facing the limiting portion 12 is a first end wall 121, and the end of the limiting portion 12 facing the rotating shaft 11 (facing the cylindrical portion) is a second end wall 212. In this embodiment, the outer circumferential wall of the rotating shaft 11 is provided with a third magnetic portion 22, the inner circumferential wall of the cylindrical portion is provided with a first magnetic portion 13, the limiting portion 12 is provided with a fourth magnetic portion 23, and the end of the cylindrical portion is provided with a second magnetic portion 14.

[0063] By arranging the rotating support structure 10 as the cylindrical portion and arranging the rotating connecting structure 21 as the rotating shaft 11 and the limiting portion 12, the rotating connection of the rotating connecting structure 21 and the rotating support structure 10 can be realized, and installation positions of the magnetic portions are provided.

[0064] In some embodiments, the limiting portion 12 is circular and is arranged concentrically with the rotating shaft 11, which is more convenient for processing the limiting portion 12 and the rotating shaft 11.

[0065] In some embodiments of the present application, the number of the limiting portions 12 is one, and the limiting portion 12 can axially limit one end of the cylindrical portion. When the second magnetic assembly is energized, the magnetic force between the second magnetic portion 14 and the fourth magnetic portion 23 is magnetic attraction, so that the limiting portion 12 and the cylindrical portion are tightly attracted to each other, and the rotating connection structure 21 and the rotating support structure 10 are locked to each other.

[0066] In some embodiments of the present application, referring to Figure 2 , the number of the limiting portions 12 is two, and the two limiting portions 12 are respectively connected to the two ends of the cylindrical portion. The two limiting portions 12 can respectively axially limit the two ends of the cylindrical portion, and the axial relative position of the cylindrical portion and the shaft 11 is fixed. The axial length of the cylindrical portion can be the same as the length of the shaft 11, so that the axial movement of the cylindrical portion relative to the shaft 11 can be prevented.

[0067] In some embodiments, the one limiting portion 12 and the one end of the cylindrical portion are respectively provided with the second magnetic portion 14 and the fourth magnetic portion 23, that is, provided with the second magnetic assembly. The rotating connection structure 21 and the rotating support structure 10 are locked and fixed by the magnetic force between the second magnetic portion 14 and the fourth magnetic portion 23.

[0068] Optionally, when the second magnetic assembly is energized, the magnetic force between the second magnetic portion 14 and the fourth magnetic portion 23 is magnetic attraction, so that the limiting portion 12 and the cylindrical portion are tightly attracted to each other, and the rotating connection structure 21 and the rotating support structure 10 are locked to each other;

[0069] Optionally, when the second magnetic assembly is energized, the magnetic force between the second magnetic portion 14 and the fourth magnetic portion 23 is magnetic repulsion, so that the cylindrical portion is pushed to abut against the other limiting portion 12, and the rotating connection structure 21 and the rotating support structure 10 are locked to each other.

[0070] The two limiting portions 12 can be respectively referred to as a first limiting portion 12 and a second limiting portion 12, and the first end of the cylindrical portion and the first limiting portion 12 are respectively provided with the second magnetic portion 14 and the fourth magnetic portion 23. When the second magnetic assembly is energized and the second magnetic portion 14 and the fourth magnetic portion 23 attract each other, the first end of the cylindrical portion and the first limiting portion 12 attract each other, and the rotating connection structure 21 and the rotating support structure 10 are locked. When the second magnetic assembly is energized and the second magnetic portion 14 and the fourth magnetic portion 23 repel each other, the second end of the cylindrical portion and the second limiting portion 12 abut against each other, and the rotating connection structure 21 and the rotating support structure 10 are locked.

[0071] In some embodiments, one of the limiting portions 12 and one end of the cylindrical portion are provided with a second magnetic assembly, and the other limiting portion 12 and the other end of the cylindrical portion are also provided with a second magnetic assembly. Specifically, the first limiting portion 12 and the first end of the cylindrical portion are respectively provided with a second magnetic portion 14 and a fourth magnetic portion 23, and the second limiting portion 12 and the second end of the cylindrical portion are respectively provided with a second magnetic portion 14 and a fourth magnetic portion 23. When the two second magnetic assemblies are energized, one of the second magnetic assemblies generates magnetic attraction force, and the other second magnetic assembly generates magnetic repulsion force, so that the pressing force between the one of the limiting portions 12 and the cylindrical portion increases, thereby increasing the locking force between the rotating connection structure 21 and the rotating support structure 10.

[0072] In some embodiments of the present application, referring to Figure 2 and Figure 3 , the second magnetic portion 14 includes a plurality of second magnetic units 141 circumferentially arranged along the first end wall 121, and the fourth magnetic portion 23 includes a plurality of fourth magnetic units 231 circumferentially arranged along the second end wall 212, and the second magnetic units 141 and the fourth magnetic units 231 are arranged one-to-one. The number of second magnetic units 141 is a plurality, and they are circumferentially arranged along the first end wall 121. The distribution of the fourth magnetic units 231 is the same as that of the second magnetic units 141, so that the second magnetic units 141 and the fourth magnetic units 231 can generate magnetic force one-to-one, and also generate magnetic force one-to-one when the rotating connection structure 21 rotates by a predetermined angle.

[0073] By arranging the second magnetic portion 14 with a plurality of circumferentially distributed second magnetic units 141 and the fourth magnetic portion 23 with a plurality of circumferentially distributed fourth magnetic units 231, the cost of the second magnetic portion 14 and the fourth magnetic portion 23 can be reduced, and at the same time, the adjustment of the rotation angle of the rotating connection structure 21 can be adjusted in gear positions, such as 30 degrees, 60 degrees, 90 degrees, etc.

[0074] At the same time, through one-to-one correspondence of the second magnetic units 141 and the fourth magnetic units 231, after the rotating connection structure 21 rotates relative to the rotating support structure 10, each second magnetic unit 141 and each fourth magnetic unit 231 still correspond one-to-one and generate magnetic force. Therefore, when the rotating connection structure 21 and the rotating support structure 10 rotate relative to each other, the magnetic force between the second magnetic portion 14 and the fourth magnetic portion 23 will not be affected, and the rotating connection structure 21 and the rotating support structure 10 can still be locked well.

[0075] In some embodiments, the number of the second magnetic units 141 and the fourth magnetic units 231 can be three, four, six, etc., and the specific number is not limited here. For example, when the number of the second magnetic units 141 and the fourth magnetic units 231 is four and they are uniformly distributed in the circumference, one pair of the second magnetic units 141 and the fourth magnetic units 231 are arranged every 90 degrees, and then the rotating connection structure 21 has 90-degree, 180-degree, 270-degree, etc. angle adjustment positions.

[0076] In some embodiments of the present application, the second magnetic part 14 is annular, and the fourth magnetic part 23 includes a plurality of fourth magnetic units 231 arranged along the second end wall 212 in the circumference, which can also achieve stepless adjustment of the rotating connection structure 21. Alternatively, the second magnetic part 14 includes a plurality of second magnetic units 141, and the fourth magnetic part 23 is annular, which can also achieve stepless adjustment of the rotating connection structure 21.

[0077] In some embodiments of the present application, the second magnetic part 14 and the fourth magnetic part 23 are both annular, which not only can achieve stepless adjustment of the rotating connection structure 21, but also facilitates the installation of the second magnetic part 14 and the fourth magnetic part 23, has fewer parts, and is easier to install.

[0078] In some embodiments of the present application, please refer to Figure 4 , the first magnetic part 13 includes a plurality of first magnetic units 131 arranged along the first circumferential side wall 111 in the circumference, and the third magnetic part 22 includes a plurality of third magnetic units 221 arranged along the second circumferential side wall 211 in the circumference. When the first magnetic assembly is energized, the first magnetic part 13 on the rotating support structure 10 can generate a magnetic field, and the third magnetic part 22 on the rotating connection structure 21 generates an induced electromotive force with the first magnetic part 13, forming a rotating magnetic field, thereby generating a rotating driving force to drive the rotating connection structure 21 to rotate relative to the rotating support structure 10. The specific principle of the first magnetic part 13 and the third magnetic part 22 generating the rotating driving force is similar to that of a motor, which will not be described here.

[0079] In some embodiments of the present application, one of the first magnetic part 13 and the third magnetic part 22 is a permanent magnet, and the other is an electromagnet. The electromagnet generates a magnetic force when energized, and the magnetic force disappears when de-energized. The direction of the magnetic pole of the electromagnet can be controlled by the size and direction of the current, and the size and direction of the magnetic force can be conveniently controlled.

[0080] In some embodiments of the present application, the first magnetic part 13 and the third magnetic part 22 are both electromagnets, and both of them can be controlled by energization.

[0081] In some embodiments of the present application, one of the second magnetic part 14 and the fourth magnetic part 23 is a permanent magnet, and the other is an electromagnet. The electromagnet generates a magnetic force when powered on, and the magnetic force disappears when powered off. The magnetic pole direction of the electromagnet can be controlled by the size and direction of the current, and the size and direction of the magnetic force can be conveniently controlled.

[0082] In some embodiments of the present application, the second magnetic part 14 and the fourth magnetic part 23 are both electromagnets, and both of them can be powered on for control.

[0083] Please refer to Figure 5 and Figure 6 The present application also provides a navigation array, which comprises the array positioning device 100 in any of the above embodiments. The navigation array further comprises an array body 24 connected with the rotating connection structure 21, and the array body 24 is provided with a reflective marker for optical tracking and identification. The rotating support structure 10 is fixed on a fixer 200, and the fixer 200 is fixed on a mechanical arm 300.

[0084] The navigation array provided by the present application adopts the array positioning device 100 in any of the above embodiments. The array positioning device 100 comprises the rotating support structure 10 and the rotating connection structure 21. The rotating support structure 10 is provided with the first magnetic part 13 and the second magnetic part 14, and the rotating connection structure 21 is provided with the third magnetic part 22 and the fourth magnetic part 23. The magnetic force between the first magnetic part 13 and the third magnetic part 22 can lock the first magnetic part 13 and the third magnetic part 22, and the magnetic force between the second magnetic part 14 and the fourth magnetic part 23 can drive the array body 24 to rotate relative to the rotating support structure 10. In this way, the mutual locking or loosening of the array body 24 and the rotating support structure 10 can be controlled by controlling the first magnetic part 13 and the third magnetic part 22, and the rotation of the array body 24 can be controlled by controlling the second magnetic part 14 and the fourth magnetic part 23. Therefore, the array positioning device 100 provided by the present application does not need to manually adjust the array, the position adjustment efficiency of the array body 24 is higher, and additional operators are not needed.

[0085] The present application also provides a positioning control method of a navigation array, which is applied to the navigation array in any of the above embodiments. At least one of the first magnetic part 13 and the third magnetic part 22 comprises a first electromagnet, and at least one of the second magnetic part 14 and the fourth magnetic part 23 comprises a second electromagnet. The positioning control method of the navigation array comprises the following steps:

[0086] S10: acquiring a positioning control instruction of the array body 24;

[0087] S20: determining first working current information of the first electromagnet and second working current information of the second electromagnet according to the positioning control instruction, wherein the first working current information and the second working current information each include a direction, a size and a duration of the corresponding working current;

[0088] S30: applying the first working current to the first electromagnet according to the first working current information and applying the second working current to the second electromagnet according to the second working current information, so as to control the movement and positioning of the array body 24.

[0089] The positioning control instruction can include locking the array body 24, rotating the array body 24 to a predetermined position, etc. The first working current information includes the direction, size and duration of the working current of the first electromagnet, and the second working current information includes the direction, size and duration of the working current of the second electromagnet.

[0090] Through the control method of the array positioning device 100 described above, first, the position of the array body 24 can be automatically adjusted by issuing instructions in various ways without manual adjustment; second, the rotation angle of the array body 24 is accurate and can be better recognized by the OTS; third, the mechanical wear between parts can be reduced through magnetic force control, prolonging the service life of the instrument; fourth, the array body 24 can be automatically locked after adjustment, preventing the array body 24 from shaking and increasing the stability of OTS recognition.

[0091] In some embodiments of the present application, when the position of the array body 24 needs to be adjusted, an instruction can be first sent to the control center, the control center obtains the positioning control instruction of the array body 24, and determines the first working current information and the second working current information according to the positioning control instruction, so that the array body 24 can rotate relative to the rotating support structure 10, and the array body 24 is locked to the rotating support structure 10 after rotating to a predetermined position. The way of sending instructions to the control center can be common information transmission ways such as voice, action, screen operation, etc.

[0092] In some embodiments of the present application, when performing hip joint surgery on a patient, the following steps are performed:

[0093] The relevant equipment is positioned according to the surgical requirements, such as Figure 6 As shown, the patient is in a lateral position, the mechanical arm 300 moves to a specified position, and the fixator 200 is close to the patient's hip joint to perform relevant operations. At this time, the second electromagnet passes a high current A2, and the first electromagnet is not powered. The attractive force between the second electromagnet and the second permanent magnet causes the array body 24 on the fixator 200 to be in a locked state, but the array body 24 exists in a shielding condition.

[0094] The doctor issues adjustment instruction information to start the operation process. The doctor needs to remove the blocking problem of the array body 24 before performing subsequent operation, and first needs to output a wake-up instruction, for example, by setting a special sentence such as "array rotation execution". When the control center recognizes the sentence, the array positioning device 100 will be woken up, and the doctor will be reminded to output specific instruction information. The doctor can output instructions such as "clockwise rotation 30°" according to the real-time relative position of the array and the OTS.

[0095] The control center converts the instruction into an electrical signal and transmits it to the electromagnet. The control center converts the instruction into an electrical signal according to the doctor's instruction, for example, clockwise rotation represents that a forward current should be passed through the first electromagnet, and vice versa. The current is reversed, 30° represents passing 0.1A current for 0.15S, or passing 0.2A current for 0.05S. The specific corresponding value can be obtained by theoretical calculation, or the test results are pre-set to the control center in advance. At that time, the control center can automatically match the current size and power time information according to the angle.

[0096] The control electromagnet current realizes the rotation of the array body 24. According to the above electrical signal, the current of the first electromagnet and the second electromagnet is controlled, which can be specifically: first, the current in the second electromagnet is reduced from A2 to A1, at this time the rotation freedom of the array body 24 is unlocked, but due to the existence of a certain suction force, the array body 24 will not rotate under the action of gravity; Further, pass a forward current of 0.1A in the first electromagnet for 0.15S, at this time the first permanent magnet obtains a rotation driving force and drives the array body 24 to complete the rotation; After the first electromagnet is powered off, the current of the second electromagnet is restored from A1 to A2. The array body 24 completes the rotation, and under the suction force of the second electromagnet, the array body 24 is locked again, and the adjustment is completed. At this time, a signal can be issued to remind the doctor to perform other operation.

[0097] In some embodiments, during the operation or other cases where the array body 24 needs to be fixed relative to the support structure 10, due to operation or other reasons, the array body 24 is in a moving state or a stressed state, and the magnetic attraction between 14 and 23 provides relatively large magnetic attraction. At least part of the magnetic units between the second magnetic part 14 and the fourth magnetic part 23 can provide relatively large magnetic attraction to ensure that the array body 24 remains in a fixed state.

[0098] In some embodiments, when the array body 24 needs to be fixed relative to the support structure 10 during the operation or other situations, the array body 24 is in a moving state or a stressed state due to the operation or other reasons, the magnetic attraction between the at least part of the magnetic units between the second magnetic part 14 and the fourth magnetic part 23 provides a relatively large magnetic attraction force, and the at least part of the magnetic units between the second magnetic part 14 and the fourth magnetic part 23 can provide a relatively large magnetic attraction force to ensure that the array body 24 is kept in a fixed state. The magnetic attraction force provided by the at least part of the magnetic units between the first magnetic part 13 and the third magnetic part 22 can enhance the stability of the array body 24 in the fixed state.

[0099] In some embodiments, when the position of the array body 24 needs to be adjusted, the at least part of the magnetic units between the second magnetic part 14 and the fourth magnetic part 23 provide a relatively small magnetic attraction force to prevent the array from rotating unintentionally under the action of its own gravity, and the magnetic attraction force provided by the at least part of the magnetic units between the first magnetic part 13 and the third magnetic part 22 and the magnetic repulsion force provided by the at least part of the magnetic units can rotate the array body 24.

[0100] In some embodiments, when the position of the array body 24 needs to be adjusted, there is no magnetic attraction force between the second magnetic part 14 and the fourth magnetic part 23, and therefore, the current-off time of the second electromagnet and the start time of the working current for driving the array body 24 to rotate are matched with each other, the magnetic attraction force provided by the at least part of the magnetic units between the first magnetic part 13 and the third magnetic part 22 and the magnetic repulsion force provided by the at least part of the magnetic units can rotate the array body 24.

[0101] In some embodiments, the number of the first magnetic units 131 and the third magnetic units 221 is the same, and the first magnetic units 131 and the third magnetic units 221 are arranged one-to-one.

[0102] In some embodiments, the number of the first magnetic units 131 and the third magnetic units 221 is different. For example, the number of the first magnetic units 131 is less than the number of the third magnetic units 221, and the third magnetic units 221 are electromagnets.

[0103] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An array positioning device, characterized by: The rotating support structure (10) and the rotating connecting structure (21) are provided with a first magnetic part (13) and a second magnetic part (14), and the rotating connecting structure (21) is provided with a third magnetic part (22) and a fourth magnetic part (23), the magnetic force between the first magnetic part (13) and the third magnetic part (22) is used to rotate the rotating connecting structure (21) relative to the rotating support structure (10), and the magnetic force between the second magnetic part (14) and the fourth magnetic part (23) is used to fix the rotating connecting structure (21) relative to the rotating support structure (10).

2. The array positioning device of claim 1, wherein: The rotating support structure (10) has a first circumferential side wall (111) and a first end wall (121), and the rotating connecting structure (21) has a second circumferential side wall (211) and a second end wall (212), the first circumferential side wall (111) is coaxial and opposite to the second circumferential side wall (211), and the first end wall (121) and the second end wall (212) are opposite; the first magnetic part (13) is arranged adjacent to the first circumferential side wall (111), the third magnetic part (22) is arranged adjacent to the second circumferential side wall (211), the second magnetic part (14) is arranged adjacent to the first end wall (121), and the fourth magnetic part (23) is arranged adjacent to the second end wall (212).

3. The array positioning device of claim 2, wherein: The rotating support structure (10) includes a rotating shaft (11) and a limiting part (12) connected to the end of the rotating shaft (11), and the rotating connecting structure (21) includes a cylindrical part which is sleeved on the rotating shaft (11); or the rotating support structure (10) includes a cylindrical part, and the rotating connecting structure (21) includes a rotating shaft (11) and a limiting part (12) connected to the end of the rotating shaft (11), and the cylindrical part is sleeved on the rotating shaft (11). One of the inner circumferential wall of the cylindrical part and the outer circumferential wall of the rotating shaft (11) is the first circumferential side wall (111), and the other is the second circumferential side wall (211), one of the end of the cylindrical part facing the limiting part (12) and the end of the limiting part (12) facing the cylindrical part is the first end wall (121), and the other is the second end wall (212).

4. The array positioning device of claim 3, wherein: The number of the limiting parts (12) is two, and the two limiting parts (12) are respectively connected to the two ends of the cylindrical part.

5. The array positioning device of claim 3, wherein: The magnetic force between the second magnetic part (14) and the fourth magnetic part (23) is magnetic attraction or magnetic repulsion.

6. The array positioning device of claim 2, wherein: The second magnetic part (14) includes a plurality of second magnetic units (141) arranged circumferentially along the first end wall (121), and the fourth magnetic part (23) includes a plurality of fourth magnetic units (231) arranged circumferentially along the second end wall (212), and the second magnetic units (141) and the fourth magnetic units (231) are arranged one-to-one.

7. The array positioning device of claim 2, wherein: The first magnetic part (13) comprises a plurality of first magnetic units (131) arranged circumferentially along the first circumferential side wall (111), and the third magnetic part (22) comprises a plurality of third magnetic units (221) arranged circumferentially along the second circumferential side wall (211).

8. An array positioning device as claimed in any one of claims 1-7, characterized in that: At least one of the first magnetic part (13) and the third magnetic part (22) comprises an electromagnet; at least one of the second magnetic part (14) and the fourth magnetic part (23) comprises an electromagnet.

9. A navigation array characterized by: The array positioning device comprises an array body (24) for optical tracking identification, and the array body (24) is connected with the rotating connection structure (21).

10. A method for position control of a navigation array, applied to the navigation array of claim 9, at least one of the first magnetic part (13) and the third magnetic part (22) comprising a first electromagnet, at least one of the second magnetic part (14) and the fourth magnetic part (23) comprising a second electromagnet, characterized in that: The method comprises the following steps Obtaining a positioning control instruction of the array body (24); According to the positioning control instruction, determining first working current information of the first electromagnet and second working current information of the second electromagnet, wherein the first working current information and the second working current information each comprise the direction, size and duration of the corresponding working current; According to the first working current information, applying a first working current to the first electromagnet, and according to the second working current information, applying a second working current to the second electromagnet, so as to control the movement and positioning of the array body (24).

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