Determining device for determining accurate position of implant

Abstract

The embodiment of the invention provides a determining device for determining the accurate position of an implant, and relates to the field of medical instruments. The determination device comprises a supporting plate, a packaging shell, an implantation module and a control module, the implantation module, the packaging shell and the control module are all arranged on the supporting plate; the implanting module is used for carrying an implant and implanting the implant into a specified position; the control module is electrically connected with the implantation module and used for controlling advancing of the implantation module and determining the position of an implant. The implanting direction of the implant is accurately positioned and controlled through the implanting module and the control module, so that the precision of the surgical operation is improved, the implanting position is ensured to meet the requirement of a preoperative plan, adjacent anatomical structures are not damaged by operation, and errors caused by manual operation of a user are reduced.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and in particular to a determining device for determining the accurate location of an implant. Background Technology

[0002] In existing technologies, manual implantation is used during the implantation process, which makes it impossible to accurately determine the implantation direction and distance, or the precise location of the implant. This can easily cause injury to the patient during the implantation process. When implanting into harder locations, there are problems with insufficient implantation force and deviation from the implantation direction. Therefore, accurately locating and controlling the implantation direction while providing sufficient implantation force is a pressing issue that needs to be addressed.

[0003] In recent years, navigation-assisted implantation has emerged, utilizing medical imaging technologies (such as CT, MRI, and X-rays) and computer navigation technology to improve implantation accuracy. The procedure requires surgeons to use medical imaging technology for preoperative planning, determining the type, size, implantation location, and orientation of the implant, and transmitting the planning data to the computer navigation system. In the operating room, the surgeon anesthetizes the patient and prepares surgical instruments, the implant, and the navigation system. The surgeon places the navigation system's probe on the patient, and the system provides real-time feedback on the implant's position and orientation based on preoperative planning data and real-time imaging data. Following the navigation system's instructions, the surgeon uses surgical instruments to implant the implant into the predetermined location. After implantation, the surgeon uses medical imaging technology to check the implant's position and stability. However, navigation-assisted implantation requires complex equipment and software support, increasing surgical costs and operational difficulty. Surgeons need to constantly switch lines of sight and manipulate the device during the procedure, affecting surgical efficiency and safety. The accuracy and reliability of the navigation system depend on the accuracy and completeness of the medical imaging data, as well as the performance and stability of the navigation system itself.

[0004] In summary, existing implantation methods have limitations in terms of accuracy, implantation force, and safety. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this disclosure provides a determining device and method for determining the accurate location of an implant, thereby improving the implantation accuracy and safety.

[0006] The determining device for determining the accurate location of the implant includes: a support plate, a packaging shell, an implantation module, and a control module; The implantation module, the encapsulation housing, and the control module are all mounted on the support plate; the implantation module is used to carry the implant and implant it into a designated position; the control module is electrically connected to the implantation module and is used to control the movement of the implantation module and determine the position of the implant.

[0007] Optionally, the implantation module includes: a tapered guide, a drive guide rod, an airbag, a first support, a second support, a limiting guide rod, a first drive seat, a second drive seat, a first lead screw, a second lead screw, a first guide drive, and a second guide drive. The conical guide includes a water droplet tip and a driving rod; the water droplet tip is disposed at the top of the driving rod; an airbag receiving portion is disposed on the side of the driving rod near the water droplet tip, the outer diameter of the airbag receiving portion is smaller than the outer diameter of the driving rod, and a first thread is disposed on the other side of the driving rod; a venting pipe is disposed inside the driving rod, and the venting pipe is connected to the airbag receiving portion; the airbag is sealed and fitted on the outside of the airbag receiving portion. The drive guide rod includes an implant receiving portion, a long rod guide hole, and a second thread; the diameter of the implant receiving portion is larger than the outer diameter of the drive long rod; the diameter of the long rod guide hole matches the outer diameter of the drive long rod; the second thread is disposed on the outer side of the drive guide rod away from the implant receiving portion. The tapered guide is slidably disposed on the inner side of the drive guide rod; the maximum diameter of the water droplet tip is the same as the outer diameter of the drive guide rod; the first guide drive member is used to drive the drive guide rod; the second guide drive member is used to drive the tapered guide.

[0008] Optionally, the limiting guide rod includes a guide tube, a fixed disk, a rotating part, and a limiting connector; the guide tube extends radially out of the fixed disk, the rotating part is a smooth cylinder, and there are two rotating parts symmetrically arranged on both sides of the fixed disk; a limiting connector is provided on the outer side of each of the two rotating parts; the driving guide rod is disposed on the inner side of the guide tube with clearance fit.

[0009] Optionally, the first drive seat and the second drive seat are symmetrically arranged on both sides of the fixed disk; The first drive base includes a first connecting post, a gear plate, and a first receiving part connected in sequence; the first connecting post has the same outer diameter as the rotating part, and the first connecting post is provided with a limiting hole that matches the limiting connector, and is fixed to the rotating part through the limiting hole; the first receiving part is provided with a first receiving groove; the first stepper motor is fixedly installed in the first receiving groove; the first stepper motor is connected to the first lead screw; The second drive base includes a second connecting post and a second receiving part; the outer diameter of the second connecting post is the same as that of the rotating part, and the second connecting post is provided with a limiting hole that matches the limiting connector, and is fixed to the rotating part through the limiting hole; the second receiving part is provided with a second receiving groove; the second stepper motor is fixedly installed in the second receiving groove; the second stepper motor is connected to the second lead screw.

[0010] Optionally, the first guide drive component includes a first threaded hole, a first guide hole, and a first drive hole; the first threaded hole is matched and connected to the first lead screw, and the first guide hole is slidably sleeved on the outside of the second lead screw; the first drive hole is sleeved on the second thread and locked and fixed by a nut. The second guide drive component includes a second threaded hole, a second guide hole, and a second drive hole; the second threaded hole is matched and connected to the second lead screw, and the second guide hole is slidably sleeved on the outside of the first lead screw; the second drive hole is sleeved on the first thread and locked and fixed by a nut. The axes of the tapered guide, the drive guide rod, the first lead screw, and the second lead screw are arranged on the same horizontal plane and are parallel to each other.

[0011] Optionally, the first support member and the second support member are symmetrically arranged on both sides of the limiting guide rod; both the first support member and the second support member are provided with sliding holes; the rotating part of the limiting guide rod is slidably arranged in the sliding holes; the first support member is provided with a third receiving groove at the position corresponding to the gear plate, and a third stepper motor is provided in the third receiving groove, and the external thread of the output head of the third stepper motor is engaged with the gear plate.

[0012] Optionally, a display module is provided on the packaging shell, and the display module is electrically connected to the control module; the display module is used to display the position information of the implant.

[0013] Optionally, the implantation module includes an infrared ranging element and an angle measuring element. The infrared ranging element is used to measure the moving distance or position of the conical guide and the drive rod, and the angle measuring element is used to measure the angle of the limiting guide rod; or, the moving distance or moving angle is measured by the number of rotations of the stepper motor.

[0014] Compared with the prior art, the present invention achieves the following technical effects: 1. By precisely positioning and controlling the implantation direction through the implantation module and control module, the accuracy of the surgery is improved, ensuring that the implantation position meets the requirements of the preoperative plan, ensuring that the operation does not damage adjacent anatomical structures, and reducing errors caused by manual operation by the user.

[0015] 2. The coordinated arrangement of the tapered guide, drive guide rod, limit guide rod, first lead screw, second lead screw, first guide drive and second guide drive in the implantation module provides sufficient implantation force while mutually limiting each other to improve movement accuracy, so as to achieve accurate implantation of the implant. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the initial position of the implantation module in a determining device for determining the accurate position of an implant according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the implantation module reaching the implantation position in a determining device for determining the accurate position of an implant according to an embodiment of the present invention. Figure 5 This is an exploded structural diagram of the implantation module in a determining device for determining the accurate position of an implant according to an embodiment of the present invention. Figure 6 This is a schematic diagram of the driving structure of the implantation module in a determining device for determining the accurate position of an implant according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of the implant before and after implantation in a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the limiting guide rod in a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the conical guide in a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the drive guide rod in a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the first drive seat in a determining device for determining the accurate position of an implant according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the second drive seat in a determining device for determining the accurate position of an implant, provided in an embodiment of the present invention. Detailed Implementation

[0018] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0019] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them. It should also be understood that in the embodiments of this disclosure, "multiple" can refer to two or more, and "at least one" can refer to one, two, or more. It should also be understood that any component, data, or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless explicitly limited or given a contrary indication in the context. Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this disclosure generally indicates that the related objects before and after are in an "or" relationship. It should also be understood that the descriptions of the various embodiments in this disclosure emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be elaborated upon one by one.

[0020] Furthermore, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. Techniques, methods, and apparatus known to those skilled in the art will not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0022] like Figures 1-12 As shown, an embodiment of the present invention provides a determining device for determining the accurate position of an implant, including: a support plate 1, a packaging shell 2, an implantation module 3, and a control module 4; The implantation module 3, the encapsulation shell 2, and the control module 4 are all mounted on the support plate 1; the implantation module 3 is used to carry the implant and implant the implant at a designated location; the control module 4 is electrically connected to the implantation module 3 and is used to control the movement of the implantation module 3 and determine the position of the implant.

[0023] Optionally, the implantation module 3 includes: a tapered guide 5, a drive guide rod 6, an airbag 7, a first support 31, a second support 32, a limiting guide rod 33, a first drive seat 34, a second drive seat 35, a first lead screw 36, a second lead screw 37, a first guide drive 38, and a second guide drive 39. The conical guide 5 includes a water droplet top and a driving rod; the water droplet top is disposed at the top of the driving rod; an airbag receiving portion 51 is disposed on the side of the driving rod near the water droplet top, the outer diameter of the airbag receiving portion 51 is smaller than the outer diameter of the driving rod, and a first thread 53 is disposed on the other side of the driving rod; a venting pipe 52 is disposed inside the driving rod, and the venting pipe 52 is connected to the airbag receiving portion 51; the airbag 7 is sealed and sleeved on the outside of the airbag receiving portion 51. The drive guide rod 6 includes an implant receiving portion 61, a long rod guide hole 62, and a second thread 63; the diameter of the implant receiving portion 61 is larger than the outer diameter of the drive long rod; the diameter of the long rod guide hole 62 matches the outer diameter of the drive long rod; the second thread 63 is disposed on the outer side of the drive guide rod 6 away from the implant receiving portion 61. The tapered guide 5 is slidably disposed on the inner side of the drive guide rod 6; the maximum diameter of the water droplet tip is the same as the outer diameter of the drive guide rod 6; the first guide drive 38 is used to drive the drive guide rod 6; the second guide drive 39 is used to drive the tapered guide 5.

[0024] Optionally, the limiting guide rod 33 includes a guide tube 331, a fixed disk 332, a rotating part 333, and a limiting connector 334; the guide tube 331 extends radially through the fixed disk 332, the rotating part 333 is a smooth cylinder, and there are two rotating parts 333 symmetrically arranged on both sides of the fixed disk 332; a limiting connector 334 is provided on the outer side of each of the two rotating parts 333; the driving guide rod 6 is disposed on the inner side of the guide tube 331 with clearance fit.

[0025] Optionally, the first drive seat 34 and the second drive seat 35 are symmetrically arranged on both sides of the fixed plate 332; The first drive base 34 includes a first connecting post 341, a gear plate 342, and a first receiving portion 343 connected in sequence; the first connecting post 341 has the same outer diameter as the rotating portion 333, and the first connecting post 341 is provided with a limiting hole that matches the limiting connector 334, and is fixed to the rotating portion 333 through the limiting hole; the first receiving portion 343 is provided with a first receiving groove; the first stepper motor is fixedly installed in the first receiving groove; the first stepper motor is connected to the first lead screw 36. The second drive base 35 includes a second connecting post 351 and a second receiving portion 352; the second connecting post 351 has the same outer diameter as the rotating portion 333, and the second connecting post 351 is provided with a limiting hole that matches the limiting connector 334, and is fixed to the rotating portion 333 through the limiting hole; the second receiving portion 352 is provided with a second receiving groove; the second stepper motor is fixedly installed in the second receiving groove; the second stepper motor is connected to the second lead screw 37.

[0026] Optionally, the first guide drive component 38 includes a first threaded hole 381, a first guide hole 382, ​​and a first drive hole 383; the first threaded hole 381 is matched and connected to the first lead screw 36, the first guide hole 382 is slidably sleeved on the outside of the second lead screw 37; the first drive hole 383 is sleeved on the second thread 63 and locked and fixed by a nut. The second guide drive component 39 includes a second threaded hole 391, a second guide hole 392, and a second drive hole 393; the second threaded hole 391 is matched and connected to the second lead screw 37, and the second guide hole 392 is slidably sleeved on the outside of the first lead screw 36; the second drive hole 393 is sleeved on the first thread 53 and locked and fixed by a nut. The axes of the tapered guide 5, the drive guide rod 6, the first lead screw 36, and the second lead screw 37 are arranged on the same horizontal plane and are parallel to each other.

[0027] Optionally, the guide tube 331, the fixed plate 332, the rotating part 333, and the limiting connector 334 are integrally formed.

[0028] Optionally, the first support member 31 and the second support member 32 are symmetrically arranged on both sides of the limiting guide rod 33; both the first support member 31 and the second support member 32 are provided with sliding holes; the rotating part 333 of the limiting guide rod 33 is slidably disposed in the sliding hole; the first support member 31 is provided with a third receiving groove corresponding to the position of the gear disk 342, and a third stepper motor is disposed in the third receiving groove, the external thread of the output head of the third stepper motor meshing with the gear disk 342. The third stepper motor drives the gear disk 342 to rotate, and the gear disk 342 drives the limiting guide rod 33 to rotate, thereby realizing the angle adjustment.

[0029] Optionally, a display module is provided on the encapsulation housing 2, and the display module is electrically connected to the control module 4; the display module is used to display the position information (distance traveled) of the implant.

[0030] Optionally, the control module 4 is connected to an external interface, which is connected to an external device to achieve communication and power supply with the control module 4; the external device includes a computer, etc.

[0031] Optionally, the implant is a scaffold with sensors, such as pressure sensors or flow sensors.

[0032] Optionally, the implanted module 3 includes an infrared ranging element and an angle measuring element. The infrared ranging element is used to measure the moving distance or position of the conical guide 5 and the drive guide rod 6, and the angle measuring element is used to measure the angle of the limiting guide rod 33; or, the moving distance or moving angle is measured by the number of rotations of the stepper motor.

[0033] Optionally, the encapsulation housing 2 is provided with a narrow through hole, the through hole extending in the same direction as the moving direction of the limiting guide rod 33, and the limiting guide rod 33 passing through the through hole.

[0034] The working principle of the implanted module: The first stepper motor drives the first lead screw 36 to rotate. The first lead screw 36 drives the first guide drive 38 to move through the first threaded hole 381. The first guide hole 382 is sleeved on the second lead screw 37 to guide the movement. The first guide drive 38 drives the drive rod 6 to move in the positive or negative direction. The second stepper motor drives the second lead screw 37 to rotate. The second lead screw 37 drives the second guide drive 39 to move through the second threaded hole 391. The second guide hole 392 is sleeved on the first lead screw 36 to guide the movement. The second guide drive 39 drives the tapered guide 5 to move in the positive or negative direction. The initial positions of the conical guide 5 and the drive rod 6 are adjusted by the first and second stepper motors, so that the water droplet tip slightly abuts against the drive rod 6. During implantation, the first and second stepper motors rotate synchronously, and the conical guide 5 and the drive rod 6 move synchronously (indirectly increasing the thrust of the water droplet tip). After reaching the designated position, the drive rod 6 moves in the opposite direction, exposing the implant. The airbag 7 is inflated by external equipment, lifting the implant to the outside of the conical guide 5. After implantation, the conical guide 5 and the drive rod 6 are reset by the first and second stepper motors.

[0035] An embodiment of the present invention provides a method for using a determining device for determining the accurate position of an implant, which is implemented using the determining device for determining the accurate position of an implant described in the above embodiment, including: Step 1: Fix the support plate 1 to the designated position (such as a surgical robotic arm). Step 2: Determine the implantation location, calculate the implantation angle and implantation distance, and send them to the control module 4; Step 3: Adjust the alignment position and angle of the implantation module 3. The control module 4 drives the implantation module 3 to implant the implant. The display module displays the position information (distance traveled) of the implant in real time and releases the implant when it reaches the designated position. Step 4: After the implant is implanted, implantation module 3 is reset.

[0036] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0037] The above description of the disclosed embodiments enables those skilled in the art to make or use this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A determining device for accurately positioning an implant, characterized in that, include: Support plate, encapsulation shell, implanted module, and control module; The implantation module, the encapsulation shell, and the control module are all mounted on the support plate; The implantation module is used to carry the implant and implant it into a designated location; the control module is electrically connected to the implantation module and is used to control the movement of the implantation module and determine the position of the implant.

2. The determining device as described in claim 1, characterized in that, in, The implantation module includes: a tapered guide, a drive guide rod, an airbag, a first support, a second support, a limiting guide rod, a first drive seat, a second drive seat, a first lead screw, a second lead screw, a first guide drive, and a second guide drive. The conical guide includes a water droplet tip and a driving rod; the water droplet tip is disposed at the top of the driving rod; an airbag receiving portion is disposed on the side of the driving rod near the water droplet tip, the outer diameter of the airbag receiving portion is smaller than the outer diameter of the driving rod, and a first thread is disposed on the other side of the driving rod; a venting pipe is disposed inside the driving rod, and the venting pipe is connected to the airbag receiving portion; the airbag is sealed and fitted on the outside of the airbag receiving portion. The drive guide rod includes an implant receiving portion, a long rod guide hole, and a second thread; the diameter of the implant receiving portion is larger than the outer diameter of the drive long rod; the diameter of the long rod guide hole matches the outer diameter of the drive long rod; the second thread is disposed on the outer side of the drive guide rod away from the implant receiving portion. The tapered guide is slidably disposed on the inner side of the drive guide rod; the maximum diameter of the water droplet tip is the same as the outer diameter of the drive guide rod; the first guide drive member is used to drive the drive guide rod; the second guide drive member is used to drive the tapered guide.

3. The determining device as described in claim 2, characterized in that, in, The limiting guide rod includes a guide tube, a fixed disk, a rotating part, and a limiting connector; the guide tube extends radially out of the fixed disk, the rotating part is a smooth cylinder, and there are two rotating parts symmetrically arranged on both sides of the fixed disk; a limiting connector is provided on the outer side of each of the two rotating parts; the driving guide rod is disposed on the inner side of the guide tube with clearance fit.

4. The determining device as described in claim 3, characterized in that, in, The first drive seat and the second drive seat are symmetrically arranged on both sides of the fixed plate; The first drive base includes a first connecting post, a gear plate, and a first receiving part connected in sequence; the first connecting post has the same outer diameter as the rotating part, and the first connecting post is provided with a limiting hole that matches the limiting connector, and is fixed to the rotating part through the limiting hole; the first receiving part is provided with a first receiving groove; the first stepper motor is fixedly installed in the first receiving groove; the first stepper motor is connected to the first lead screw; The second drive base includes a second connecting post and a second receiving part; the outer diameter of the second connecting post is the same as that of the rotating part, and the second connecting post is provided with a limiting hole that matches the limiting connector, and is fixed to the rotating part through the limiting hole; the second receiving part is provided with a second receiving groove; the second stepper motor is fixedly installed in the second receiving groove; the second stepper motor is connected to the second lead screw.

5. The determining device as described in claim 4, characterized in that, in, The first guide drive component includes a first threaded hole, a first guide hole, and a first drive hole; the first threaded hole is matched and connected to the first lead screw, and the first guide hole is slidably sleeved on the outside of the second lead screw; the first drive hole is sleeved on the second thread and locked and fixed by a nut. The second guide drive component includes a second threaded hole, a second guide hole, and a second drive hole; the second threaded hole is matched and connected to the second lead screw, and the second guide hole is slidably sleeved on the outside of the first lead screw; the second drive hole is sleeved on the first thread and locked and fixed by a nut. The axes of the tapered guide, the drive guide rod, the first lead screw, and the second lead screw are arranged on the same horizontal plane and are parallel to each other.

6. The determining device as described in claim 5, characterized in that, in, The first support member and the second support member are symmetrically arranged on both sides of the limiting guide rod; both the first support member and the second support member are provided with sliding holes; the rotating part of the limiting guide rod is slidably arranged in the sliding holes; the first support member is provided with a third receiving groove at the position corresponding to the gear plate, and a third stepper motor is provided in the third receiving groove, and the external thread of the output head of the third stepper motor is engaged with the gear plate.

7. The determining device as claimed in claim 6, characterized in that, in, The encapsulation housing is provided with a display module, which is electrically connected to the control module; the display module is used to display the position information of the implant.

8. The determining device as claimed in claim 7, characterized in that, in, The implantation module includes an infrared ranging element and an angle measuring element. The infrared ranging element is used to measure the moving distance or position of the conical guide and the drive rod, and the angle measuring element is used to measure the angle of the limiting guide rod; or, the moving distance or moving angle is measured by the number of rotations of the stepper motor.

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