A surgical robotic navigation system consumable assembly

Abstract

The application discloses a surgical robot navigation system matched consumable assembly, and relates to the field of medical instrument auxiliary equipment.The surgical robot navigation system matched consumable assembly comprises a bone fixing seat, a sleeve connector seat, a tracking support and an adjusting structure.The sleeve connector seat is a hollow cylinder structure.The tracking support is a cross structure.The sleeve connector seat and the tracking support are an integral structure, and the sleeve connector seat is located at the cross center of the tracking support.The bone fixing seat and the sleeve connector seat are connected with the adjusting structure.The application adopts an innovative spherical joint connection design in a patient tracker assembly.Through a three-section spherical joint series connection structure of the bone fixing seat, a multidirectional connecting arm and the tracking support, the tracking support is freely adjusted in a three-dimensional space.Independent locking knobs are arranged around each spherical joint.The angle can be finely adjusted after the locking knobs are loosened, and the angle can be reliably locked after the locking knobs are tightened, so that the flexibility of adjustment is ensured, and the reliability of fixation is ensured.

Description

Technical Field

[0001] This invention relates to the field of medical device auxiliary equipment, and in particular to a consumable component for a surgical robot navigation system. Background Technology

[0002] In the field of surgical medicine, surgical robot navigation systems, as an important auxiliary device for modern minimally invasive surgery, have been widely used in various clinical departments such as orthopedics, neurosurgery, and thoracic surgery. Through technologies such as optical tracking and electromagnetic positioning, surgical robot navigation systems can track the position and posture of surgical instruments in real time, providing surgeons with precise surgical navigation information, thereby significantly improving the accuracy and safety of surgery.

[0003] In the clinical application of surgical robot navigation systems, a variety of supporting consumable components are required to meet the requirements of aseptic operation and precise tracking. These consumables mainly include: patient trackers for fixing to the patient's bones, instrument trackers for mounting on surgical instruments, and sterile protective shields for covering non-sterile areas. The performance and quality of these consumable components directly affect the accuracy and safety of the surgery.

[0004] From the perspective of patient trackers, various bone fixation trackers have emerged in the prior art. For example, Chinese patent document CN219629774U discloses a surgical tracker including a bone fixation base, a movable segmented support rod, and a Y-shaped or cross-shaped bracket with four reflective ball mounting journals. However, existing patient trackers often struggle to achieve a good balance between adjustment flexibility and fixation reliability, resulting in complex adjustment mechanisms and cumbersome operation.

[0005] From the perspective of instrument trackers, Chinese patent document CN217286056U discloses a navigator and surgical tool assembly, including a sleeve with a first through hole, a tracking bracket and a locking structure on the sleeve, which can achieve quick assembly and disassembly with the surgical tool. However, the reflective ball in the prior art is usually installed by threaded connection or adhesive, which is time-consuming to install and disassemble, and is prone to accidental detachment during surgery.

[0006] From the perspective of aseptic protection, Chinese patent document CN217660128U discloses a sterile protective cover and surgical robot system, including a protective cover body, fasteners, and locking components. The locking components can slide along the fasteners to tighten or loosen the opening. However, the existing sterile protective covers have poor sealing at the interface window, which can easily create a channel for bacterial invasion.

[0007] From the perspective of packaging systems, existing surgical consumables packaging usually adopts a simple, independent packaging form, with each component packaged separately. They need to be disassembled and reassembled separately before surgery, which increases the surgical preparation time and operational complexity.

[0008] Although the consumables for surgical robot navigation systems in the current technology meet clinical needs to a certain extent, there are still many shortcomings in practical applications: Regarding patient trackers: Existing bone fixation trackers have complex adjustment mechanisms, requiring multiple tools to complete angle adjustment and locking, resulting in lengthy operation times. In situations with tight surgical schedules, these complex adjustments prolong preparation time and impact surgical efficiency. Furthermore, the toothed fixation pins in existing fixation devices are prone to micro-movements when pressed into the bone, leading to insufficient fixation and affecting tracking accuracy.

[0009] Regarding instrument trackers: Existing reflective ball mounting methods typically require specialized tools, making installation and disassembly cumbersome and severely impacting surgical efficiency in procedures requiring frequent instrument changes. Threaded connections are prone to thread wear after repeated disassembly and assembly, leading to decreased connection reliability. Adhesive-bonded methods are susceptible to aging and failure, and are difficult to adjust if installed incorrectly.

[0010] Regarding aseptic protection: Existing aseptic protective shields typically employ a simple opening design at the interface window, lacking an effective sealing structure, which can easily create a channel for bacterial invasion during surgery. Furthermore, the shields are usually secured using binding or clamping methods, which are complex to operate and prone to secondary contamination of the sterile area.

[0011] Regarding the packaging system: the existing packaging method separates the various components, requiring the unpacking and repacking of multiple individual packages before surgery, which increases the preparation time and operational complexity. At the same time, the separate packaging also increases the risk of aseptic operation, making it easy for components to become contaminated during the unpacking and repacking process. Summary of the Invention

[0012] The purpose of this invention is to provide a consumable component for a surgical robot navigation system, which solves the problem that the existing bone fixation tracker adjustment mechanism is complex, requires multiple tools to complete angle adjustment and locking, and has a long operation time.

[0013] To achieve this objective, the present invention adopts the following technical solution: A consumable component for a surgical robot navigation system includes a bone fixation base, and further includes: Sleeve coupling seat, the sleeve coupling seat is a hollow cylinder structure; The tracking bracket has a cross structure, and the sleeve connector is an integral part of the tracking bracket, with the sleeve connector located at the center of the cross of the tracking bracket. The adjustment structure is connected to both the bone fixation seat and the sleeve connector. The adjustment structure is used to adjust the relative position and angle of the bone fixation seat and the sleeve connector. Four reflective modules are located at the four ends of the cross on the tracking bracket. The clamping structure connects one end of the sleeve connector to the fixing structure, and the sleeve connector is connected to the external surgical tube through the clamping structure.

[0014] Preferably, the bottom of the bone fixation base is provided with a fixation structure for direct pressing into the superficial cortex of the bone to achieve rapid fixation. The fixation structure includes a plurality of toothed fixation pins, which are fixed to the bottom of the bone fixation base and are distributed in an equilateral triangle.

[0015] Preferably, the adjustment structure includes two connecting rods, a first ball joint, and a first ball joint. The first ball joint is adapted to the first ball joint, and the first ball joint is movably embedded in the first ball joint. A first knob locking bolt is screwed to the outside of the first ball joint, and one end of the first knob locking bolt contacts the first ball joint to lock the first ball joint.

[0016] Preferably, the adjustment structure further includes two second ball sockets, two second ball joints, two second knob locking bolts, two locking blocks, and two external supports. The two external supports are respectively fixed to the bone fixation base and the tracking bracket. The two second ball sockets are respectively fixed to the two external supports. The two second ball joints are respectively movably embedded in the two second ball sockets. The two locking blocks are respectively disposed in the two second ball sockets, and the side of the locking block facing the second ball joint can fit against the second ball joint. The two second knob locking bolts pass through the two second ball sockets respectively, and the second knob locking bolts form a screw connection with the second ball sockets. The second knob locking bolts contact the locking blocks, and the second knob locking bolts adjust the fit between the locking blocks and the second ball joints by pushing force.

[0017] Preferably, the reflective module includes a reflective ball, and an insertion post with its central axis passing through its center is fixed on the outer side of the reflective ball. Each of the four ends of the tracking bracket has a socket adapted to the insertion post on one side. One end of the insertion post is fixed with an anti-detachment boss made of rubber. Each of the four ends of the tracking bracket has a limiting ring embedded and fixed on the other side, which is adapted to the socket. The reflective ball is inserted into the socket through the insertion post, and the anti-detachment boss is squeezed into the limiting ring. When the anti-detachment boss is squeezed out of the limiting ring, the anti-detachment boss returns to its original position, thus completing the limiting and anti-detachment function.

[0018] Preferably, the tracking bracket has slots at all four ends of the cross, and the four slots are adapted to the four insertion holes respectively. The outer side of each of the four elastic buckle posts is provided with an integrally formed mounting journal. The mounting journal is adapted to the slot, and a buckle opening is provided on the outer side of the mounting journal. The slot is provided with an elastic buckle post. The elastic buckle post and the tracking bracket are an integral structure. The elastic buckle post is engaged by snapping into the buckle opening.

[0019] Preferably, the clamping structure includes two fixed plates, a rotating shaft, an eccentric circular plate, and a force-applying plate. The eccentric circular plate is fixed to the rotating shaft inside the eccentric hole. Both ends of the rotating shaft are respectively rotated with the two fixed plates. The fixed plates are fixed to the sleeve connecting seat. One end of the force-applying plate is fixed to the eccentric circular plate.

[0020] Preferably, the sleeve connector has a rubber layer fixed inside.

[0021] Preferably, a sterile protective cover is fixedly fitted on the outer side of the tracking bracket. One end of the sterile protective cover has an elastic opening and four pre-set interface windows. The edges of the pre-set interface windows are bent outward to form an elastic sealing structure. The four pre-set interface windows are respectively aligned one-to-one with four sockets.

[0022] Preferably, both the outer sides of the knobs of the first and second knob locking bolts are provided with anti-slip texture.

[0023] Compared with the prior art, the present invention has the following beneficial effects: First, the invention features a multi-directional adjustable spherical joint connection structure. This invention employs an innovative spherical joint connection design in the patient tracker assembly. Through a three-section spherical joint series structure consisting of a bone fixation base, a multi-directional connecting arm, and a tracking bracket, the tracking bracket achieves multi-angle free adjustment in three-dimensional space. Each spherical joint has an independent locking knob on its periphery. Loosening the knob allows for fine-tuning of the angle, while tightening it reliably locks the joint in place, ensuring both flexibility of adjustment and reliable fixation.

[0024] Secondly, the quick-release reflective ball module design: This invention employs an innovative elastic snap-fit ​​quick-release structure in the instrument tracker assembly. Through the combined design of the reflective ball, elastic snap-fit ​​post, and anti-detachment boss, the reflective ball can be quickly inserted and removed for fixation. The elastic snap-fit ​​post can be inserted into the mounting journal's insertion hole, achieving quick fixation through elastic deformation. The anti-detachment boss engages with the annular groove inside the journal to prevent accidental dislodgement, allowing for tool-free installation and disassembly.

[0025] Third, the pre-installed interface window design of the sterile protective cover; this invention integrates a pre-installed interface window with an elastic sealing ring on the sterile protective cover. The opening edge is folded outward to form a fence-like structure, which is fitted onto the tracking bracket base to achieve a reliable seal. At the same time, the end of the protective cover is provided with a tightening channel, which is fixed to the sleeve connector by an elastic rope or Velcro, making installation simple and the seal reliable. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 Enlarged view of point A in the image; Figure 3 This is a first-view three-dimensional structural diagram of the bone fixation base area of ​​the present invention; Figure 4 This is a two-dimensional structural diagram of the bone fixation base area of ​​the present invention from a second perspective; Figure 5 This is a schematic cross-sectional view of the bone fixation area of ​​the present invention; Figure 6 This is a three-dimensional structural diagram of the tracking bracket area of ​​the present invention; Figure 7 This is a schematic diagram of the reflective module mounting structure of the present invention; Figure 8 This is a three-dimensional structural diagram of the tracking bracket of the present invention; Figure 9 for Figure 8 Enlarged view at point B in the middle; Figure 10 This is a schematic diagram of the clamping structure installation structure of the present invention; Figure 11 This is a three-dimensional structural diagram of the sterile protective cover of the present invention; Figure 12This is a schematic diagram of the three-dimensional structure of the reflective module of the present invention; Figure 13 This is a cross-sectional view of the reflective module of the present invention.

[0029] Illustration: 100. Bone fixation base; 200. Sleeve connector; 300. Tracking bracket; 301. Socket; 302. Groove; 400. Adjustment structure; 401. Connecting rod; 402. First ball joint; 403. First ball joint; 404. First knob locking bolt; 405. Second ball joint; 406. Second ball joint; 407. Second knob locking bolt; 408. Locking block; 409. Outer support; 500. Reflective module; 501. Reflective ball; 502. Insertion post; 503. Limiting ring; 504. Mounting journal; 505. Buckle; 506. Elastic snap post; 507. Anti-detachment boss; 600. Clamping structure; 601. Fixing plate; 602. Rotating shaft; 603. Eccentric circular plate; 604. Force-applying plate; 700. Sterile protective cover; 701. Flexible closure; 702. Pre-installed interface window. Detailed Implementation

[0030] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0031] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component positioned centrally in the connection.

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0033] Reference Figure 1-13As shown, this embodiment of the invention provides a consumable component for a surgical robot navigation system, including a bone fixation base 100, and further comprising: Sleeve connector 200, sleeve connector 200 is a hollow cylinder structure, and a rubber layer is fixed inside the sleeve connector 200; The tracking bracket 300 has a cross structure. The sleeve connector 200 is an integral part of the tracking bracket 300, and the sleeve connector 200 is located at the center of the cross of the tracking bracket 300. The adjustment structure 400, bone fixation seat 100 and sleeve connector 200 are all connected to the adjustment structure 400. The adjustment structure 400 is used to adjust the relative position and angle of the bone fixation seat 100 and the sleeve connector 200. Four reflective modules 500 are located at the four ends of the cross on the tracking bracket 300. The clamping structure 600 has one end of the sleeve connector 200 connected to the fixing structure, and the sleeve connector 200 is connected to the external surgical tube through the clamping structure 600.

[0034] Specifically, in conjunction with the appendix Figure 3 - Appendix Figure 5 As shown, the bottom of the bone fixation base 100 is provided with a fixation structure for direct pressing into the superficial cortical layer of the bone to achieve rapid fixation. The fixation structure includes multiple toothed fixation pins, which are fixed to the bottom of the bone fixation base 100. The toothed fixation pins at the bottom are distributed in an equilateral triangle. For example, the bone fixation base 100 is made of medical-grade 316L stainless steel. The toothed fixation pins at the bottom are distributed in an equilateral triangle. After quenching treatment, the hardness of the fixation pins is HRC55~60, the length is 3~5mm, and the tip angle is 30°~45°. As can be seen from the above, the sleeve connector 200 adopts a hollow cylinder structure with an internally fixed rubber layer, and is paired with an integrally formed cross-shaped tracking bracket 300. On the one hand, the rubber layer can increase the friction between the connector and the surgical cylinder, improve the clamping stability, and at the same time avoid the metal structure directly contacting and abrading the instrument surface; on the other hand, the integrated structure eliminates the assembly gap between the connector and the bracket, ensuring the rigidity and positional accuracy of the tracking reference, and providing a stable installation foundation for optical tracking.

[0035] Specifically, in conjunction with the appendix Figure 1 -Appendix Figure 5As shown, the adjusting structure 400 includes two connecting rods 401, a first ball joint 402, and a first ball joint 403. The first ball joint 402 is adapted to the first ball joint 403, and the first ball joint 403 is movably embedded in the first ball joint 402. A first knob locking bolt 404 is screwed onto the outer side of the first ball joint 402. One end of the first knob locking bolt 404 contacts the first ball joint 403, thus locking the first ball joint 403. The joint structure 400 also includes two second ball sockets 405, two second ball joints 406, two second knob locking bolts 407, two locking blocks 408, and two external supports 409. The two external supports 409 are fixed to the bone fixation base 100 and the tracking bracket 300, respectively. The two second ball sockets 405 are fixed to the two external supports 409, respectively. The two second ball joints 406 are movably embedded in the two second ball sockets 405, and the two locking blocks 408... The locking block 408 is respectively installed in two second ball joint seats 405. The side of the locking block 408 facing the second ball joint 406 can fit against the second ball joint 406. Two second knob locking bolts 407 pass through the two second ball joint seats 405 respectively, and the second knob locking bolts 407 form a screw connection with the second ball joint seats 405. The second knob locking bolts 407 contact the locking block 408. The second knob locking bolts 407 adjust the locking block 408 and the second ball joint 406 by pushing. To illustrate the fit between the head sections 406, consider the following example: the inner diameter of the ball joint socket is 12–15 mm, with an internal thread of M8–M10; the length of the single-section connecting rod 401 is 40–60 mm, and its diameter is 8–12 mm; the diameter of the ball joint head is 11–14 mm; the ball joint fit accuracy is IT7 grade, and the surface roughness Ra≤0.8μm; the locking knob has a diameter of 15–20 mm, an anti-slip knurled surface, and a locking torque of 2–5 N. m, the pitch range of a single ball joint is ±45°, the yaw range is ±30°, and the roll range is ±15°; after the three ball joints are connected in series, the tracking bracket 300 can be freely adjusted at multiple angles in three-dimensional space, so that the reflective ball 501 always faces the best recognition angle of the optical tracking system. As described above, the adjustment structure 400, composed of multiple sets of ball joints, ball joints, knob locking bolts, and locking blocks 408, adopts a three-section ball joint series layout, enabling three-dimensional angle adjustment of pitch ±45°, yaw ±30°, and roll ±15°. This allows for flexible adaptation to different patients' bone morphology and surgical approach angles, ensuring that the reflective ball 501 is always within the optimal recognition range of the optical tracking system. The threaded locking block 408 provides a locking force of 2–5 N. With a stable locking torque of m and an IT7-level joint fit precision, it can effectively resist vibration interference during surgery, avoid micro-movement of the joint, and ensure the stability of tracking accuracy.

[0036] Specifically, in conjunction with the appendix Figure 8-13 As shown, the reflective module 500 includes a reflective ball 501. An insertion post 502 with its central axis passing through its center is fixed to the outer side of the reflective ball 501. Each of the four ends of the tracking bracket 300 has a corresponding insertion hole 301 on one side. One end of the insertion post 502 is fixed with an anti-detachment boss 507 made of rubber. The other end of each of the four ends of the tracking bracket 300 has a limiting ring 503 that matches the insertion hole 301. The reflective ball 501 is inserted into the insertion hole 301 through the insertion post 502. The anti-detachment boss 507 is squeezed into the limiting ring 503. Subsequently, when the anti-detachment boss 507 is squeezed out of the limiting ring 503, it returns to its original position, completing the limiting and anti-detachment function. For example, the diameter of the reflective ball 501 in the quick-release reflective ball 501 module is 12-15mm, and the reflectivity is ≥95%. As described above, the reflective module 500 adopts a quick-assembly structure with an insertion post 502, a rubber anti-detachment protrusion 507, and a limiting ring 503. It achieves rapid assembly by relying on the principle that the anti-detachment protrusion 507 is deformed under pressure and springs back into place. A single installation takes only 5 to 10 seconds and can be completed without special tools, which greatly improves the replacement efficiency of the reflective ball 501. After the anti-detachment protrusion 507 is engaged with the limiting ring 503, it can provide a tensile force of 30 to 50 N, which is much greater than the normal pulling force during surgery. This can effectively prevent the reflective ball 501 from accidentally falling off during surgery and ensure the continuity and reliability of optical tracking.

[0037] Specifically, in conjunction with the appendix Figure 6-8 As shown, the tracking bracket 300 has four slots 302 at each of its four cross-shaped ends. Each slot 302 is adapted to one of four insertion holes 301. Each of the four elastic locking posts 506 has an integrally formed mounting journal 504 on its outer side. The mounting journal 504 is adapted to the slot 302, and a latch 505 is provided on its outer side. The elastic locking post 506 is located inside the slot 302. The elastic locking post 506 and the tracking bracket 300 are an integral structure. The elastic locking post 506 is engaged by fastening... The snap-fit ​​505 completes the snap-fit ​​connection. For example, the elastic snap-fit ​​post 506 has a diameter of 4-6mm, a length of 8-12mm, and an elastic deformation of 0.5-1.5mm; the anti-detachment boss 507 has a diameter of 6-8mm, a height of 1-2mm, and a fit clearance of 0.1-0.3mm with the journal annular groove; the quick-install reflective ball 501 module has an insertion / extraction force of 5-15N, a tensile strength of 30-50N, and a single installation time of 5-10 seconds. It can be installed and removed without special tools. As can be seen from the above, the tracking bracket 300 slot 302 and the mounting journal 504 are assembled by snapping together with the elastic snap-fit ​​post 506, realizing the modular combination of the mounting reference component and the bracket body. This facilitates the independent replacement and maintenance of individual components, reducing the cost of consumables. Furthermore, the snap-fit ​​positioning ensures the consistency of the mounting reference and ensures the installation position accuracy of the reflector ball 501. At the same time, the snap-fit ​​assembly operation is simple, and the fitting accuracy can reach 0.1~0.3mm, without adding extra weight and volume to the bracket.

[0038] Specifically, in conjunction with the appendix Figure 10 As shown, the clamping structure 600 includes two fixed plates 601, a rotating shaft 602, an eccentric circular plate 603, and a force-applying plate 604. The eccentric circular plate 603 is fixed to the rotating shaft 602 through an eccentric hole. The two ends of the rotating shaft 602 are respectively rotated with the two fixed plates 601. The fixed plates 601 are fixed to the sleeve connector 200. One end of the force-applying plate 604 is fixed to the eccentric circular plate 603. As can be seen from the above, the clamping structure 600, consisting of a fixed plate 601, a rotating shaft 602, an eccentric circular plate 603, and a force-applying plate 604, adopts the principle of eccentric clamping. By moving the force-applying plate 604, the eccentric circular plate 603 can be driven to radially press against the outer wall of the surgical tube. Loading and unloading operations can be completed with one hand. The clamping stroke is 2-4 mm, the clamping force is 10-30 N, the clamping is stable and the operation is efficient. It can quickly adjust the installation position of the instrument tracker or change surgical instruments during the operation, effectively shortening the auxiliary time of the surgical operation.

[0039] Specifically, in conjunction with the appendix Figure 11 As shown, a sterile protective cover 700 is fixedly fitted onto the outer side of the tracking bracket 300. One end of the sterile protective cover 700 has an elastic opening 701, and the other end has four pre-set interface windows 702. The edges of the pre-set interface windows 702 are bent outwards to form an elastic sealing structure. The four pre-set interface windows 702 are aligned one-to-one with four insertion holes 301. For illustration, the sterile protective cover 700 is made of medical-grade PE or TPU transparent film with a thickness of 0.05–0.15 mm and a light transmittance ≥90%. The protective cover has an elastic opening 701 at one end. The other end of the port 701 is equipped with an instrument tightening channel, which is fixed to the sleeve connector 200 by an elastic rope or Velcro. The opening edge of the pre-set interface window 702 is folded outward to form a fence-like structure. An elastic sealing ring is integrated into the folded structure. The elastic sealing ring is made of medical silicone with a Shore hardness of 30-40A. The elastic recovery rate of the elastic sealing ring is ≥95%, and the sealing leakage rate is less than 0.1cm³ / min. The fence-like sealing ring is fitted on the outside of the base of the tracking bracket 300 and maintains a continuous fit and seal during the multi-angle movement of the tracking bracket 300, blocking the bacterial invasion channel.

[0040] As described above, the sterile protective cover 700 is equipped with pre-set interface windows 702 that correspond one-to-one with the insertion holes 301. The edges of the interface windows are folded outward to form a fence-like elastic sealing structure. Combined with the sealing ring made of medical silicone material, it can form a tightly fitting sterile barrier with the base of the tracking bracket 300. The sealing leakage rate is less than 0.1 cm³ / min. Even if the tracking bracket 300 moves at multiple angles, the sealing ring can still maintain a tight seal, effectively blocking the entry channel for bacteria. The elastic constriction 701 at one end of the protective cover and the tightening channel design at the other end can be quickly fixed to the robotic arm and the sleeve connector 200, respectively. The installation is simple, reducing the complexity of sterile operation and the risk of secondary contamination.

[0041] Specifically, in conjunction with the appendix Figure 1-4 As shown, the outer sides of the knobs of the first knob locking bolt 404 and the second knob locking bolt 407 are both provided with anti-slip texture.

[0042] As can be seen from the above, the outer sides of the knobs of the first knob locking bolt 404 and the second knob locking bolt 407 are provided with anti-slip texture, which can significantly increase the friction of the knob surface. When the operator wears sterile gloves to perform angle adjustment and locking operations, the force can be applied stably and it is not easy to slip, which improves the smoothness and reliability of the adjustment operation during the operation and avoids operation errors caused by slipping.

[0043] Working principle: The working principle of the consumable components of this surgical robot navigation system covers the entire process of preoperative preparation, intraoperative fixation and adjustment, optical tracking, and aseptic protection. The specific operating logic is as follows: During the preoperative preparation stage, the integrated aseptic packaging system is opened, and all components in a semi-pre-assembled state are taken out—the reflective ball 501 module has been pre-assembled into the corresponding installation position, the multi-directional connecting arm is in a semi-expanded state, the ball joint is in a semi-locked state, and the pre-assembly torque is 30% to 50% of the rated locking torque, which greatly reduces the preoperative assembly steps.

[0044] Patient-end fixation and angle adjustment process: First, align the toothed fixation pins, arranged in an equilateral triangle at the bottom of the bone fixation base 100, with the patient's bone markers. Apply pressure to press the pins into the superficial cortical bone 2-4 mm. The fixation pins are hardened to HRC55-60, allowing them to penetrate the cortical bone smoothly without bending. After anchoring, the overall micro-displacement is less than 0.1 mm, providing a stable skeletal reference for navigation. Then, loosen the locking bolts corresponding to each ball joint. The axial movement of the bolts causes the locking block 408 to loosen, releasing the compression constraint on the ball joint. At this point, the series structure formed by the two connecting rods 401 and the three sets of ball joints can freely adjust the spatial angle and position of the tracking bracket 300 in three-dimensional space, so that the reflective ball 501 on the cross-shaped tracking bracket 300 faces the optimal recognition angle range of the optical tracking system. After the angle adjustment is completed, tighten all the knob locking bolts in the reverse direction. This pushes the locking block 408 towards the ball joint via the threaded drive until the end face of the locking block 408 is tightly fitted against the surface of the ball joint. The static friction generated by the positive pressure locks the spatial orientation of the ball joint. The locking torque is controlled between 2 and 5 N. m, can withstand normal vibrations during surgery and will not experience angular deviation.

[0045] Instrument installation and reflective ball 501 assembly process: Insert the sleeve connector 200 into the designated position of the surgical tube, and move the force plate 604 of the clamping structure 600 to drive the eccentric circular plate 603 to rotate around the rotating shaft 602. The radial displacement of the eccentric structure squeezes the outer wall of the surgical tube, and the rubber layer of the inner wall of the connector increases the friction of the contact surface, so as to achieve quick clamping and fixation of the instrument tracker and the surgical tube. If it is necessary to adjust the position or replace the instrument, simply move the force plate 604 in the opposite direction to release the clamping constraint. Disassembly and assembly can be completed with one hand. When installing the reflective ball 501 module, insert the insertion post 5 at the end of the reflective ball 501. 02. Press inwards into the insertion hole 301 on the tracking bracket 300. The rubber anti-detachment protrusion 507 at the front end of the insertion post 502 is elastically contracted and deformed by the pressure of the inner wall of the insertion hole 301, and smoothly passes through the channel of the insertion hole 301. When the anti-detachment protrusion 507 moves to the position of the limiting ring 503, the radial extrusion force disappears, the anti-detachment protrusion 507 elastically recovers and is locked into the annular structure of the limiting ring 503, forming an axial mechanical limit and completing the quick installation and fixation. When disassembling, pull outwards the reflector ball 501. The anti-detachment protrusion 507 is elastically deformed again by the pressure of the side wall of the limiting ring 503 and can be detached. No special tools are required throughout the process.

[0046] Aseptic protection procedure: The aseptic protective cover 700 is fitted onto the outside of the tracking bracket 300, so that the four pre-set interface windows 702 correspond to the four insertion holes 301 respectively. The fence-like elastic sealing rings of the interface window edges tightly cover the tracking bracket 300 to form a continuous aseptic sealing interface. The elastic closure 701 at one end of the protective cover is tightly fitted onto the end of the tracking bracket 300 to achieve complete physical isolation between the non-sterile mechanical area and the aseptic surgical area.

[0047] During intraoperative navigation, the optical tracking system emits infrared light and receives the light signal reflected by the reflective ball 501. By calculating the spatial coordinates of multiple reflective balls 501, the real-time position and attitude of the tracking bracket 300 are calculated. Then, combined with the calibration parameters, the coordinates are converted into the absolute spatial coordinates of the patient's bones or surgical instruments, providing a precise navigation and positioning reference for the surgical robot system.

[0048] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A consumable component for a surgical robot navigation system, comprising a bone fixation base (100), characterized in that, Also includes: Sleeve connector (200), sleeve connector (200) is a hollow cylinder structure; The tracking bracket (300) has a cross structure, and the sleeve connector (200) is an integral structure with the tracking bracket (300), and the sleeve connector (200) is located at the center of the cross of the tracking bracket (300). Adjustment structure (400), wherein the bone fixation seat (100) and the sleeve connector (200) are both connected to the adjustment structure (400), and the adjustment structure (400) is used to adjust the relative position and angle of the bone fixation seat (100) and the sleeve connector (200); Four reflective modules (500) are located at the four ends of the cross of the tracking bracket (300); The clamping structure (600) has one end of the sleeve connector (200) connected to the fixing structure, and the sleeve connector (200) is connected to the external surgical tube through the clamping structure (600).

2. The consumable components for the surgical robot navigation system according to claim 1, characterized in that, The bottom of the bone fixation base (100) is provided with a fixation structure for direct pressing into the superficial cortex of the bone to achieve rapid fixation. The fixation structure includes a plurality of toothed fixation pins, which are fixed to the bottom of the bone fixation base (100) and are distributed in an equilateral triangle.

3. The consumable components for the surgical robot navigation system according to claim 1, characterized in that, The adjustment structure (400) includes two connecting rods (401), a first ball joint (402), and a first ball joint (403). The first ball joint (402) is adapted to the first ball joint (403). The first ball joint (403) is movably embedded in the first ball joint (402). A first knob locking bolt (404) is screwed onto the outer side of the first ball joint (402). One end of the first knob locking bolt (404) contacts the first ball joint (403) to lock the first ball joint (403).

4. The consumable components for the surgical robot navigation system according to claim 3, characterized in that, The adjustment structure (400) further includes two second ball sockets (405), two second ball joints (406), two second knob locking bolts (407), two locking blocks (408), and two outer supports (409). The two outer supports (409) are fixed to the bone fixation base (100) and the tracking bracket (300) respectively. The two second ball sockets (405) are fixed to the two outer supports (409) respectively. The two second ball joints (406) are movably embedded in the two second ball sockets (405) respectively. The two locking blocks (408) The locking block (408) is respectively installed in the two second ball sockets (405). The side of the locking block (408) facing the second ball joint (406) can fit with the second ball joint (406). The two second knob locking bolts (407) pass through the two second ball sockets (405) respectively, and the second knob locking bolts (407) and the second ball sockets (405) form a screw connection. The second knob locking bolts (407) contact the locking block (408). The second knob locking bolts (407) adjust the fit between the locking block (408) and the second ball joint (406) by pushing.

5. The consumable components for the surgical robot navigation system according to claim 1, characterized in that, The reflective module (500) includes a reflective ball (501). An insertion post (502) with its central axis passing through its center is fixed on the outside of the reflective ball (501). The four ends of the tracking bracket (300) are provided with insertion holes (301) that are compatible with the insertion post (502). One end of the insertion post (502) is fixed with an anti-detachment boss (507) made of rubber. The other end of the four ends of the tracking bracket (300) is embedded with a limiting ring (503) that is compatible with the insertion hole (301). The reflective ball (501) is inserted into the insertion hole (301) through the insertion post (502). The anti-detachment boss (507) is squeezed into the limiting ring (503). When the anti-detachment boss (507) is squeezed out of the limiting ring (503), the anti-detachment boss (507) returns to its original position, thus completing the limiting and anti-detachment function.

6. The consumable components for the surgical robot navigation system according to claim 5, characterized in that, The tracking bracket (300) has four slots (302) at each of its four ends. The four slots (302) are adapted to the four insertion holes (301). The four elastic buckle posts (506) are provided with an integral mounting journal (504) on their outer side. The mounting journal (504) is adapted to the slot (302). The mounting journal (504) is provided with a buckle opening (505) on its outer side. The slot (302) is provided with an elastic buckle post (506). The elastic buckle post (506) is integral with the tracking bracket (300). The elastic buckle post (506) is engaged by snapping into the buckle opening (505).

7. The consumable components for the surgical robot navigation system according to claim 1, characterized in that, The clamping structure (600) includes two fixed plates (601), a rotating shaft (602), an eccentric circular plate (603), and a force-applying plate (604). The eccentric circular plate (603) is fixed to the rotating shaft (602) inside the eccentric hole. The two ends of the rotating shaft (602) are respectively rotated with the two fixed plates (601). The fixed plates (601) are fixed to the sleeve connector (200). One end of the force-applying plate (604) is fixed to the eccentric circular plate (603).

8. The consumable components for the surgical robot navigation system according to claim 7, characterized in that, The sleeve connector (200) has a rubber layer fixed inside.

9. The consumable components for the surgical robot navigation system according to claim 8, characterized in that, A sterile protective cover (700) is fixedly fitted on the outside of the tracking bracket (300). One end of the sterile protective cover (700) is provided with an elastic opening (701), and one end of the sterile protective cover (700) is provided with four pre-set interface windows (702). The edges of the pre-set interface windows (702) are bent outward to form an elastic sealing structure. The four pre-set interface windows (702) are respectively aligned with the four sockets (301) one-to-one.

10. The consumable components for the surgical robot navigation system according to claim 4, characterized in that, The outer sides of the knobs of both the first knob locking bolt (404) and the second knob locking bolt (407) are provided with anti-slip texture.

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