Positioning device, surgical navigation robot and surgical navigation system

Abstract

The utility model relates to the technical field of medical instruments, in particular to a positioning device, a surgical navigation robot and a surgical navigation system.The positioning device is arranged at the operation end of the surgical navigation robot and comprises a positioning guiding piece and a connecting rod mechanism, and the connecting rod mechanism comprises a connecting piece, a first driving arm, a second driving arm and a transmission connecting rod; wherein the positioning guide piece is arranged on the connecting piece and is used for fixing a surgical instrument; the first end of the transmission connecting rod is rotationally connected with the first end of the connecting piece, and the second end is rotationally connected with the first driving arm; the first driving arm is parallel to the X axis and can move along the X axis and the Y axis, and the X axis is perpendicular to the Y axis; and the second driving arm is rotationally connected with the second end of the connecting piece, and the second driving arm is parallel to the X axis and can move along the X axis. Movement and rotation of the positioning guide part are achieved by designing the connecting rod mechanism, the structure is simple, design is ingenious, and the positioning precision of the positioning guide part is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and in particular to a positioning device, a surgical navigation robot and a surgical navigation system. Background Art

[0002] In some surgical operations, navigation devices are often used in conjunction with surgical navigation robots. Through medical image fusion processing, the patient's reconstructed image is calibrated with the actual patient position to provide continuous, stable, efficient and precise guidance.

[0003] At present, the operating end of surgical navigation robots is usually equipped with a positioning device. In order to improve the transmission accuracy of the positioning device, some surgical navigation robots are equipped with a relatively complex transmission structure, which has high installation, disinfection and learning thresholds. Although some surgical navigation robots have relatively simple structures and operations, their operating accuracy cannot meet the operating requirements of surgical operations. Utility Model Content

[0004] The purpose of the utility model is to provide a positioning device, a surgical navigation robot and a surgical navigation system, which have a simple structure and a clever design, reduce the possibility of the positioning device getting stuck during guided displacement, and improve the positioning accuracy of the positioning guide.

[0005] To achieve the above object, the utility model provides a positioning device, which is arranged at the operating end of a surgical navigation robot, and includes a positioning guide and a connecting rod mechanism, wherein the connecting rod mechanism includes a connecting member, a first driving arm, a second driving arm and a transmission connecting rod, wherein:

[0006] The positioning guide is installed on the connecting member and is used to fix the surgical instrument;

[0007] The transmission connecting rod has a first end rotatably connected to the first end of the connecting member, and a second end of the transmission connecting rod is rotatably connected to the first driving arm;

[0008] The first driving arm is arranged parallel to the X-axis, and the first driving arm can move along the X-axis and along the Y-axis, and the X-axis and the Y-axis are perpendicular to each other;

[0009] The second driving arm is rotatably connected to the second end of the connecting member, and the second driving arm is arranged parallel to the X-axis and can move along the X-axis.

[0010] Optionally, a mounting groove is provided on the connecting member, the positioning guide member has a mounting portion, the mounting portion is embedded in the mounting groove, and an anti-fool structure is provided in the mounting groove.

[0011] Optionally, the top wall of the mounting groove and the top of the mounting portion are provided with matching inclined surfaces, and the bottom wall of the mounting groove and the bottom of the mounting portion are provided with matching flat surfaces.

[0012] Optionally, the positioning guide is provided with a plurality of marking portions along the circumferential direction, and a positioning reference point is also provided on the positioning guide.

[0013] Optionally, a fixing hole for fixing the surgical instrument is formed on the positioning guide, and a threaded hole is formed on a side wall of the fixing hole.

[0014] Optionally, a tool sleeve is detachably mounted in the fixing hole, and the surgical instrument is adapted to the tool sleeve.

[0015] Optionally, the positioning device further comprises a sterile cover, wherein the sterile cover is disposed between the positioning guide and the connecting member.

[0016] Optionally, the relative position of the transmission connecting rod and the positioning guide is adjustable; and / or, the length of the transmission connecting rod is adjustable; and / or, the angle of the transmission connecting rod is adjustable.

[0017] Based on the same technical concept, the utility model also provides a surgical navigation robot, including a driving device and the positioning device as described above, wherein the driving device is connected to the first driving arm and the second driving arm of the positioning device and is used to drive the first driving arm and the second driving arm to move.

[0018] Based on the same technical concept, the utility model also provides a surgical navigation system, including the navigation device and the surgical navigation robot as described above, wherein the navigation device is used to guide the surgical planning path.

[0019] The positioning device, surgical navigation robot and surgical navigation system provided by the present utility model have at least one of the following beneficial effects:

[0020] 1) The movement and rotation of the positioning guide are realized by designing a connecting rod mechanism, which has a simple structure and ingenious design, reduces the possibility of the positioning device getting stuck during the guide displacement, and improves the positioning accuracy of the positioning guide;

[0021] 2) Based on the structural characteristics of the connecting rod mechanism, the guiding angle range of the positioning device can be adjusted by adjusting the position, length or angle of the transmission connecting rod to meet the needs of various surgical operations;

[0022] 3) By setting bearings at the nodes of the rotating connection, it can be ensured that the overall structure can move according to the original design during operation and prevent the rotation center from shifting;

[0023] 4) By providing a foolproof structure in the installation groove, the connection member and the positioning guide member can be quickly assembled and fixed, and the structural inclined surface and the plane are used to restrict the mutual installation, thereby improving the positioning accuracy and preventing the assembly direction error during installation;

[0024] 5) By adjusting the relative position of the transmission connecting rod and the positioning guide, adjusting the length of the transmission connecting rod and adjusting the angle of the transmission connecting rod, the swing amplitude and swing accuracy of the positioning guide can be adjusted, thereby adjusting the swing angle range and swing accuracy of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Those skilled in the art will appreciate that the drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0026] Figure 1 An overall structural assembly diagram of a positioning device provided in one embodiment of the utility model;

[0027] Figure 2 An exploded view of a positioning device provided in one embodiment of the utility model;

[0028] Figure 3 A side view of a connecting rod mechanism provided in one embodiment of the utility model;

[0029] Figure 4 A schematic diagram of the movement of the first driving arm along the positive direction of the X-axis provided in one embodiment of the utility model;

[0030] Figure 5 A schematic diagram of the movement of the first driving arm along the negative direction of the X-axis provided by an embodiment of the utility model;

[0031] Figure 6 A front view of a connecting rod mechanism provided in one embodiment of the utility model;

[0032] Figure 7 A schematic diagram of the movement of the first driving arm along the positive direction of the Y axis provided in one embodiment of the utility model;

[0033] Figure 8 A schematic diagram of the movement of the first driving arm along the negative direction of the Y-axis provided by an embodiment of the utility model.

[0034] In the attached figure:

[0035] 100-positioning guide; 101-installation portion; 102-fixing hole; 103-threaded hole; 104-marking portion; 200-connecting piece; 201-installation groove; 300-first driving arm; 400-second driving arm; 500-transmission connecting rod; 600-bearing; 700-stopper. DETAILED DESCRIPTION

[0036] In order to make the purpose, advantages and features of the present utility model clearer, the present utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the implementation method of the present utility model. In order to make the purpose, features and advantages of the present utility model more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model. Any modification of the structure, change in the proportional relationship or adjustment of the size, in the case of the same or similar effects and purposes that can be achieved by the present utility model, should still fall within the scope of the technical content disclosed by the present utility model.

[0037] As used in the present invention, the singular forms "one", "an", and "the" include plural objects, unless the content clearly indicates otherwise. As used in the present invention, the term "or" is generally used in a sense that includes "and / or", unless the content clearly indicates otherwise. As used in the present invention, the term "several" is generally used in a sense that includes "at least one", unless the content clearly indicates otherwise. As used in the present invention, the term "at least two" is generally used in a sense that includes "two or more", unless the content clearly indicates otherwise. In addition, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features.

[0038] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Please refer to Figure 1-Figure 8The present utility model provides a positioning device, which is arranged at the operating end of a surgical navigation robot, and includes a positioning guide 100 and a connecting rod mechanism, wherein the connecting rod mechanism includes a connecting member 200, a first driving arm 300, a second driving arm 400 and a transmission connecting rod 500, wherein:

[0040] The positioning guide member 100 is mounted on the connecting member 200 and is used to fix the surgical instrument;

[0041] The transmission connecting rod 500 has a first end rotatably connected to the first end of the connecting member 200, and a second end of the transmission connecting rod 500 is rotatably connected to the first driving arm 300;

[0042] The first driving arm 300 is arranged parallel to the X-axis, and the first driving arm 300 can move along the X-axis and along the Y-axis, and the X-axis and the Y-axis are perpendicular to each other;

[0043] The second driving arm 400 is rotatably connected to the second end of the connecting member 200 . The second driving arm 400 is arranged parallel to the X-axis and can move along the X-axis.

[0044] The working principle of the positioning device provided in the embodiment of the utility model is as follows:

[0045] Combination Figure 3 and Figure 4 As shown, when the first driving arm 300 is driven to move in the positive direction of the X-axis, the second end of the transmission link 500 is driven to move in the positive direction of the X-axis. Due to the force transmission characteristics of the connecting rod mechanism, the rotation center at the second end of the transmission link 500 rotates around the Y-axis ( Figure 4 At the same time, the rotation center at the first end of the transmission connecting rod 500 rotates around the Y axis ( Figure 4 The positioning guide 100 is driven to tilt toward the positive direction of the X-axis, and the second driving arm 400 can remain fixed during this process.

[0046] On the contrary, combined Figure 3 and Figure 5 As shown, when the first driving arm 300 is driven to move along the negative direction of the X-axis, the second end of the transmission connecting rod 500 is driven to move along the negative direction of the X-axis. Due to the force transmission characteristics of the connecting rod mechanism, the rotation center at the second end of the transmission connecting rod 500 rotates around the Y-axis ( Figure 4 The rotation center at the first end of the transmission connecting rod 500 rotates around the Y axis ( Figure 4 The positioning guide 100 is driven to tilt toward the negative direction of the X-axis, and the second driving arm 400 can remain fixed during this process.

[0047] Combination Figure 6 and Figure 7 As shown, when the first driving arm 300 is driven to move in the positive direction along the Y axis, the transmission connecting rod 500 is driven to move in the positive direction along the Y axis. Due to the force transmission characteristics of the connecting rod mechanism, the transmission connecting rod 500 is rotated around the X axis as a whole ( Figure 4 and drives the positioning guide 100 to rotate around the X axis ( Figure 4 During this process, the second driving arm 400 can remain fixed.

[0048] Combination Figure 6 and Figure 8 As shown, when the first driving arm 300 is driven to move along the negative direction of the Y axis, the transmission connecting rod 500 is driven to move along the negative direction of the Y axis. Due to the force transmission characteristics of the connecting rod mechanism, the transmission connecting rod 500 is rotated around the X axis as a whole ( Figure 4 and drives the positioning guide 100 to rotate around the X axis ( Figure 4 During this process, the second driving arm 400 can remain fixed.

[0049] In addition, when the second driving arm 400 is driven to move in the positive or negative direction along the X-axis, the entire positioning device can be driven to move in the positive or negative direction along the X-axis. When the second driving arm 400 is driven to move in the positive or negative direction along the Y-axis, the entire positioning device can be driven to move in the positive or negative direction along the Y-axis. During this process, the first driving arm 300 can remain fixed.

[0050] Of course, during the movement of the first driving arm 300, the second driving arm 400 can also be driven to move at the same time, or, during the movement of the second driving arm 400, the first driving arm 300 can also be driven to move at the same time, thereby realizing the movement and rotation of the positioning guide 100 at the same time.

[0051] Therefore, by designing a connecting rod mechanism to realize the movement and rotation of the positioning guide 100, the structure is simple and the design is ingenious, which reduces the possibility of the positioning device being stuck during the guiding displacement and improves the positioning accuracy of the positioning guide 100. In addition, based on the structural characteristics of the connecting rod mechanism, the guiding angle range of the positioning device can be adjusted by adjusting the position, length or angle of the transmission connecting rod 500 to meet the needs of various surgical operations.

[0052] Preferably, the first driving arm 300 is located directly above the second driving arm 400, so that the first driving arm 300 and the second driving arm 400 can move linearly or arcuately in two mutually parallel planes and can be controlled automatically according to displacement requirements.

[0053] Furthermore, since there is a height difference between the two planes displaced by the first driving arm 300 and the second driving arm 400, the height difference can be flexibly adjusted by adjusting the length of the connecting member 200 according to actual surgical needs, thereby improving the surgical guidance range and accuracy.

[0054] Preferably, a bearing 600 is provided at at least one of the nodes of the rotational connection. In this embodiment, a bearing 600 is provided at the node where the first end of the transmission connecting rod 500 is rotationally connected to the first end of the connecting member 200, at the node where the second end of the transmission connecting rod 500 is rotationally connected to the first driving arm 300, and at the node where the second driving arm 400 is rotationally connected to the second end of the connecting member 200, to ensure that the overall structure can operate according to the original design during operation and prevent the rotation center from shifting.

[0055] Preferably, bearing grooves are reserved at the node where the first end of the transmission connecting rod 500 is rotationally connected to the first end of the connecting member 200, at the node where the second end of the transmission connecting rod 500 is rotationally connected to the first driving arm 300, and at the node where the second driving arm 400 is rotationally connected to the second end of the connecting member 200. The bearing 600 can be installed on both sides, and threaded holes for installing a stop block 700 are also reserved in the bearing grooves. The stop block 700 is fixed by screws to prevent the bearing 600 from falling off and to improve the aesthetics.

[0056] In this embodiment, a mounting groove 201 is formed on the connecting member 200 , and the positioning guide member 100 has a mounting portion, and the mounting portion is embedded in the mounting groove 201 .

[0057] Preferably, a foolproof structure is provided in the installation groove 201. Furthermore, the top wall of the installation groove 201 and the top of the installation portion are provided with matching inclined surfaces, and the bottom wall of the installation groove 201 and the bottom of the installation portion are provided with matching planes. With such a configuration, the connector 200 and the positioning guide 100 can be quickly assembled and fixed, and the structural inclined surfaces and planes are used to restrict mutual installation, thereby improving positioning accuracy and preventing the occurrence of assembly direction errors during installation.

[0058] In this embodiment, the positioning guide 100 is provided with a fixing hole 102 for fixing the surgical instrument. The matching surgical instrument can reach the target point of the surgical plan through the positioning and guidance of the positioning device. Preferably, the side wall of the fixing hole 102 is provided with a threaded hole 103. When the surgical instrument is placed in the fixing hole 102, the surgical instrument can be tightened by screwing in fasteners such as bolts, thereby achieving the fixation of the surgical instrument, and also facilitating the removal or replacement of the surgical instrument. The surgical instrument includes, but is not limited to, accommodating one or more instruments such as optical fibers, biopsy needles, and deep electrodes.

[0059] It should be understood that the fixing hole 102 can be equipped with a tool sleeve as needed to assist in guiding other tools required in neurosurgery, and the present invention does not impose any restrictions on this. The tool sleeve can provide users with a variety of different inner diameters for fixing a variety of surgical instruments with different outer diameters, so that the positioning device has better adaptability and richer application scenarios.

[0060] In this embodiment, the positioning guide 100 is provided with a plurality of marking parts 104 arranged along the circumference. The marking part 104 may be a combination of one or more of a light emitter, a reflector, a corner point, an electromagnetic sensor, and a radiation marker, and is used in conjunction with a navigation device having a corresponding positioning device. For example, the marking part 104 is a reflector, which can be identified by an infrared tracking device, and the patient's three-dimensional data can be reconstructed, and the required surgical instruments and the actual position of the patient can be fed back in real time for registration and calibration.

[0061] Furthermore, a positioning reference point is also provided on the positioning guide 100 for feedback of the position of the positioning guide 100. The reference point can be used to track and display the actual position of the surgical instrument on the patient in real time, and under the feedback of the infrared tracking device and the guidance of the navigation system, the surgical planning path can be accurately pointed to.

[0062] In this embodiment, the positioning guide 100 and the connecting member 200 can be fixed by fasteners such as bolts. The positioning device needs to be divided into a sterile area and a sterile area. The sterile area can be isolated by a PE sterile cover. The sterile cover is arranged between the positioning guide 100 and the connecting member 200. During the installation process, when the positioning guide 100 and the connecting member 200 fit tightly, the sterile cover can be pierced by bolts and locked.

[0063] Preferably, the positioning guide 100 is located in a sterile area and needs to be repeatedly sterilized, so the positioning guide 100 can be formed by processing with high temperature and high pressure resistant materials such as titanium alloy or stainless steel.

[0064] Preferably, a silicone gasket is left at the threaded hole 103 for positioning the guide member 100 and the connecting member 200 for fixing and isolating.

[0065] Preferably, the position of the transmission connecting rod 500 is adjustable; and / or, the length of the transmission connecting rod is adjustable; and / or, the angle of the transmission connecting rod is adjustable. In this embodiment, by adjusting the relative position of the transmission connecting rod 500 and the positioning guide 100, adjusting the length of the transmission connecting rod, and adjusting the angle of the transmission connecting rod, the swing amplitude and the swing precision of the positioning guide 100 can be adjusted, thereby adjusting the swing angle range and the swing precision of the surgical instrument. For example, increasing the length of the transmission connecting rod 500 can increase the swing amplitude of the positioning guide 100, thereby increasing the swing angle range of the surgical instrument, but will reduce the swing precision of the surgical instrument. Conversely, reducing the length of the transmission connecting rod 500 will reduce the swing amplitude of the positioning guide 100, thereby reducing the swing angle range of the surgical instrument, but can increase the swing precision of the surgical instrument. Based on the same utility model concept, an embodiment of the utility model also proposes a surgical navigation robot, including a driving device and the positioning device as described above, wherein the driving device is connected to the first driving arm 300 and the second driving arm 400 of the positioning device and is used to drive the first driving arm 300 and the second driving arm 400 to move.

[0066] Based on the same utility model concept, the utility model embodiment also proposes a surgical navigation system, including the navigation device and the surgical navigation robot as described above, and the navigation device is used to guide the surgical planning path.

[0067] In summary, the embodiments of the utility model provide a positioning device, a surgical navigation robot, and a surgical navigation system, which realize the movement and rotation of the positioning guide 100 by designing a connecting rod mechanism, have a simple structure and a clever design, reduce the possibility of the positioning device being stuck during the guiding displacement, and improve the positioning accuracy of the positioning guide 100. In addition, based on the structural characteristics of the connecting rod mechanism, the guiding angle range of the positioning device can be adjusted by adjusting the position, length or angle of the transmission connecting rod 500 to meet the needs of various surgical operations.

[0068] The above description is only a description of the preferred embodiment of the utility model, and is not any limitation on the scope of the utility model. Any changes and modifications made by ordinary technicians in the field of the utility model based on the above disclosure content belong to the protection scope of the utility model. Obviously, technicians in this field can make various changes and modifications to the utility model without departing from the spirit and scope of the utility model. In this way, if these modifications and variations fall within the scope of the utility model and its equivalent technology, the utility model is also intended to include these modifications and variations.

Claims

1. A positioning device, arranged at the operating end of a surgical navigation robot, characterized in that: It includes a positioning guide and a connecting rod mechanism, wherein the connecting rod mechanism includes a connecting member, a first driving arm, a second driving arm and a transmission connecting rod, wherein: The positioning guide is installed on the connecting member and is used to fix the surgical instrument; The transmission connecting rod has a first end rotatably connected to the first end of the connecting member, and a second end of the transmission connecting rod is rotatably connected to the first driving arm; The first driving arm is arranged parallel to the X-axis, and the first driving arm can move along the X-axis and along the Y-axis, and the X-axis and the Y-axis are perpendicular to each other; The second driving arm is rotatably connected to the second end of the connecting member, and the second driving arm is arranged parallel to the X-axis and can move along the X-axis.

2. The positioning device according to claim 1, characterized in that: The connecting member is provided with a mounting groove, the positioning guide member has a mounting portion, the mounting portion is embedded in the mounting groove, and an anti-fool structure is arranged in the mounting groove.

3. The positioning device according to claim 2, characterized in that: The top wall of the mounting groove and the top of the mounting portion are correspondingly provided with matching inclined surfaces, and the bottom wall of the mounting groove and the bottom of the mounting portion are correspondingly provided with matching flat surfaces.

4. The positioning device according to claim 1, characterized in that: The positioning guide is provided with a plurality of marking parts along the circumferential direction, and a positioning reference point is also provided on the positioning guide.

5. The positioning device according to claim 1, characterized in that: The positioning guide is provided with a fixing hole for fixing the surgical instrument, and a threaded hole is provided on a side wall of the fixing hole.

6. The positioning device according to claim 5, characterized in that: A tool sleeve is detachably mounted in the fixing hole, and the surgical instrument is adapted to the tool sleeve.

7. The positioning device according to claim 1, characterized in that: The positioning device further comprises a sterile cover, and the sterile cover is arranged between the positioning guide and the connecting member.

8. The positioning device according to claim 1, characterized in that: The relative position of the transmission connecting rod and the positioning guide member is adjustable; and / or, the length of the transmission connecting rod is adjustable; and / or, the angle of the transmission connecting rod is adjustable.

9. A surgical navigation robot, characterized in that: It comprises a driving device and a positioning device according to any one of claims 1 to 8, wherein the driving device is connected to a first driving arm and a second driving arm of the positioning device and is used to drive the first driving arm and the second driving arm to move.

10. A surgical navigation system, characterized in that: It comprises a navigation device and a surgical navigation robot according to claim 9, wherein the navigation device is used to guide a surgical planning path.

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