Optical tracking locator and surgical robot thereof

Abstract

The utility model discloses an optical tracking locator and a surgical robot thereof, comprising a locator main body, the back of the locator main body is provided with an installation mechanism used for fixedly installing the locator main body, the installation mechanism comprises an installation seat, the front of the installation seat is fixedly connected with the middle of the back of the locator main body, and the installation seat is provided with an installation hole. A fixing rod is arranged in an inner cavity of the mounting base, a mounting shaft is fixedly connected to the bottom of the fixing rod in a penetrating mode, the two ends of the mounting shaft are rotationally connected with the two sides of the mounting base in a penetrating mode, and an adjusting mechanism is arranged on the fixing rod. According to the positioning instrument, the adjusting screw rod is rotated to drive the mounting block and the limiting rod to move in the vertical direction, so that the limiting rod extrudes the inner wall of the movable groove, slides in the inner cavity of the movable groove and drives the mounting seat and the positioning instrument main body to rotate around the mounting shaft, and therefore, the angle of the positioning instrument main body can be conveniently adjusted; and the positioning instrument main body is convenient to use.

Description

Technical Field

[0001] The utility model relates to the field of surgical robots, in particular to an optical tracking locator and a surgical robot thereof. Background Art

[0002] The surgical robot system is a complex that integrates a number of modern high-tech means. It uses robots to perform surgical operations, and surgeons can operate the robot away from the operating table to perform the operation.

[0003] The optical tracking locator is installed on the surgical robot to locate the surgical position. Common optical tracking locators are mostly fixedly installed on the surgical robot. When performing surgery on different parts of the body, it is often necessary to adjust the working angle of the positioning instrument. The angle of the optical tracking locator on common surgical robots is not easy to adjust. Utility Model Content

[0004] The purpose of the utility model is to provide an optical tracking positioning device and a surgical robot thereof to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an optical tracking locator, comprising a locator body, wherein the front surface of the locator body is provided with an arc groove;

[0006] A mounting mechanism is provided on the back of the locator body for fixing and mounting the locator body;

[0007] The mounting mechanism comprises a mounting seat, the front of which is fixedly connected to the middle of the back of the positioning instrument body, a fixing rod is arranged in the inner cavity of the mounting seat, a mounting shaft is fixedly inserted at the bottom of the fixing rod, and both ends of the mounting shaft are respectively rotatably inserted and connected to the two sides of the mounting seat;

[0008] The fixing rod is provided with an adjustment mechanism for adjusting the angle of the locator body.

[0009] Preferably, the adjustment mechanism comprises an adjusting screw, a top thread of the adjusting screw is interspersed with a fixing block, and one side of the fixing block is fixedly connected to an outer wall of one side of the fixing rod.

[0010] Preferably, a mounting block is rotatably connected to the bottom of the adjusting screw, the mounting block is arranged on one side of the mounting seat, and a limiting rod is fixedly connected to one side of the outer wall of the mounting block.

[0011] Preferably, a movable groove is provided at the top of one side of the mounting seat, the movable groove is arranged above the mounting shaft, and the inner cavity of the movable groove is slidably and interlacedly connected with one end of the limiting rod.

[0012] Preferably, a connecting groove is opened on one side of the upper surface of the mounting seat, a connecting rod is slidably inserted into the inner cavity of the connecting groove, and the bottom end of the connecting rod is fixedly connected to the outer wall of one end of the limiting rod.

[0013] Preferably, a connecting block is fixedly connected to the top of the fixing rod, mounting holes are provided on both sides of the connecting block, the mounting seat is U-shaped, the adjusting screw is arranged on one side of the fixing rod, and the mounting block is circular.

[0014] A surgical robot comprising an optical tracking locator

[0015] Technical effects and advantages of the utility model:

[0016] The utility model utilizes an arrangement method in which an adjusting screw, a mounting block, a mounting seat, a limiting rod, a movable groove and a mounting shaft are matched with each other. By rotating the adjusting screw, the mounting block and the limiting rod are driven to move in a vertical direction, so that the limiting rod presses the inner wall of the movable groove, and the limiting rod slides in the inner cavity of the movable groove. The limiting rod drives the mounting seat and the locator body to rotate around the mounting shaft, which is convenient for adjusting the angle of the locator body and facilitating the use of the locator body. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 It is a structural schematic diagram of the mounting seat of the utility model.

[0019] Figure 3 This is a structural schematic diagram of the fixing rod of the utility model.

[0020] Figure 4 For this utility model Figure 3 A is an enlarged structural diagram of FIG.

[0021] In the figure: 1. Positioner body; 2. Arc groove; 3. Mounting mechanism; 31. Mounting seat; 32. Fixing rod; 33. Mounting shaft; 4. Adjusting mechanism; 41. Adjusting screw; 42. Fixing block; 43. Mounting block; 44. Limiting rod; 45. Movable groove; 46. Connecting groove; 47. Connecting rod; 5. Connecting block. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] The utility model provides Figure 1-4 An optical tracking locator shown includes a locator body 1, the locator body 1 is of model PST IRIS, and is a locator based on 3D positioning technology. An arc groove 2 is provided on the front of the locator body 1, and sensing devices are provided on both sides of the inner wall of the arc groove 2 for optical positioning;

[0024] A mounting mechanism 3 is provided on the back of the positioning instrument body 1 for fixing and mounting the positioning instrument body 1. The positioning instrument body 1 and the surgical robot are fixedly mounted through the mounting mechanism 3.

[0025] The mounting mechanism 3 includes a mounting seat 31, the front side of the mounting seat 31 is fixedly connected to the middle part of the back side of the locator body 1, the mounting seat 31 is used to connect the locator body 1 and the fixing rod 32, and stably install the locator body 1, a fixing rod 32 is arranged in the inner cavity of the mounting seat 31, the fixing rod 32 is arranged vertically, and the bottom is rotated in the inner cavity of the mounting seat 31, and is used to install the mounting seat 31 and the locator body 1, the bottom of the fixing rod 32 is fixedly inserted and connected with a mounting shaft 33, the fixing rod 32 is rotatably connected to the mounting seat 31 through the mounting shaft 33, the locator body 1 and the mounting seat 31 are rotated around the mounting shaft 33, and the angle of the locator body 1 is adjusted, the two ends of the mounting shaft 33 are respectively rotatably inserted and connected with the two sides of the mounting seat 31, the locator body 1 is fixed to the surgical robot through the mounting seat 31 and the fixing rod 32, and the locator body 1 is rotated and adjusted around the mounting shaft 33, so as to facilitate the positioning and tracking of the locator body 1;

[0026] The fixing rod 32 is provided with an adjustment mechanism 4 for adjusting the angle of the positioning instrument body 1. The adjustment mechanism 4 facilitates the angle adjustment of the positioning instrument body 1.

[0027] The adjustment mechanism 4 includes an adjustment screw 41, which is used to adjust the angle of the mounting seat 31 and the positioning instrument body 1. The top thread of the adjustment screw 41 is interlaced with a fixing block 42, and the adjustment screw 41 is threadedly rotated on the fixing block 42. One side of the fixing block 42 is fixedly connected to the outer wall of one side of the fixing rod 32. The adjustment screw 41 is fixedly connected to one side of the fixing rod 32 through the fixing block 42, so that the adjustment screw 41 can stably rotate on one side of the fixing rod 32.

[0028] The bottom of the adjusting screw 41 is rotatably connected with a mounting block 43, and the mounting block 43 moves with the bottom of the adjusting screw 41, and is used to install a limit rod 44. The mounting block 43 is arranged on one side of the mounting seat 31, and one side of the outer wall of the mounting block 43 is fixedly connected to the limit rod 44. By rotating the adjusting screw 41, the mounting block 43 and the limit rod 44 are driven to move in the vertical direction;

[0029] A movable groove 45 is provided at the top of one side of the mounting seat 31. The movable groove 45 is arranged above the mounting shaft 33. The inner cavity of the movable groove 45 is slidably interlaced with one end of the limiting rod 44. The limiting rod 44 slides in the inner cavity of the movable groove 45. The limiting rod 44 moves in the vertical direction, so that the limiting rod 44 squeezes the inner wall of the movable groove 45, driving the mounting seat 31 and the positioning instrument body 1 to rotate.

[0030] A connecting groove 46 is provided on one side of the upper surface of the mounting seat 31. The connecting groove 46 is used to install a connecting rod 47. The connecting rod 47 is slidably inserted into the inner cavity of the connecting groove 46. The connecting rod 47 moves together with the limiting rod 44 to prevent the limiting rod 44 from being separated from the mounting seat 31. The bottom end of the connecting rod 47 is fixedly connected to the outer wall of one end of the limiting rod 44.

[0031] The top end of the fixed rod 32 is fixedly connected with a connecting block 5, the upper surface of the connecting block 5 is fixedly installed with the lower surface of the surgical robot, and mounting holes are provided on both sides of the connecting block 5, which are used for the insertion and installation of bolts. The mounting seat 31 is arranged in a U shape, the adjusting screw 41 is arranged on one side of the fixed rod 32, and the mounting block 43 is arranged in a circular block shape.

[0032] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An optical tracking and positioning device, comprising: A positioning instrument body (1), wherein the front side of the positioning instrument body (1) is provided with an arc-shaped groove (2); The invention is characterized in that: a mounting mechanism (3) is provided on the back of the positioning instrument body (1) for fixing and mounting the positioning instrument body (1); The mounting mechanism (3) comprises a mounting seat (31), the front face of the mounting seat (31) is fixedly connected to the middle part of the back face of the positioning instrument body (1), a fixing rod (32) is arranged in the inner cavity of the mounting seat (31), a mounting shaft (33) is fixedly inserted and connected to the bottom of the fixing rod (32), and two ends of the mounting shaft (33) are respectively rotatably inserted and connected to two sides of the mounting seat (31); The fixing rod (32) is provided with an adjustment mechanism (4) for adjusting the angle of the positioning instrument body (1).

2. The optical tracking and positioning device according to claim 1, characterized in that: The adjusting mechanism (4) comprises an adjusting screw (41), the top of the adjusting screw (41) is threadedly connected with a fixing block (42), and one side of the fixing block (42) is fixedly connected to the outer wall of one side of the fixing rod (32).

3. An optical tracking and positioning device according to claim 2, characterized in that: A mounting block (43) is rotatably connected to the bottom of the adjusting screw rod (41), and the mounting block (43) is arranged on one side of the mounting seat (31). A limiting rod (44) is fixedly connected to one side of the outer wall of the mounting block (43).

4. The optical tracking and positioning device according to claim 3, characterized in that: A movable groove (45) is provided at the top of one side of the mounting seat (31), and the movable groove (45) is arranged above the mounting shaft (33). The inner cavity of the movable groove (45) is slidably connected with one end of the limiting rod (44).

5. The optical tracking and positioning device according to claim 3, characterized in that: A connecting groove (46) is provided on one side of the upper surface of the mounting seat (31), a connecting rod (47) is slidably inserted into the inner cavity of the connecting groove (46), and the bottom end of the connecting rod (47) is fixedly connected to the outer wall of one end of the limiting rod (44).

6. The optical tracking and positioning device according to claim 3, characterized in that: The top end of the fixing rod (32) is fixedly connected to a connecting block (5), both sides of the connecting block (5) are provided with mounting holes, the mounting seat (31) is arranged in a U-shape, the adjusting screw (41) is arranged on one side of the fixing rod (32), and the mounting block (43) is arranged in a circular block shape.

7. A surgical robot, characterized in that: The surgical robot comprises any one of the optical tracking and positioning devices of claims 1-6.

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