Tracer, surgical instrument and orthopedic surgical robot

Abstract

The utility model discloses a tracer, a surgical instrument and an orthopedic surgical robot, and belongs to the technical field of orthopedic navigation surgical instruments, the tracer comprises a positioner assembly and a rotating assembly, the positioner assembly comprises a positioning reference frame, at least three marking balls are arranged on the front face of the positioning reference frame, and the rotating assembly is arranged on the front face of the positioning reference frame. A connecting shaft is fixedly arranged in the middle of the back face of the positioning reference frame, and the rotating assembly is fixedly arranged at the tail end of the connecting shaft. The rotating assembly comprises a rotating sleeve arranged on the rod portion of the surgical instrument in a sleeving mode and a locking device used for enabling the rotating sleeve to be axially fixed and rotatably connected to the rod portion of the surgical instrument in the circumferential direction. According to the utility model, when a doctor uses a surgical instrument which needs to rotate along the axis of the doctor, the tracer can always face one direction (namely the camera direction), the instrument can be tracked in real time, the purpose of navigating the instrument in real time is achieved, the tracer is suitable for the surgical instrument which rotates along the axis of the doctor, and camera tracking is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of orthopedic navigation surgical instruments, in particular to a tracer, a surgical instrument and an orthopedic surgical robot. Background Art

[0002] With the promotion of orthopedic surgical robots in hospitals, the application of surgical robots to assist surgery has become more and more widespread. Surgical robots use mechanical arms to drive surgical instruments to assist doctors in performing surgery, which can greatly improve the accuracy of surgery.

[0003] In orthopedic navigation surgery, the camera tracks the tracer installed on the instrument to display the position of the surgical instrument in real time, so as to help doctors understand the depth and angle of the instrument. For example, during the process of spinal surgery, the navigation system allows doctors to understand the position of the nail in real time while reducing the number of fluoroscopy. In this way, doctors can complete the surgery intuitively and with high precision.

[0004] There are many kinds of existing tracers. For example, utility model patent CN218220304U discloses a tracer, utility model patent CN219422959U discloses a tracer and a tracer consumable assembly, and utility model patent CN219422960U discloses a tracer and a surgical tool. However, most of the existing tracers are fixed on surgical instruments. When the surgical instrument is an instrument that needs to rotate along its own axis when in use (such as a nailer, a tap, etc.), when the doctor uses the instrument, the tracer will rotate with the instrument, which is not convenient for camera tracking to perform positioning and navigation. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a tracer, a surgical instrument and an orthopedic surgical robot, which are suitable for surgical instruments rotating along their own axes and are convenient for camera tracking.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0007] In one aspect, a tracer is provided, comprising a locator assembly and a rotation assembly, wherein:

[0008] The locator assembly comprises a positioning reference frame, at least three marking balls are arranged on the front of the positioning reference frame, a connecting shaft is fixedly arranged in the middle of the back of the positioning reference frame, and the rotating assembly is fixedly arranged at the end of the connecting shaft;

[0009] The rotating assembly comprises a rotating sleeve for sleeved on the rod of the surgical instrument and a locking device for making the rotating sleeve axially fixed and circumferentially rotatably connected to the rod of the surgical instrument.

[0010] Furthermore, a connecting shaft mounting hole is provided in the middle of the positioning reference frame, and an end of the connecting shaft close to the positioning reference frame is provided with a limiting boss for abutting against the back of the positioning reference frame and a nail hole is provided on the end surface of the end, a fixing nail is provided in the nail hole, and the nail cap of the fixing nail is used to abut against the front of the positioning reference frame to fix the positioning reference frame and the connecting shaft together.

[0011] Furthermore, a first key slot is provided on the side wall of the connecting shaft mounting hole, a second key slot is provided on one end of the connecting shaft close to the positioning reference frame, and key pins are inserted into the first key slot and the second key slot.

[0012] Furthermore, an instrument mounting hole for accommodating a surgical instrument rod is provided in the axial direction of the rotating sleeve, a button mounting groove connected to the instrument mounting hole is provided on the side of the rotating sleeve, and the locking device includes a button installed in the button mounting groove, the button is provided with a large hole for the surgical instrument rod to pass through, and a small hole intersecting with the large hole and used to cooperate with the annular limiting groove of the surgical instrument rod.

[0013] Furthermore, an elastic member is provided between the bottom surface of the button and the bottom surface of the button mounting groove.

[0014] Furthermore, a first blind hole is provided in the middle of the bottom surface of the button, a second blind hole is provided in the middle of the bottom surface of the button mounting groove, and the elastic member is a spring, with two ends of the spring respectively located in the first blind hole and the second blind hole.

[0015] Furthermore, limiting holes extending along the length direction of the button are provided on both sides of the button, and pin holes are provided at positions corresponding to the limiting holes on both sides of the rotating sleeve. Pins are provided in the pin holes, and the ends of the pins extend into the limiting holes.

[0016] Furthermore, a D-shaped hole is provided on the side of the rotating sleeve, and the end of the connecting shaft away from the positioning reference frame is a D-shaped shaft, and the D-shaped shaft is inserted and fixed in the D-shaped hole.

[0017] On the other hand, a surgical instrument is provided, which rotates along its own axis when in use, and the rod of the surgical instrument is provided with the above-mentioned tracer.

[0018] On the other hand, an orthopedic surgical robot is provided, comprising a robotic arm on which the above-mentioned surgical instrument is provided.

[0019] The utility model has the following beneficial effects:

[0020] The tracer, surgical instrument and orthopedic surgical robot of the utility model include a locator assembly and a rotating assembly, wherein the rotating assembly includes a rotating sleeve for sleeved on the rod of the surgical instrument and a locking device for fixing the rotating sleeve axially and rotatably connected to the rod of the surgical instrument circumferentially. When the doctor uses a surgical instrument that needs to rotate along its own axis (such as a nailer, a tap, etc.), since the rotating sleeve is axially fixed and rotatably connected to the rod of the surgical instrument circumferentially, the tracer will not rotate with the surgical instrument. The tracer can always face one direction (i.e., the direction of the camera), and can track the instrument in real time, achieving the purpose of real-time navigation of the instrument. Therefore, the utility model is suitable for surgical instruments that rotate along their own axis, which is convenient for camera tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the tracer of the utility model;

[0022] Figure 2 for Figure 1 Schematic diagram of the exploded structure of the tracer shown;

[0023] Figure 3 for Figure 1 Schematic diagram of the structure of the positioning reference frame;

[0024] Figure 4 for Figure 1 Structural diagram of the middle connecting shaft;

[0025] Figure 5 for Figure 1 Schematic diagram of the structure of the locator assembly, wherein (a) is a structural diagram in one direction, and (b) is a structural diagram in another direction;

[0026] Figure 6 for Figure 1 A schematic diagram of the structure of the middle rotating sleeve;

[0027] Figure 7 for Figure 1 Schematic diagram of the structure of the button, where (a) is a structural diagram in one direction, (b) is a structural diagram in another direction, and (c) is a structural diagram in yet another direction;

[0028] Figure 8 for Figure 1 Schematic diagram of the structure of the rotating component, wherein (a) is a structural diagram in one direction, and (b) is a structural diagram in another direction;

[0029] Fig. 9 It is a partial structural schematic diagram of the surgical instrument of the present utility model. DETAILED DESCRIPTION

[0030] In order to make the technical problems to be solved, technical solutions and advantages of the present invention more clear, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0032] On the one hand, the utility model provides a tracer, such as Figure 1-9 As shown, it includes a positioner assembly and a rotating assembly, wherein:

[0033] The positioner assembly comprises a positioning reference frame 1, at least three marking balls 2 are arranged on the front of the positioning reference frame 1, a connecting shaft 3 is fixedly arranged in the middle of the back of the positioning reference frame 1, and a rotating assembly is fixedly arranged at the end of the connecting shaft 3;

[0034] The rotating assembly includes a rotating sleeve 5 for being sleeved on the rod of a surgical instrument 4 (such as a nail setter, a tap, etc.) and a locking device for making the rotating sleeve 5 axially fixed and circumferentially rotatably connected to the rod of the surgical instrument 4.

[0035] When in use, the tracer of the utility model is installed on the surgical instrument 4 through the rotating assembly. Specifically, the locking device is first unlocked, the rotating sleeve 5 is mounted on the rod of the surgical instrument 4, and then the locking device is locked so that the rotating sleeve 5 is axially fixed and circumferentially rotatably connected to the rod of the surgical instrument 4.

[0036] The (navigation) tracer of the utility model includes a locator assembly and a rotating assembly, wherein the rotating assembly includes a rotating sleeve for sleeved on the rod of a surgical instrument and a locking device for fixing the rotating sleeve axially and rotatably connected to the rod of the surgical instrument circumferentially, so that when a doctor uses a surgical instrument that needs to rotate along its own axis (such as a nailer, a tap, etc.), since the rotating sleeve is axially fixed and rotatably connected to the rod of the surgical instrument circumferentially, the tracer will not rotate with the surgical instrument, and the tracer can always face one direction (i.e., the direction of the camera), and can track the instrument in real time, achieving the purpose of real-time navigation of the instrument. Therefore, the utility model is suitable for surgical instruments that rotate along their own axis, which is convenient for camera tracking.

[0037] like Figure 2-5As shown, in order to facilitate the connection between the positioning reference frame 1 and the connecting shaft 3, a connecting shaft mounting hole 11 (which can be a circular hole) can be provided in the middle of the positioning reference frame 1, and the connecting shaft 3 close to the positioning reference frame 1 is provided with a limiting boss 31 for abutting against the back of the positioning reference frame 1, and a nail hole 32 is provided on the end surface, and a fixing nail 33 (for example, a rivet) is provided in the nail hole 32, and the nail cap of the fixing nail 33 is used to abut against the front of the positioning reference frame 1 to fix the positioning reference frame 1 and the connecting shaft 3 together, so that a firm connection between the positioning reference frame 1 and the connecting shaft 3 can be achieved.

[0038] Furthermore, a first key groove 12 (which may be a rectangular groove) may be provided on the side wall of the connecting shaft mounting hole 11, and a second key groove 34 may be provided on the end of the connecting shaft 3 close to the positioning reference frame 1. Key pins 13 may be inserted into the first key groove 12 and the second key groove 34. The key pins 13 may prevent the positioning reference frame 1 and the connecting shaft 3 from rotating relative to each other, thereby improving the stability of the tracer.

[0039] In this way, when assembling the positioner assembly, the cylindrical surface of the front end of the connecting shaft 3 can be first inserted into the connecting shaft mounting hole 11 in the middle of the positioning reference frame 1, until the limiting boss 31 of the connecting shaft 3 fits with the back (bottom) of the positioning reference frame 1; then the second keyway 34 on the connecting shaft 3 should be aligned with the first keyway 12 on the positioning reference frame 1, so that the key pin 13 can penetrate the first keyway 12 on the positioning reference frame 1 and the second keyway 34 on the connecting shaft 3; finally, the fixing nail 33 is installed into the nail hole 32 on the connecting shaft 3, so as to assemble and form Figure 5 Positioner assembly shown.

[0040] The locking device is used to make the rotating sleeve 5 axially fixed and circumferentially rotatably connected to the rod of the surgical instrument 4. It can be various structures that can be easily thought of by those skilled in the art. For example, the rod of the surgical instrument 4 is provided with an annular limiting groove 41, and the rotating sleeve 5 is provided with a pin or a screw whose end extends into the annular limiting groove 41. For another example, the rod of the surgical instrument 4 is provided with an annular limiting boss, and the rotating sleeve 5 is arranged at the annular limiting boss through a C-shaped hoop. However, for the convenience of implementation, the following structural form is preferably adopted:

[0041] like Figure 2 and Figure 6-9 As shown, an instrument mounting hole 51 (which may be a circular hole) is provided in the axial direction of the rotating sleeve 5 for accommodating the rod of the surgical instrument 4, and a button mounting groove 52 connected to the instrument mounting hole 51 is provided on the side of the rotating sleeve 5. The locking device includes a button 6 installed in the button mounting groove 52, and the button 6 is provided with a large hole 61 for the rod of the surgical instrument 4 to pass through and a small hole 62 intersecting with the large hole 61 and used to cooperate with the annular limiting groove 41 of the rod of the surgical instrument 4 (that is, the diameter of the large hole 61 is larger than the diameter of the small hole 62).

[0042] When in use, the button 6 is driven, the locking device is unlocked, so that the large hole 61 on the button 6 is concentric with the instrument mounting hole 51 on the rotating sleeve 5, and the rod of the surgical instrument 4 can pass through the instrument mounting hole 51 on the rotating sleeve 5 and the large hole 61 on the button 6; the button 6 is driven again, so that the small hole 62 on the button 6 is concentric with the instrument mounting hole 51 on the rotating sleeve 5, and the side wall of the small hole 62 is inserted into the annular limiting groove 41 of the rod of the surgical instrument 4, so that the locking device is locked. In this way, the rotating sleeve 5 can be connected to the rod of the surgical instrument 4 in an axially fixed and circumferentially rotatable manner through the locking device.

[0043] An elastic member may be provided between the bottom surface of the button 6 and the bottom surface of the button installation groove 52, so that the button 6 can be automatically reset for easy operation. To facilitate the installation of the elastic member, a first blind hole 63 (which may be a circular hole) may be provided in the middle of the bottom surface of the button 6, a second blind hole 53 may be provided in the middle of the bottom surface of the button installation groove 52, and the elastic member is a spring 64, and the two ends of the spring 64 are respectively located in the first blind hole 63 and the second blind hole 53, so that the spring 64 is conveniently fixed and easy to use.

[0044] The button 6 may be provided with limiting holes 65 (which may be waist-shaped holes) extending along the length direction of the button 6 on both sides, and pin holes are provided at positions corresponding to the limiting holes 65 on both sides of the rotating sleeve 5, and pins 54 (which may be fixed by welding) are provided in the pin holes, and the ends of the pins 54 extend into the limiting holes 65, which can better prevent the button 6 from falling off and improve the stability of the button 6. In the embodiment shown in the figure, there are two pins 54, a long pin and a short pin, which are fixed in the pin holes by welding; the rotating sleeve 5 and the button 6 are assembled to obtain Figure 8 The rotating assembly shown.

[0045] There are two flat surfaces 66 in front and behind the button 6. After the button 6 is installed into the corresponding button mounting groove 52 in the rotating sleeve 5, the two flat surfaces 66 of the button 6 contact the two flat surfaces 521 of the button mounting groove 52. Therefore, the two flat surfaces 521 of the button mounting groove 52 can limit the position of the button 6 and further improve the stability of the button 6.

[0046] In order to improve the firmness of the connection between the connecting shaft 3 and the rotating sleeve 5, a D-shaped hole 55 can be provided on the side of the rotating sleeve 5. The end of the connecting shaft 3 away from the positioning reference frame 1 is a D-shaped shaft 35, and the D-shaped shaft 35 is inserted and fixed (welding process can be used) in the D-shaped hole 55. In this way, the positioner assembly ( Figure 5 ) and the rotating assembly ( Figure 8 ) to form a complete tracer ( Figure 1 ).

[0047] On the other hand, the utility model provides a surgical instrument 4, which rotates along its own axis when in use, such as Fig. 9As shown, the rod of the surgical instrument 4 is provided with the above-mentioned tracer. Since the structure of the tracer is the same as above, it will not be described here.

[0048] The surgical instrument of the utility model comprises a tracer thereon including a locator assembly and a rotating assembly, wherein the rotating assembly comprises a rotating sleeve for being sleeved on a rod portion of the surgical instrument and a locking device for making the rotating sleeve axially fixed and circumferentially rotatably connected to the rod portion of the surgical instrument. Thus, when a doctor uses a surgical instrument that needs to rotate along its own axis (such as a nailer, a tap, etc.), since the rotating sleeve is axially fixed and circumferentially rotatably connected to the rod portion of the surgical instrument, the tracer will not rotate with the surgical instrument. The tracer can always face one direction (i.e., the direction of the camera), and can track the instrument in real time, thereby achieving the purpose of navigating the instrument in real time.

[0049] On the other hand, the utility model provides an orthopedic surgical robot, including a mechanical arm, on which the above-mentioned surgical instrument 4 is arranged. Since the structure of the surgical instrument 4 is the same as above, it will not be described here in detail.

[0050] The orthopedic surgical robot of the utility model has a tracer thereon including a locator assembly and a rotating assembly, wherein the rotating assembly includes a rotating sleeve for being sleeved on a rod of a surgical instrument and a locking device for making the rotating sleeve axially fixed and circumferentially rotatably connected to the rod of the surgical instrument. In this way, when a doctor uses a surgical instrument that needs to rotate along its own axis (such as a nailer, a tap, etc.), since the rotating sleeve is axially fixed and circumferentially rotatably connected to the rod of the surgical instrument, the tracer will not rotate with the surgical instrument. The tracer can always face one direction (i.e., the direction of the camera), and can track the instrument in real time, thereby achieving the purpose of real-time navigation of the instrument.

[0051] The above is a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A tracer, characterized in that: It includes a positioner assembly and a rotation assembly, wherein: The locator assembly comprises a positioning reference frame, at least three marking balls are arranged on the front of the positioning reference frame, a connecting shaft is fixedly arranged in the middle of the back of the positioning reference frame, and the rotating assembly is fixedly arranged at the end of the connecting shaft; The rotating assembly comprises a rotating sleeve for sleeved on the rod of the surgical instrument and a locking device for making the rotating sleeve axially fixed and circumferentially rotatably connected to the rod of the surgical instrument.

2. The tracer according to claim 1, characterized in that A connecting shaft mounting hole is provided in the middle of the positioning reference frame, and a limiting boss is provided at one end of the connecting shaft close to the positioning reference frame for abutting against the back of the positioning reference frame, and a nail hole is provided on the end surface of the end, a fixing nail is provided in the nail hole, and the nail cap of the fixing nail is used to abut against the front of the positioning reference frame to fix the positioning reference frame and the connecting shaft together.

3. The tracer according to claim 2, characterized in that A first key slot is provided on the side wall of the connecting shaft mounting hole, a second key slot is provided on one end of the connecting shaft close to the positioning reference frame, and key pins are inserted into the first key slot and the second key slot.

4. The tracer according to any one of claims 1 to 3, characterized in that: An instrument mounting hole for accommodating a surgical instrument rod is provided in the axial direction of the rotating sleeve, a button mounting groove connected to the instrument mounting hole is provided on the side of the rotating sleeve, the locking device includes a button installed in the button mounting groove, the button is provided with a large hole for the surgical instrument rod to pass through, and a small hole intersecting with the large hole and used to cooperate with the annular limiting groove of the surgical instrument rod.

5. The tracer according to claim 4, characterized in that An elastic member is arranged between the bottom surface of the button and the bottom surface of the button installation groove.

6. The tracer according to claim 5, characterized in that A first blind hole is provided in the middle of the bottom surface of the button, a second blind hole is provided in the middle of the bottom surface of the button mounting groove, the elastic member is a spring, and two ends of the spring are respectively located in the first blind hole and the second blind hole.

7. The tracer according to claim 5, characterized in that The button is provided with limiting holes extending along the length direction of the button on both sides, and the rotating sleeve is provided with pin holes at positions corresponding to the limiting holes on both sides. Pins are arranged in the pin holes, and the ends of the pins extend into the limiting holes.

8. The tracer according to claim 4, characterized in that A D-shaped hole is provided on the side of the rotating sleeve, and the end of the connecting shaft away from the positioning reference frame is a D-shaped shaft, and the D-shaped shaft is inserted and fixed in the D-shaped hole.

9. A surgical instrument that rotates along its own axis when in use, characterized in that: The rod portion of the surgical instrument is provided with a tracer as described in any one of claims 1-8.

10. An orthopedic surgical robot, comprising a robotic arm, characterized in that: The robotic arm is provided with the surgical instrument according to claim 9.

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