Surgical navigation robot positioning device

Abstract

The utility model provides a surgical navigation robot positioning device, which comprises a reflection array frame, a positioning device and a positioning device, the reflective array frame is connected to the guide module in a position adjustable manner in a first direction; one end of the first rotating claw is fixedly connected to the guiding module in a position-adjustable mode in the first direction, one end of the second rotating claw is fixed to the guiding module, and the other end of the first rotating claw and the other end of the second rotating claw are movably connected with a driving structure. And the rotating axes of the first rotating claw and the second rotating claw are the same. When the device is installed and adjusted, different operation requirements and operation environments can be met by adjusting the positions of the guide module and the rotating claw. And a connecting structure of the guide module and the rotating claw can provide more stable support, so that stable fixation of the reflection array frame is ensured.

Description

Technical Field

[0001] The utility model relates to medical equipment, in particular to a surgical navigation robot positioning device. Background Art

[0002] At present, surgical navigation systems and surgical robots are widely used in normal surgery. Through medical image fusion processing, the patient's reconstructed image and the actual patient position are calibrated to provide long-term continuous, stable, efficient and accurate guidance. The high-precision positioning and repeated positioning of the equipment have advantages in complex operations, and the front-end guidance structure of the surgical robot is crucial.

[0003] The front guide structure of a surgical robot usually refers to the part of the robot system that is used to guide surgical instruments or tools. This part is usually located at the front end of the robot, which is the part that contacts the patient, and is responsible for ensuring that the surgical instrument can accurately reach the designated position and perform the required operation.

[0004] Specifically, the anterior guidance structure may include a series of sensors, cameras, or other sensing devices, as well as algorithms and control systems that work with them. These devices can obtain information about the surgical area in real time and feed it back to the robotic system so that it can be accurately positioned and operated according to the surgeon's instructions.

[0005] In surgical robots, the design and function of the front-end guide structure are crucial to the success of the operation. It needs to have high precision, stability and reliability to ensure accurate guidance and operation during the operation. Through the front-end guide structure, the robot system can achieve more delicate and complex surgical operations, improving the safety and success rate of the operation.

[0006] Since the surgery needs to pass through narrow channels or move the instruments along a specific trajectory, the front guide structure may be restricted in movement. The front guide structure needs to have sufficient support force, precise positioning, and convenient assembly. However, the existing structure cannot meet this requirement. Therefore, a new surgical navigation robot positioning device needs to be designed for use in the robot required in the surgical robot. Utility Model Content

[0007] The purpose of the utility model is to overcome the defects of the prior art in that the assembly is complicated and the precision is low, and to provide a surgical navigation robot positioning device with higher precision and more convenient assembly.

[0008] The utility model solves the above technical problems through the following technical solutions:

[0009] A surgical navigation robot positioning device, characterized in that it includes: a reflection array frame for fixing a reflection array device; a guide module, the reflection array frame is connected to the guide module in a position-adjustable manner in a first direction; a first rotating claw and a second rotating claw, one end of the first rotating claw is fixedly connected to the guide module in a position-adjustable manner in the first direction, one end of the second rotating claw is fixed to the guide module, the other ends of the first rotating claw and the second rotating claw are respectively movably connected to a driving structure, and the rotation axes of the first rotating claw and the second rotating claw are the same.

[0010] Preferably, the reflective array frame is connected to the guide module via a directional channel structure, and the directional channel structure is formed as a tubular structure. The directional channel structure can slide within the guide rail of the guide module to adjust the position, and is locked and fixed by a lateral knob on the guide module.

[0011] Preferably, the reflective array frame and the directional channel structure are engaged with each other through opposing concave and convex structures to determine the installation direction of the reflective array frame, and the reflective array frame is also fastened to the directional channel structure by means of threaded connection.

[0012] Preferably, the guide module is provided with a hole overlapping with the rotation axis, and a cylindrical pin extends into the guide module through the hole for fixing the first rotating claw, and a cylindrical pin fixer for limiting is installed at one end of the cylindrical pin, and the other end cooperates with the inner wall of the hole for limiting.

[0013] Preferably, an open linear bearing is mounted on the cylindrical pin, a linear open bearing adapter is fixed to the open linear bearing by an open retaining ring, the first rotating claw is assembled with the linear open bearing adapter via bearings arranged on the sides of the linear open bearing adapter, and the second rotating claw is assembled with the guide module via bearings arranged on both sides of the guide module.

[0014] Preferably, the other ends of the first rotating claw and the second rotating claw are respectively connected to a locking block, and threaded holes are provided on the two driving structures, and the locking block and the driving structure can be fixed through the threaded holes by a knob.

[0015] The guide module and the rotating claw design make the position of the device in the first direction adjustable. This means that when installing and adjusting the device, the position of the guide module and the rotating claw can be adjusted to adapt to different surgical needs and operating environments. This adjustability makes the device easier to assemble and adjust, thereby reducing the difficulty in the device assembly process.

[0016] Secondly, the connection structure between the guide module and the rotating claw can provide more stable support to ensure the stable fixation of the reflective array frame. This can reduce the shaking or movement of the device during use, thereby improving the accuracy and reliability of the positioning device. The connection design of the rotating claw makes the position of the reflective array frame stable in the first direction, and the sameness of the rotation axis ensures that the angle adjustment of the reflective array frame can be consistent.

[0017] In summary, by introducing the design of adjustability and stability, the problems of inconvenient assembly and low precision in the prior art are effectively solved. These improvements can improve the performance and reliability of the surgical navigation robot positioning device, thereby providing more accurate positioning and operation support for the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 , is a schematic diagram of the three-dimensional structure of a surgical navigation robot positioning device according to one embodiment of the utility model.

[0019] Figure 2 , is an exploded view of a surgical navigation robot positioning device according to one embodiment of the utility model.

[0020] Figure 3 , is a schematic structural diagram of the drive structure and the rotating claw when installed in one embodiment of the utility model.

[0021] Figure 4 , is a schematic structural diagram of a guide module according to an embodiment of the present utility model. DETAILED DESCRIPTION

[0022] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of a surgical navigation robot positioning device according to one embodiment of the utility model. Figure 2 FIG. 1 is an exploded view of a surgical navigation robot positioning device according to an embodiment of the present invention. Figure 1 , 2 As shown, the surgical navigation robot positioning device involved in this embodiment includes: a reflective array frame 1 for fixing the reflective array device; a guide module 3, the reflective array frame 1 is connected to the guide module 3 in a positionally adjustable manner in a first direction; two rotating claws 10 as a first rotating claw and a second rotating claw, as shown in FIG. Figure 1 As shown, one end of the upper rotating claw 10 is fixedly connected to the guide module 3 with an adjustable position in the first direction, one end of the lower rotating claw 10 is fixed to the guide module 3, and the other ends of the two rotating claws 10 are movably connected to the driving structures 13 and 12 respectively, and the rotation axes of the two rotating claws 10 are the same.

[0024] Furthermore, the reflective array frame 1 is connected to the guide module 3 via a directional channel structure 2, which is formed as a tubular structure. The directional channel structure 2 can slide in the guide rail of the guide module 3 to adjust the position, and is locked and fixed by a lateral knob 6 on the guide module 3.

[0025] Furthermore, the reflective array frame 1 and the directional channel structure 2 are engaged with each other through the concave and convex structures facing each other to determine the installation direction of the reflective array frame 1 , and the reflective array frame 1 is also fastened to the directional channel structure 2 by means of threaded connection.

[0026] Figure 3 This is a schematic diagram of the structure of the drive structure and the rotating claw when they are installed in one embodiment of the utility model. Figure 4 FIG. 1 is a schematic diagram of the structure of a guide module according to an embodiment of the present invention. Figure 3 , 4 Further, a hole overlapping with the rotation axis is provided on the guide module 3, and a cylindrical pin 5 extends into the guide module 3 through the hole to fix the rotating claw 10 above. A cylindrical pin fixer 4 for limiting is installed at one end of the cylindrical pin 5, and the other end cooperates with the inner wall of the hole for limiting.

[0027] Furthermore, an open linear bearing 8 is mounted on the cylindrical pin 5, and a linear open bearing adapter 7 is fixed to the open linear bearing 8 by an open retaining ring, and the upper rotating claw 10 is assembled with the linear open bearing adapter 7 through a bearing 9 arranged on the side of the linear open bearing adapter, and the lower rotating claw 10 is assembled with the guide module 3 through bearings 9 arranged on both sides of the guide module 3. In this embodiment, the bearing 9 refers to a plurality of bearings at different positions.

[0028] Furthermore, the other ends of the upper rotating claw 10 and the lower rotating claw 10 are respectively connected to the locking block 11, and threaded holes are provided on the driving structures 13 and 12. The locking block 11 and the driving structures 12 and 13 can be fixed through the threaded holes by the knob 6.

[0029] Among them, the directional channel structure 2 has a directional channel, and the surgical tools equipped can all reach the actual surgical plan target position through the guidance and positioning of the surgical robot. The reflective array frame 1 and the directional channel structure 2 can be designed and replaced according to the actual surgical needs, similar to other types of tools required for auxiliary surgery such as surgical sleeves and ultrasonic detection equipment.

[0030] The reflective array frame 1 is formed by four reflective positions, and the infrared positioning device is used to provide real-time feedback to the computer about the real-time position of the device. In actual use cases, the upper and lower rotating claws 10 are connected to the open linear bearing 8 and the guide module 3 by using a knob 6 to ensure that the overall structure is driven to rotate according to the original design during operation to prevent the rotation center from being offset. The open linear bearing 8 is fixed to the cylindrical pin 5 and driven by a linear bearing;

[0031] Among them, the driving structure 12 at the lower end and the driving structure 13 at the upper end perform linear or arc motion in two mutually parallel planes, and can be controlled automatically according to the needs of angle positioning. There is a height difference between the two planes displaced by the driving structure 12 at the lower end and the driving structure 13 at the upper end, and the height difference can be adaptively adjusted during the design of the mechanism. When the travel of the driving structure 13 at the upper end is limited, the height difference between the two planes can be adjusted according to the actual surgical needs: if the swing angle is increased and the surgical guidance range is expanded, the height between the two planes can be reduced; if the swing angle is reduced, the control accuracy and locking force are improved, and the height between the two planes can be increased.

[0032] The directions of movement of the lower drive structure 12 and the upper drive structure 13 are within the range of two planes. Therefore, when the guide module 3 of the front section is angularly positioned, there is a structural displacement conflict. Therefore, the open linear bearing 8 and the cylindrical pin 5 are fixedly displaced with each other to compensate for the variables of the structural displacement conflict. When the upper drive structure 13 is displaced forward and backward, the upper rotating claw 10 swings forward, driving the open linear bearing 8 to move up and down on the cylindrical pin 5, and driving the drive module 3 to angularly position forward or backward;

[0033] The position where the locking block 11 and the driving structure 12 at the lower end and the driving structure 13 at the upper end are connected to each other is the position where the sterile area and the aseptic area are separated, and a PE sterile film is used for isolation.

[0034] All spare parts in the sterile area (reflection array frame 1, directional channel structure 2, guide module 3, cylindrical pin holder 4; cylindrical pin 5; knob 6; linear open bearing adapter 7; open linear bearing 8; bearing 9; rotating claw 10; locking block 11) can be used once and quickly connected to the lower end drive structure 12 and the upper end drive structure 13, which can relieve the operation time and improve the treatment effect;

[0035] In this embodiment, the surgical navigation robot positioning device can be used in conjunction with a surgical navigation system and a surgical navigation robot. In the surgical navigation system, the patient's three-dimensional data can be reconstructed, and the required surgical tools and the patient's actual position can be aligned and calibrated in real time through the infrared optical positioning device.

[0036] There is a registration positioning structure (like a recessed dot) in the reflective array frame 1, which can be used to register the surgical robot guidance tool through a special tool-assisted navigation and positioning system. In the navigation system, the actual position of the surgical robot guidance tool on the patient can be tracked and displayed in real time; under the feedback of the infrared optical locator (tracking device) and the guidance of the navigation system, the surgical robot drives a surgical navigation robot positioning device to accurately point to the surgical planning path.

[0037] The above contents are only preferred embodiments of the present invention and cannot limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope defined in the claims of the present invention should still fall within the protection scope of the present invention.

[0038] Description of reference numerals:

[0039] Reflect array rack 1

[0040] Directional channel structure 2

[0041] Guide module 3

[0042] Cylindrical pin holder 4

[0043] Cylindrical pin 5

[0044] Knob 6

[0045] Linear open bearing adapter 7

[0046] Open linear bearing 8

[0047] Bearing 9

[0048] Rotating claw 10

[0049] Locking block 11

[0050] The driving structure 12 at the lower end

[0051] The upper drive structure 13

Claims

1. A surgical navigation robot positioning device, characterized in that: include: A reflective array frame, used for fixing the reflective array device; A guide module, wherein the reflective array frame is connected to the guide module in an adjustable manner in a first direction; a first rotating claw and a second rotating claw, wherein one end of the first rotating claw is fixedly connected to the guide module in a positionally adjustable manner in a first direction, One end of the second rotating claw is fixed to the guide module, The other ends of the first rotating claw and the second rotating claw are respectively movably connected to a driving structure. The first rotating claw and the second rotating claw have the same rotation axis.

2. The surgical navigation robot positioning device according to claim 1, characterized in that: The reflective array frame is connected to the guide module through a directional channel structure, The directional channel structure is formed as a tubular structure, The directional channel structure can slide in the guide rail of the guide module to adjust the position. And it is locked and fixed by the lateral knob on the guide module.

3. The surgical navigation robot positioning device according to claim 2, characterized in that: The reflective array frame and the directional channel structure are engaged with each other through the concave and convex structures facing each other to determine the installation direction of the reflective array frame. The reflective array frame is also fastened to the directional channel structure by means of a threaded connection.

4. The surgical navigation robot positioning device according to claim 3, characterized in that: The guide module is provided with a hole overlapping with the rotation axis. A cylindrical pin extends into the guide module through the hole to fix the first rotating claw. A cylindrical pin fixer for limiting position is installed at one end of the cylindrical pin, and the other end cooperates with the inner wall of the hole for limiting position.

5. The surgical navigation robot positioning device according to claim 4, characterized in that: An open linear bearing is installed on the cylindrical pin. A linear open bearing adapter is fixed on the open linear bearing through an open retaining ring. The first rotating claw is assembled with the linear open bearing adapter through a bearing arranged on the side of the linear open bearing adapter. The second rotating claw is assembled with the guide module through bearings arranged on both sides of the guide module.

6. The surgical navigation robot positioning device according to claim 5, characterized in that: The other ends of the first rotating claw and the second rotating claw are respectively connected to a locking block. The two driving structures are provided with threaded holes, and the locking block and the driving structure can be fixed through the threaded holes by a knob.

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