Double-sided tracer and orthopedic surgery robot

Abstract

The utility model discloses a double-faced tracer and an orthopedic surgery robot, and belongs to the technical field of orthopedic navigation surgical instruments, the double-faced tracer comprises a main body connecting piece, and a first reference frame and a second reference frame are fixedly arranged at the two ends of the main body connecting piece in the length direction respectively; the plane where the first reference frame is located intersects with the plane where the second reference frame is located, and the first reference frame and the second reference frame are each provided with at least three reflection ball assemblies. According to the utility model, a positioning reference surface with a larger area can be formed on the tracer through the two crossed reference frames, and when the change angle of the rotating direction of the mechanical arm is too large, the optical camera can still easily track and identify the tracer, so that the tracking and positioning are easy, and the use is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of orthopedic navigation surgical instruments, in particular to a double-sided tracer 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 robotic surgery, a robotic arm, i.e., the active arm, is used to help the doctor position the device. A tracer is installed on the robotic arm to track the real-time position of the end of the robotic arm. The ruler and guide are installed on the tracer to complete the registration and surgical instrument guidance functions. In pure navigation surgery, the robotic arm is not required for positioning, and the doctor uses handheld instruments for positioning. However, in pure navigation surgery, the ruler also needs to be fixed to complete the registration. At this time, a bedside bracket, i.e., a passive arm, is required to be combined with a tracer for auxiliary positioning.

[0004] During existing surgeries, the robotic arm often needs to be rotated at different angles to allow the surgical instrument to reach the operating position. If the angle of rotation is too large, the optical camera will not be able to recognize the tracer, and the position of the surgical instrument cannot be obtained through the robot, reducing the accuracy of the operation. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a double-sided tracer and an orthopedic surgical robot which are easy to track and locate.

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

[0007] On the one hand, a double-sided tracer is provided, including a main connecting member, wherein a first reference frame and a second reference frame are respectively fixedly provided at both ends of the main connecting member in the length direction, the plane where the first reference frame is located intersects with the plane where the second reference frame is located, and at least three reflection ball assemblies are provided on the first reference frame and the second reference frame.

[0008] Furthermore, the upper ends of the first reference frame and the second reference frame are both inclined toward the middle of the main connecting member, and the angle between the plane where the first reference frame is located and the plane where the second reference frame is located is 80-100 degrees.

[0009] Furthermore, both ends of the main connecting member in the length direction are provided with inclined mounting surfaces.

[0010] Furthermore, the first reference frame and the second reference frame are both connected to the inclined mounting surface by pins and / or screws.

[0011] Furthermore, an upper groove for connecting the ruler and the guide is provided in the middle of the upper surface of the main connecting piece.

[0012] Furthermore, a lower slot for connecting the active arm or passive arm of the orthopedic surgical robot is provided in the middle of the lower surface of the main connecting piece.

[0013] Furthermore, the upper slot and the lower slot are both cross-shaped slots, and a side wall close to the side of the main connecting piece is open.

[0014] Furthermore, the main connecting member is provided with a pin hole and / or a threaded hole penetrating through the upper slot and the lower slot.

[0015] Furthermore, through holes are provided on both sides of the middle of the main connecting piece.

[0016] On the other hand, an orthopedic surgical robot is provided, comprising an active arm and a passive arm, wherein the active arm and / or the passive arm is provided with the above-mentioned double-sided tracer.

[0017] The utility model has the following beneficial effects:

[0018] The double-sided tracer and orthopedic surgical robot of the utility model include a main body connector, and the first reference frame and the second reference frame are respectively fixed at both ends of the length direction of the main body connector. The plane where the first reference frame is located intersects with the plane where the second reference frame is located. In this way, a larger positioning reference surface can be formed on the tracer through the two intersecting reference frames. When the angle of change in the rotation direction of the robot arm is too large, the optical camera can still easily track and identify the tracer, and the position of the surgical instrument can be obtained by the robot, thereby improving the accuracy of the operation. Therefore, the utility model is easy to track and locate (in real time) and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view structural schematic diagram of the double-sided tracer of the utility model;

[0020] Figure 2 for Figure 1 The schematic diagram of the top view of the double-sided tracer shown (the reflective ball assembly is omitted);

[0021] Figure 3 for Figure 1 A schematic diagram of the structure of the main connecting parts;

[0022] Figure 4 for Figure 1 The upper three-dimensional structure schematic diagram of the double-sided tracer is shown;

[0023] Figure 5 for Figure 1Schematic diagram of the bottom three-dimensional structure of the double-sided tracer shown. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] On the one hand, the utility model provides a double-sided tracer, such as Figure 1-5 As shown, it includes a main connecting member 1, and a first reference frame 2 and a second reference frame 3 are respectively fixed at both ends of the main connecting member 1 in the length direction. The plane where the first reference frame 2 is located intersects with the plane where the second reference frame 3 is located, and at least three reflection ball assemblies 4 are provided on the first reference frame 2 and the second reference frame 3.

[0027] The double-sided tracer of the utility model includes a main connecting member, and the first reference frame and the second reference frame are respectively fixed at both ends of the length direction of the main connecting member, and the plane where the first reference frame is located intersects with the plane where the second reference frame is located, so that a larger positioning reference surface can be formed on the tracer through the two intersecting reference frames. When the angle of change in the rotation direction of the robot arm is too large, the optical camera can still easily track and identify the tracer, and the position of the surgical instrument can be obtained by the robot, thereby improving the accuracy of the operation. Therefore, the double-sided tracer of the utility model is easy to track and locate (in real time) and is easy to use.

[0028] Preferably, the upper end of the first reference frame 2 and the upper end of the second reference frame 3 can be inclined toward the middle of the main connecting member 1, and the angle a between the plane where the first reference frame 2 is located and the plane where the second reference frame 3 is located is 80-100 degrees, which can make tracking and positioning more convenient.

[0029] like Figure 1-3 As shown, in order to facilitate the installation of the reference frame, both ends of the length direction of the main connecting member 1 can be provided with inclined mounting surfaces 11. The first reference frame 2 and the second reference frame 3 can be connected to the inclined mounting surface 11 by pins 21 and / or screws 22. In the embodiment shown in the figure, the first reference frame 2 and the second reference frame 3 are connected to the inclined mounting surface 11 by pins 21 and screws 22 at the same time. There are two pins 21 and they are located on both sides of the screws 22, so that the fixation is more firm.

[0030] like Figure 3-5 As shown, in order to facilitate the connection of related accessories, an upper slot 12 may be provided in the middle of the upper surface of the main connecting member 1 for connecting the ruler and the guide. A lower slot 13 may be provided in the middle of the lower surface of the main connecting member 1 for connecting the active arm or passive arm of the orthopedic surgical robot.

[0031] The upper slot 12 and the lower slot 13 can both be cross-shaped slots, and a side wall close to the side of the main connecting member 1 is open, so as to form a snap-on connection, improve the connection firmness, and facilitate installation. The main connecting member 1 can be provided with a pin hole 14 and / or a threaded hole 15 that penetrates the upper slot 12 and the lower slot 13, so that when the ruler, guide, active arm or passive arm of the surgical robot is connected to the main connecting member 1, it can be fixed by pins and / or screws to increase firmness. Through holes 16 (specifically, square holes) can be provided on both sides of the middle of the main connecting member 1 to reduce weight and make it easier to use.

[0032] On the other hand, the utility model provides an orthopedic surgical robot, comprising an active arm and a passive arm, wherein the active arm and / or the passive arm is provided with the above-mentioned double-sided tracer. Since the structure of the double-sided tracer is the same as above, it will not be described here in detail.

[0033] The orthopedic surgical robot of the utility model has a double-sided tracer including a main body connector, and the first reference frame and the second reference frame are respectively fixed at both ends of the length direction of the main body connector, and the plane where the first reference frame is located intersects with the plane where the second reference frame is located, so that a larger area of ​​positioning reference surface can be formed on the tracer through the two intersecting reference frames, and when the angle of change of the rotation direction of the robot arm is too large, the optical camera can still easily track and identify the tracer, and the position of the surgical instrument can be obtained by the robot, thereby improving the accuracy of the operation. Therefore, the utility model is easy to track and locate, and is convenient to use.

[0034] 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 double-sided tracer, characterized in that: It includes a main body connecting member, and a first reference frame and a second reference frame are respectively fixed at both ends of the main body connecting member in the length direction. The plane where the first reference frame is located intersects with the plane where the second reference frame is located. The first reference frame and the second reference frame are each provided with at least three reflection ball assemblies.

2. The double-sided tracer according to claim 1, characterized in that: The upper ends of the first reference frame and the second reference frame are both inclined toward the middle of the main connecting member, and the angle between the plane where the first reference frame is located and the plane where the second reference frame is located is 80-100 degrees.

3. The double-sided tracer according to claim 2, characterized in that: Both ends of the main connecting piece in the length direction are provided with inclined mounting surfaces.

4. The double-sided tracer according to claim 3, characterized in that: The first reference frame and the second reference frame are both connected to the inclined mounting surface by pins and / or screws.

5. The double-sided tracer according to any one of claims 1 to 4, characterized in that: An upper slot for connecting a ruler and a guide is provided in the middle of the upper surface of the main connecting piece.

6. The double-sided tracer according to claim 5, characterized in that: A lower slot for connecting the active arm or passive arm of the orthopedic surgery robot is provided in the middle of the lower surface of the main connecting piece.

7. The double-sided tracer according to claim 6, characterized in that: The upper slot and the lower slot are both cross-shaped slots, and a side wall close to the side of the main body connecting piece is open.

8. The double-sided tracer according to claim 6, characterized in that: The main body connecting piece is provided with a pin hole and / or a threaded hole penetrating through the upper slot and the lower slot.

9. The double-sided tracer according to claim 6, characterized in that: Through holes are arranged on both sides of the middle part of the main connecting piece.

10. An orthopedic surgical robot, comprising an active arm and a passive arm, characterized in that: The active arm and / or the passive arm is provided with a double-sided tracer as described in any one of claims 1-9.

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