Guider and surgical robot

Abstract

The utility model discloses a guider and a surgical robot, the guider comprises a locking device, a guide frame and a positioning marker, the locking device is connected with the guide frame, and the positioning marker is mounted on the guide frame; the locking device comprises a clamping body and a locking piece, and the locking piece is installed on the clamping body and used for controlling locking or unlocking of the clamping body. And the positioning marker is mounted on the guide frame to position the surgical instrument, so that the surgical instrument positioning device can adapt to the requirements of various surgical scenes and has good practicability, reliability and flexibility. The guider is installed on the surgical robot. The problems that due to the fact that the guider for the surgical robot is integrally formed, guiders of different specifications need to be replaced according to surgical requirements, the guider cannot be repeatedly used, and practicability is poor are solved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to the field of medical surgical robots. Specifically, it relates to a guide and a surgical robot. Background Art

[0002] Surgical robot technology combines multiple fields such as medicine, mechanics, materials science, computer graphics, computer science, mathematical analysis, artificial intelligence and robotics. It can achieve minimally invasive, precise and intelligent surgery, extend the limits of doctors' eyes and hands, open up new possibilities for surgery, and help solve current clinical pain points such as doctor fatigue and surgical errors.

[0003] The guide is an important component of the surgical robot. It can provide accurate surgical position information and achieve minimally invasive surgery with smaller incisions, faster recovery and lower risk of complications. During use, the guide is directly or indirectly connected to the end of the surgical robot's robotic arm through a flange connection. However, many guides are integrally formed and cannot be used in a variety of surgical scenarios. According to surgical requirements, guides of different specifications need to be replaced multiple times, which makes it impossible to reuse the guide and has poor practicality. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, the present application provides a guide and a surgical robot to at least solve or alleviate the problems existing in the above-mentioned prior art.

[0005] In order to achieve the above object, according to one aspect of the present application, a guide is provided, the guide comprising: a locking device, a guide frame and a positioning marker, the locking device is connected to the guide frame, and the positioning marker is installed on the guide frame;

[0006] The locking device includes a clamping body and a locking piece, and the locking piece is installed on the clamping body to control the locking or unlocking of the clamping body. In actual use, an adapter can be installed in the locking device or a catheter of different specifications can be installed and replaced, and an inner core or other medical devices that need to be used can be installed in the catheter. This structure does not need to frequently replace guides of different specifications, but only requires a guide of one specification, which reduces the wear and error caused by the back and forth replacement, making the guide have a longer service life, easier maintenance, and strong practicality. The locking device can lock the state of the surgical instrument, which can ensure that the surgical instrument is operated in the correct position and state, thereby improving the accuracy and safety of the operation. Of course, it can also be unlocked, which allows the operator to conveniently adjust or replace the surgical instrument when necessary, thereby improving the flexibility and efficiency of the surgical operation.

[0007] Preferably, the clamping body comprises: a first clamping body and a second clamping body, wherein the first clamping body is hinged to the second clamping body;

[0008] The locking member includes a locking cap, a locking rod and a locking seat, the two ends of the locking rod are connected to the locking cap and the locking seat respectively, and the locking cap drives the locking rod to rotate into the locking seat. This design can make the locking device simple and compact in structure, easy to manufacture and install, and convenient to assemble, disassemble and maintain.

[0009] Preferably, the first clamping body is provided with a first groove, and the second clamping body is provided with a second groove. The first groove is provided with a supporting structure. When the locking cap is screwed to drive the locking rod to be screwed into the locking seat to a predetermined depth, the locking cap abuts against the supporting structure to clamp the first clamping body and the second clamping body.

[0010] Preferably, the locking seat is hingedly mounted in the second groove on the second clamping body.

[0011] Preferably, the outer side wall of the locking cap is provided with anti-slip grooves, the locking rod is provided with external threads, and the locking seat is provided with internal threads, through which the locking rod is screwed into the locking seat. Since the thread engagement depth is adjustable, the operator can flexibly adjust the locking force according to the actual situation to adapt to different operating requirements, thereby improving the operability and applicability of the locking device. This helps to improve the operating safety and accuracy of surgical instruments.

[0012] Preferably, the first clamping body and the second clamping body are arc parts, and the first clamping body matches the second clamping body. Optimally, the first clamping body and the second clamping body are both semi-circular rings, forming a cylindrical space in the middle, that is, the overall shape of the clamping body is circular ring-shaped. This structure can withstand greater pressure and has a more stable structure. Surgical equipment, such as a catheter, can be placed in the middle of the clamping body, and an inner core is nested in the middle of the catheter to realize the operation of the surgical robot mechanical arm to assist the patient in surgery, which has high practicality and surgical safety.

[0013] Preferably, the guide frame comprises: a guide bracket and a guide seat, and the guide bracket is detachably connected to the guide seat.

[0014] Preferably, the guide bracket and the second clamping body are integrally formed.

[0015] Preferably, a through hole is provided at one end of the guide bracket, and the guide bracket is locked or unlocked by a guide fixing piece passing through the through hole to the guide seat.

[0016] Preferably, a portion of the guide bracket in contact with the guide seat is provided with an anti-slip structure, and the anti-slip structure includes at least one of a wave pattern and a tooth shape.

[0017] Preferably, a connecting support is provided on the guide frame, and the positioning mark is connected to the guide frame via the connecting support;

[0018] Alternatively, in another preferred embodiment, the positioning marker is fixed to the surface of the guide frame via a fixing component.

[0019] Preferably, one end of the guide frame is connected to the end of the robotic arm of the surgical robot, and a connecting head and a limiting column are provided on the guide frame. The limiting column is inserted into the connecting piece at the end of the robotic arm for limiting, and the connecting head matches the connecting piece at the end of the robotic arm for connection and fixation.

[0020] According to another aspect of the present application, a surgical robot is provided, and the above-mentioned guide is installed on the surgical robot.

[0021] In the embodiment of the present application, the guide comprises: a locking device, a guide frame and a positioning marker, the locking device is connected to the guide frame, and the positioning marker is installed on the guide frame; the locking device comprises a clamping body and a locking member, and the locking member is installed on the clamping body to control the locking or unlocking of the clamping body. In actual use, an adapter can be installed in the locking device or surgical instruments such as catheters of different specifications can be installed and replaced, and an inner core or other medical instruments that need to be used can be installed in the catheter. This structure does not need to frequently replace guides of different specifications, but only requires a guide of one specification, which reduces the wear and error caused by the back and forth replacement, making the guide longer in service life, easier to maintain, and highly practical. The locking device can lock the state of the surgical instrument, which can ensure that the surgical instrument is operated in the correct position and state, and improve the accuracy and safety of the operation. Of course, it can also be unlocked, which allows the operator to conveniently adjust or replace the surgical instrument when necessary, improves the flexibility and efficiency of the surgical operation, and is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0023] Figure 1 is a schematic structural diagram of a guide viewed from the side according to an embodiment of the present application;

[0024] Figure 2 is a schematic structural diagram of a guide viewed from above according to an embodiment of the present application;

[0025] Figure 3 is a schematic structural diagram of a guide viewed from the side according to an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of another guide structure according to an embodiment of the present application (i.e., the guide bracket and the guide seat are integrated);

[0027] Among them, the numbers in the figure represent: 1. locking device; 11. clamping body; 111. first clamping body; 112. second clamping body; 12. locking piece; 121. locking cap; 122. locking rod; 123. locking seat; 124. supporting structure; 2. guide frame; 21. guide bracket; 22. guide seat; 3. positioning marker; 31. connecting support; 4. connecting head; 5. limiting column; 6. guide fixing piece; 7. anti-slip structure; 8. pin shaft; 9; screw. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the term "comprising" in the specification and claims of this application and the above-mentioned drawings is intended to cover non-exclusive inclusions. In this application, the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated components to have specific orientations. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Figure 1-3 As shown, this embodiment relates to a guide, which includes: a locking device 1, a guide frame 2 and a positioning marker 3, wherein the locking device 1 is connected to the guide frame 2, and the positioning marker 3 is installed on the guide frame 2.

[0031] like Figure 1-3As shown, the locking device 1 includes a clamping body 11 and a locking member 12, and the locking member 12 is installed on the clamping body 11 to control the locking or unlocking of the clamping body. In actual use, an adapter can be installed in the locking device 1 or a catheter of different specifications can be installed and replaced, and an inner core or other medical devices that need to be used can be installed in the catheter. This structure does not need to frequently replace guides of different specifications, but only requires a guide of one specification, which reduces the wear and error caused by the back and forth replacement, making the guide longer in service life, easier to maintain, and highly practical. The locking device 1 can lock the state of the surgical instrument, which can ensure that the surgical instrument is operated in the correct position and state, and improve the accuracy and safety of the operation. Of course, it can also be unlocked, which allows the operator to easily adjust or replace the surgical instrument when necessary, improving the flexibility and efficiency of the surgical operation.

[0032] like Figure 1-3 As shown, the clamping body includes: a first clamping body 111 and a second clamping body 112, and the first clamping body 111 is hinged to the second clamping body 112; the hinged method is to open a through hole on the second clamping body 112, and pass the first clamping body 111 and the second clamping body 112 through the pin shaft 8, so that the first clamping body 111 and the second clamping body 112 can be opened and closed.

[0033] like Figure 1-3 As shown, the locking member 12 includes a locking cap 121, a locking rod 122 and a locking seat 123. The two ends of the locking rod 122 are respectively connected to the locking cap 121 and the locking seat 123. The locking cap 121 drives the locking rod 122 to rotate into the locking seat 123. This design may make the locking device 1 simple and compact in structure, easy to manufacture and install, and convenient to assemble, disassemble and maintain.

[0034] like Figure 1-3 As shown, the first clamping body 111 is provided with a first groove, and the second clamping body 112 is provided with a second groove. The first groove is provided with a supporting structure 124. When the locking cap 121 is screwed to drive the locking rod 122 to be screwed into the locking seat 123 to a predetermined depth, the locking cap 121 abuts against the supporting structure 124 to clamp the first clamping body 111 and the second clamping body 112. When in a locked state, the locking cap 121 will abut against the supporting structure 124 on the first clamping body 111. The supporting structure 124 in the figure is a circular ring, which has a smaller diameter than the locking cap 121 and a larger diameter than the locking rod 122. Of course, other types of structures can also be used, as long as they can play a supporting role, and are not specifically limited here.

[0035] like Figure 1-3As shown, the locking seat 123 is hingedly mounted in the second groove on the second clamping body 112. The hinged manner here can be realized by a pin 8, so that when the locking cap 121 and the locking rod 122 are also in the locking seat 123, the locking rod 122 can rotate along the pin 8, so that the locking cap 121 and the locking rod 122 can be locked and unlocked without disassembling them.

[0036] like Figure 1-3 As shown, the outer side wall of the locking cap 121 is provided with anti-slip grooves, the locking rod 122 is provided with external threads, and the locking seat 123 is provided with internal threads, through which the locking rod 122 is screwed into the locking seat 123. Since the thread engagement depth is adjustable, the operator can flexibly adjust the locking force according to the actual situation to adapt to different operation requirements, thereby improving the operability and applicability of the locking device 1. This helps to improve the operating safety and accuracy of surgical instruments.

[0037] like Figure 1-3 As shown, the first clamping body 111 matches the second clamping body 112, and both the first clamping body 111 and the second clamping body 112 are semi-circular, forming a cylindrical space in the middle, that is, the overall shape of the clamping body is circular. This structure can withstand greater pressure and is more stable. Surgical equipment, such as a catheter, can be placed in the middle of the clamping body, and the inner core is nested in the middle of the catheter to realize the operation of the surgical robot arm to assist the patient in surgery, which has high practicality and surgical safety.

[0038] like Figure 1-3 As shown, the guide frame 2 includes: a guide bracket 21 and a guide seat 22, and the guide bracket 21 is detachably connected to the guide seat 22.

[0039] like Figure 1-3 As shown, the front end of the guide bracket 21 and the second clamping body 112 are integrally formed.

[0040] like Figure 1-3 As shown, one end of the guide bracket 21 is provided with a through hole, and the guide bracket 21 is locked or unlocked by the guide fixing member 6 passing through the through hole to the guide seat 22. The rear end of the guide bracket 21 is provided with a guide fixing member 6, which can be a screwed threaded rod, which is screwed onto the guide seat 22 to achieve a fixed connection.

[0041] The portion where the guide bracket 21 contacts the guide seat 22 is provided with an anti-skid structure 7, and the anti-skid structure 7 includes at least one of a wave pattern and a toothed structure. The toothed structure is used in the figure, which is relatively stable and easy to manufacture and process. The guide bracket 21 is bent, and the purpose of doing so is to facilitate installation and placement, but it can also be unbent. The guide bracket 21 is relatively long, which is convenient for extending to a farther place, and is easy to operate and reach the lesion site when used in conjunction with a surgical robot.

[0042] like Figure 1-3 As shown, the guide frame 2 is provided with a connecting support 31, and the positioning mark is connected to the guide frame 2 through the connecting support 31. The positioning mark 3 can be fixed on the connecting support 31 by screws 9.

[0043] The rear end of the guide frame 2 is connected to the end of the robotic arm of the surgical robot. The guide frame 2 is provided with a connector 4 and a limit column 5. The limit column 5 is inserted into the connector at the end of the robotic arm for limiting. The connector 4 matches the connector at the end of the robotic arm for connection and fixation.

[0044] According to another aspect of the present application, a surgical robot is provided, and the above-mentioned guide is installed on the surgical robot.

[0045] In the embodiment of the present application, the guide comprises: a locking device 1, a guide frame 2 and a positioning marker 3, wherein the locking device 1 is connected to the guide frame 2, and the positioning marker 3 is installed on the guide frame 2; the locking device 1 comprises a clamping body and a locking member 12, wherein the locking member 12 is installed on the clamping body for controlling the locking or unlocking of the clamping body. In actual use, an adapter can be installed in the locking device 1, or surgical instruments such as catheters of different specifications can be installed and replaced, and an inner core or other medical instruments that need to be used can be installed in the catheter. This structure does not need to frequently replace guides of different specifications, but only requires a guide of one specification, which reduces the wear and error caused by the back and forth replacement, makes the guide longer in service life, and is easier to maintain, and has strong practicality. The locking device 1 can lock the state of the surgical instrument, which can ensure that the surgical instrument is operated in the correct position and state, and improve the accuracy and safety of the operation. Of course, it can also be unlocked, which allows the operator to conveniently adjust or replace the surgical instrument when necessary, improves the flexibility and efficiency of the surgical operation, and has strong practicality.

[0046] Figure 4 This is a schematic diagram of another guide structure of the present embodiment (guide seat integrally formed structure), which is different from the above-mentioned guide bracket and guide seat separated structure.

[0047] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A guide, characterized in that: include: A locking device (1), a guide frame (2) and a positioning marker (3), wherein the locking device (1) is connected to the guide frame (2), and the positioning marker (3) is mounted on the guide frame (2); The locking device (1) comprises a clamping body (11) and a locking member (12); the locking member is mounted on the clamping body (11) and is used to control the locking or unlocking of the clamping body.

2. The guide according to claim 1, characterized in that: The clamping body (11) comprises: a first clamping body (111) and a second clamping body (112), wherein the first clamping body is hinged to the second clamping body; The locking member (12) comprises a locking cap (121), a locking rod (122) and a locking seat (123); the two ends of the locking rod are respectively connected to the locking cap and the locking seat; the locking cap drives the locking rod to rotate into the locking seat.

3. The guide according to claim 2, characterized in that: The first clamping body (111) is provided with a first groove, and the second clamping body (112) is provided with a second groove. The first groove is provided with a supporting structure (124). When the locking cap (121) is screwed to drive the locking rod (122) to be screwed into the locking seat to a predetermined depth, the locking cap abuts against the supporting structure to clamp the first clamping body and the second clamping body.

4. The guide according to claim 3, characterized in that: The locking seat (123) is hingedly mounted in a second groove on the second clamping body (112).

5. The guide according to claim 2, characterized in that: The outer wall of the locking cap (121) is provided with anti-slip grooves, the locking rod is provided with external threads, and the locking seat is provided with internal threads, and the locking rod is screwed into the locking seat through the threads.

6. The guide according to claim 2, characterized in that: The first clamping body (111) and the second clamping body (112) are arc parts, and the first clamping body matches the second clamping body.

7. The guide according to claim 1, characterized in that: The guide frame (2) comprises: a guide bracket (21) and a guide seat (22), and the guide bracket and the guide seat are detachably connected.

8. The guide according to claim 7, characterized in that: The guide bracket (21) and the second clamping body (112) are integrally formed.

9. The guide according to claim 7, characterized in that: A through hole is provided at one end of the guide bracket (21), and the guide bracket passes through the through hole to the guide seat through the guide fixing piece (6) for locking or unlocking.

10. The guide according to claim 7, characterized in that: The portion of the guide bracket (21) that contacts the guide seat (22) is provided with an anti-slip structure (7), wherein the anti-slip structure comprises at least one of a wave pattern and a tooth shape.

11. The guide according to claim 1, characterized in that: The guide frame (2) is provided with a connecting support (31), and the positioning marker (3) is connected to the guide frame via the connecting support; Alternatively, the positioning marker (3) is fixed on the surface of the guide frame via a fixing component.

12. The guide according to claim 1, characterized in that One end of the guide frame (2) is connected to the end of the mechanical arm of the surgical robot. The guide frame is provided with a connector (4) and a limit column (5). The limit column (5) is inserted into the connector at the end of the mechanical arm for limiting. The connector matches the connector at the end of the mechanical arm for connection and fixing.

13. A surgical robot, characterized in that: Install the guide described in any one of claims 1-12 on a surgical robot.

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