Tracing spinous process clamp and navigation system

Abstract

The utility model discloses a tracing spinous process clip and navigation system, the tracing spinous process clip comprises a spinous process clip body and a tracing part, the tracing part comprises a tracer and a connecting part, and the tracer is connected on the spinous process clip body through the connecting part and can rotate relative to the spinous process clip body. According to the utility model, the problem that a navigation system may not track the tracer after the tracer is fixed on the spinous process through the spinous process clamp is solved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to a tracing spinous process clamp and a navigation system. Background Art

[0002] In orthopedic surgical navigation or robotic surgery, the patient's skeletal posture needs to be tracked in real time. Usually, several reflective positioning points are used as tracers and are rigidly fixed to the bones near the surgical site in a certain way. The navigation system tracks the position of the tracer and then tracks the skeletal state of the surgical site. In spinal surgery, a common method for real-time tracking of skeletal posture is to fix the tracer on a spinous process clamp, and then clamp the spinous process clamp on the spinous process of the spine. If surgery is required on a predetermined lumbar vertebra, the tracer can be fixed to the lumbar vertebra near the predetermined lumbar vertebra through the spinous process clamp. In this way, the navigation system can track the tracer to find out where the surgical site is.

[0003] However, after the tracer is fixed on the spinous process by the spinous process clamp, the placement of the tracer cannot be adaptively adjusted according to the actual surgical environment, which may cause the navigation system to fail to track the tracer, making the tracer and the positioning target on the surgical robot arm unable to appear in the field of view of the navigation system at the same time. As a result, the navigation system cannot accurately locate the surgical site and inform the surgical robot based on the position information of the tracked tracer, which may affect the normal progress of the surgery and may even cause the surgical robot to misoperate and cause serious medical accidents. Utility Model Content

[0004] The main purpose of the present application is to provide a tracer spinous process clamp and a navigation system, so as to at least solve the problem that the navigation system may not be able to track the tracer after the tracer is fixed on the spinous process by the spinous process clamp.

[0005] According to one aspect of the present application, a tracing spinous process clamp is provided, comprising:

[0006] spinous process clamp body;

[0007] The tracing component comprises a tracer and a connecting portion. The tracer is connected to the spinous process clamp body through the connecting portion and can rotate relative to the spinous process clamp body.

[0008] Furthermore, the connecting portion comprises:

[0009] A first connecting arm, wherein the first connecting arm is disposed on the spinous process clamp body, and a predetermined angle is formed between the first connecting arm and the spinous process clamp body;

[0010] A rotating connection assembly, wherein the tracer is connected to an end of the first connection arm away from the spinous process clamp body through the rotating connection assembly and can rotate relative to the first connection arm.

[0011] Furthermore, the connecting portion further comprises:

[0012] A locking assembly is disposed between the first connecting arm and the rotating connecting assembly, and the locking assembly is at least used to lock the tracer at a predetermined rotational position.

[0013] Furthermore, the locking assembly comprises:

[0014] A first connecting column, the first connecting column is arranged at an end of the first connecting arm away from the spinous process clamp body;

[0015] a second connecting post, the second connecting post being arranged on a side of the rotating connecting assembly close to the first connecting post;

[0016] Among them, a locking groove is provided on one of the first connecting column and the second connecting column, and a locking protrusion adapted to the locking groove is provided on the other of the first connecting column and the second connecting column, and the tracer is locked in the locking groove through the locking protrusion.

[0017] Further, the first connecting column includes a first end face, the first end face is the end face of the first connecting column away from one end of the first connecting arm, and the locking groove includes a plurality of locking grooves, which are arranged on the first end face along the axis of the first connecting column.

[0018] Furthermore, the second connecting column includes a second end face, which is an end face of the second connecting column close to one end of the first connecting column, and the locking protrusion includes multiple locking protrusions, which are arranged on the second end face along the axis of the second connecting column.

[0019] Furthermore, the first connecting column and the second connecting column are both provided with avoidance holes along their own axial directions, and the rotating connection assembly comprises:

[0020] A first fastener, the first fastener comprising a connecting shaft and a fixing portion located at one end of the connecting shaft, the diameter of the connecting shaft being smaller than the inner diameter of the avoidance hole, the connecting shaft passing through the avoidance holes of the first connecting column and the second connecting column and being detachably connected to the first connecting arm, the fixing portion abutting against an end surface of the second connecting column away from the end of the first connecting column;

[0021] A second connecting arm is arranged on the second connecting column and is located between the first connecting column and the fixing portion, and the tracer is arranged on the second connecting arm.

[0022] Furthermore, it also includes:

[0023] A fixed connection component, wherein the connection portion is detachably arranged on the spinous process clamp body through the fixed connection component.

[0024] Furthermore, the fixed connection assembly comprises:

[0025] a third connecting column, the third connecting column being fixed on the spinous process clamp body;

[0026] A second fastener, through which the connecting portion is detachably mounted on the third connecting column.

[0027] Furthermore, the spinous process clamp body comprises:

[0028] A first clamping arm, wherein a first clamping head is disposed at one end of the first clamping arm, and the tracer is disposed at one end of the first clamping arm away from the first clamping head through the connecting portion;

[0029] A second clamping arm, one end of which is provided with a second clamping head adapted to the first clamping head, one end of the second clamping arm is connected to an end of the first clamping arm away from the first clamping head, and the second clamping arm can be rotated relative to the first clamping arm so that the second clamping head and the first clamping head are clamped together or separated from each other.

[0030] Furthermore, the spinous process clamp body also includes:

[0031] A screw-on assembly is disposed between the first clamping arm and the second clamping arm, and is used to separate the first clamping arm and the second clamping arm from each other or bring them closer together along a first direction.

[0032] Furthermore, the spinous process clamp body also includes:

[0033] A limiting groove, wherein the limiting groove is provided on one of the first clamping arm and the second clamping arm through the first direction;

[0034] A limiting plate, which is matched with the limiting groove, and is arranged on the other of the first clamping arm and the second clamping arm.

[0035] Furthermore, the rotational connection assembly comprises:

[0036] A screw, the screw being screwed into the first clamping arm and the second clamping arm and enabling the first clamping arm and the second clamping arm to move relative to the screw so as to separate from or approach each other along the first direction;

[0037] A toggle member is fixed on the screw rod and is located between the first clamping arm and the second clamping arm.

[0038] Furthermore, the shifting member is a wheel.

[0039] Further, the first clamping arm is provided with a first connecting through hole along the first direction, the second clamping arm is provided with a second connecting through hole along the first direction, and the rotating assembly further comprises:

[0040] a first nut, the first nut being disposed in the first connecting through hole;

[0041] The second nut is arranged in the second connecting through hole, and the second nut has a rotation direction opposite to that of the first nut, and the screw rod is screwed into the first connecting through hole and the second connecting through hole through the first nut and the second nut.

[0042] Further, the screw has a first end and a second end along the first direction, the first end is located outside the first clamping arm on a side away from the second clamping arm, and the second end is located outside the second clamping arm on a side away from the first clamping arm, and the rotation assembly further includes:

[0043] a first anti-slip member, the first anti-slip member being disposed at the first end;

[0044] A second anti-slipping piece, wherein the second anti-slipping piece is arranged at the second end.

[0045] According to another aspect of the present application, a navigation system is provided, comprising the tracing spinous process clamp.

[0046] Compared with the prior art, the technical solution of this application has at least the following technical effects:

[0047] The tracer spinous process clamp provided in the present application connects the tracer to the spinous process clamp body through a connecting part and can rotate relative to the spinous process clamp body. After the tracer is fixed to the patient's spinous process through the spinous process clamp body, the placement orientation of the tracer can be adjusted until the navigation system can track the tracer, thereby ensuring that the tracer and the positioning target on the surgical robot's mechanical arm can appear in the field of view of the navigation system at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0049] Figure 1 A schematic diagram of the structure of a tracing spinous process clamp provided in one embodiment of the utility model;

[0050] Figure 2 for Figure 1 The main view;

[0051] Figure 3 is a schematic structural diagram of a first connecting column;

[0052] Figure 4 is a schematic structural diagram of a second connecting column;

[0053] Figure 5 for Figure 4 A magnified schematic diagram of part A;

[0054] Figure 6 This is a schematic diagram of the structure of the long spinous process clamp body;

[0055] Figure 7 This is a schematic diagram of the structure of the short spinous process clamp body;

[0056] Figure 8 for Figure 6 Right view of .

[0057] The above drawings include the following reference numerals:

[0058] 10. Spinous process clamp body; 11. First clamping arm; 111. First clamping head; 112. First connecting through hole; 12. Second clamping arm; 121. Second clamping head; 122. Second connecting through hole; 13. Limiting groove; 14. Limiting plate; 15. Screw; 151. First end; 152. Second end; 16. Wheel; 17. First nut; 18. Second nut; 19. Anti-slip ball; 20. Tracer; 30. Connecting part; 31. First connecting arm; 32. First connecting column; 321. First end face; 33. Second connecting column; 331. Second end face; 231. Locking groove; 232. Locking protrusion; 233. Avoidance hole; 34. First fastener; 35. Second connecting arm; 41. Third connecting column; 411. Slot; 42. Second fastener. DETAILED DESCRIPTION

[0059] 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.

[0060] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0061] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0062] Since the current tracer 20 is fixed on the spinous process by the spinous process clamp, the navigation system may not be able to track the tracer 20. In this regard, the first embodiment of the utility model provides a tracer spinous process clamp. Figure 1 As shown, the tracing spinous process clamp comprises a spinous process clamp body 10 and a tracing component, wherein the tracing component comprises a tracer 20 and a connecting portion 30, wherein the tracer 20 is connected to the spinous process clamp body 10 through the connecting portion 30 and can rotate relative to the spinous process clamp body 10. After the tracing spinous process clamp is clamped on the spinous process of the patient, the placement orientation of the tracer 20 can be adjusted by rotating the tracer 20, thereby ensuring that the tracer 20 can appear within the field of view of the navigation system.

[0063] It can be seen that the embodiment of the utility model connects the tracer 20 to the spinous process clamp body 10 through the connecting part 30 and can rotate relative to the spinous process clamp body 10. After the tracer 20 is fixed on the patient's spinous process through the spinous process clamp body 10, the placement of the tracer 20 can be adjusted until the navigation system can track the tracer 20, thereby ensuring that the tracer 20 and the positioning target on the surgical robot arm can appear in the field of view of the navigation system at the same time. Therefore, the navigation system can accurately locate the surgical site according to the position information of the tracked tracer 20 to ensure the normal progress of the surgery.

[0064] like Figure 1 and Figure 2As shown, the connecting portion 30 in the embodiment of the utility model includes a first connecting arm 31 and a rotating connecting assembly, the first connecting arm 31 is arranged on the spinous process clamp body 10, and a predetermined angle is formed between the first connecting arm 31 and the spinous process clamp body 10 (the predetermined angle is Figure 2 The angle shown by the symbol a in the figure). The tracer 20 is connected to the end of the first connecting arm 31 away from the spinous process clamp body 10 through a rotating connecting assembly and can rotate relative to the first connecting arm 31. Among them, the setting of the predetermined angle is mainly to make the tracer 20 have an initial placement angle relative to the spinous process clamp body 10. The predetermined angle can be between 45 degrees and 90 degrees, and the size of the predetermined angle specifically includes one of 45 degrees, 60 degrees, 65 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, 90 degrees, etc. The relative setting angle between the tracer 20 and the spinous process clamp body 10 is roughly determined in advance by the predetermined angle. Even if the placement orientation of the tracer 20 needs to be adjusted, it will not be rotated too much, thereby avoiding the burden felt by the patient during the adjustment process.

[0065] It can be seen that the embodiment of the utility model roughly determines the relative setting angle between the tracer 20 and the spinous process clamp body 10 based on the existence of the predetermined angle between the first connecting arm 31 and the spinous process clamp body 10. Therefore, if the navigation system can accurately capture the tracer 20 after the tracer spinous process clamp is fixed on the spinous process, there is no need to rotate the tracer 20 to adjust its placement orientation. If the navigation system fails to capture the tracer 20 or the tracer 20 fails to appear in the field of view of the navigation system at a suitable angle, it is only necessary to rotate the tracer 20 on the basis of the predetermined angle to adjust its placement orientation until the navigation system can capture the tracer 20 and make the tracer 20 appear in the field of view of the navigation system at a suitable angle, and the adjustment is efficient and accurate.

[0066] The connecting portion 30 further includes a locking assembly, which is disposed between the first connecting arm 31 and the rotating connecting assembly, and is used to lock the tracer 20 at a predetermined rotational position. After the tracer 20 rotates to the predetermined rotational position, the tracer 20 is locked at the predetermined rotational position by the locking assembly, and during a long operation period, the tracer 20 can be prevented from shifting under the action of gravity. This ensures that the navigation system accurately locates the surgical site, thereby improving the surgical accuracy of the surgical robot.

[0067] like Figures 1 to 5As shown, the locking assembly includes a first connecting column 32 and a second connecting column 33. The first connecting column 32 is arranged at one end of the first connecting arm 31 away from the spinous process clamp body 10. The second connecting column 33 is arranged on a side of the rotating connecting assembly close to the first connecting column 32. Among them, a locking groove 231 is arranged on one of the first connecting column 32 and the second connecting column 33, and a locking protrusion 232 adapted to the locking groove 231 is arranged on the other of the first connecting column 32 and the second connecting column 33. The tracer 20 is locked in the locking groove 231 through the locking protrusion 232. The embodiment of the utility model locks the tracer 20 in the current predetermined rotation position by snapping the locking protrusion 232 into the locking groove 231, thereby ensuring that the tracer 20 will not shift under the action of gravity. Among them, the second connecting column 33 is arranged on a side of the rotating connecting assembly close to the first connecting column 32 and is coaxially arranged with the first connecting column 32, and the axis of the first connecting column 32 and the axis of the first connecting arm 31 form a first angle (such as Figure 3 The angle indicated by the symbol b in the figure). When the first angle is ninety degrees, the first connecting column 32 is vertically arranged at the end of the first connecting arm 31 away from the spinous process clamp body 10. When the first angle is 180 degrees, the first connecting column 32 is coaxially arranged with the first connecting arm 31. The first angle can also be less than 180 degrees. Regardless of how large the first angle is, the embodiment of the utility model can set the setting orientation of the first connecting column 32 on the first connecting arm 31 according to the actual surgical environment, so as to further and more reasonably determine the initial setting angle (i.e., the size of the predetermined angle) between the tracer 20 and the spinous process clamp body 10, and ensure that the navigation system can quickly and accurately capture and locate the tracer 20.

[0068] The first connecting column 32 includes a first end surface 321, which is an end surface of the first connecting column 32 away from the first connecting arm 31, and the locking groove 231 includes a plurality of locking grooves 231, which are arranged around the first end surface 321 along the axis of the first connecting column 32. Figure 3As shown, the multiple locking grooves 231 arranged around the first end face 321 are equivalent to the star-tooth rack structure arranged around the first end face 321. If the rotating connection assembly drives the tracer 20 to move from the current locking groove 231 to the position of the adjacent locking groove 231, the change in the rotation angle is n degrees. On the basis that the angle between the tracer 20 and the spinous process clamp body 10 is the aforementioned predetermined angle, if it is necessary to adjust the angle of N*n to adjust the tracer 20 within the field of view of the navigation system, it is only necessary to rotate from the current locking groove 231 to the Nth locking groove 231, which is convenient for operation. And because the multiple locking grooves 231 are arranged around the first end face 321, the locking grooves 231 are very close to each other, which can achieve accurate positioning of the rotation angle of the tracer 20, and the adjustment is efficient and accurate. If n degrees is about ten degrees, the tracer 20 is usually rotated 2 to 3 or 5 to 6 locking grooves 231 so that the tracer 20 appears in the field of view of the navigation system in a good placement orientation.

[0069] like Figure 4 As shown, the second connecting column 33 includes a second end surface 331, which is the end surface of the second connecting column 33 close to one end of the first connecting column 32, and the locking protrusion 232 includes a plurality of locking protrusions 232, which are arranged around the second end surface 331 along the axis of the second connecting column 33. Figure 5 As shown, the plurality of locking protrusions 232 arranged around the second end surface 331 form a star-tooth structure on the second end surface 331 that matches the star-tooth rack structure on the first end surface 321, which is convenient for processing. In addition, by snapping the plurality of locking protrusions 232 into the corresponding locking grooves 231, the stability of the tracer 20 on the spinous process clamp body 10 can be further improved, ensuring that the tracer 20 will not shift under the action of gravity, and preventing the positioning accuracy of the navigation system from being reduced due to the slight movement of the tracer 20.

[0070] like Figure 3 and Figure 4As shown, the first connecting column 32 and the second connecting column 33 are both provided with an avoidance hole 233 along their own axial direction, and the rotating connection assembly includes a first fastener 34 and a second connecting arm 35. The first fastener 34 includes a connecting shaft and a fixing portion located at one end of the connecting shaft. The diameter of the connecting shaft is smaller than the inner diameter of the avoidance hole 233. The connecting shaft passes through the avoidance hole 233 of the first connecting column 32 and the second connecting column 33 and is detachably connected to the first connecting arm 31. The fixing portion abuts against the end surface of the second connecting column 33 away from the end of the first connecting column 32. The second connecting arm 35 is arranged on the second connecting column 33 and is located between the first connecting column 32 and the fixing portion. The tracer 20 is arranged on the second connecting arm 35. When it is necessary to adjust the placement orientation of the tracer 20, the first connecting column 32 and the second connecting column 33 can be changed from a locked state to a loosened state by twisting the fixing portion of the first fastener 34. At this time, since the tracer 20 is fixed to the second connecting column 33 by the second connecting arm 35, the second connecting arm 35 can be pushed to rotate the second connecting column 33 relative to the first connecting column 32 until the tracer 20 appears in the field of view of the navigation system at a good viewing angle. After that, the fixing part of the first fastener 34 is screwed to lock the first connecting column 32 and the second connecting column 33 again through the engagement between the locking groove 231 and the locking protrusion 232, so that the tracer 20 can be locked in the current position. The first fastener 34 can be a common standard part such as a screw or a bolt, the connecting shaft is the screw 15 part of the screw or the bolt, and the fixing part is the head of the screw or the bolt.

[0071] In the embodiment of the utility model, when rotating the tracer 20 to adjust its placement orientation, the first fastener 34 is adjusted until the second connecting column 33 can rotate relative to the first connecting column 32, and then the second connecting arm 35 connected to the second connecting column 33 is rotated to adjust the placement orientation of the tracer 20. After the tracer 20 appears within the field of view of the navigation system, the second connecting column 33 and the first connecting column 32 are fixedly connected by the first fastener 34, and the locking groove 231 on the first connecting column 32 is engaged with the locking protrusion 232 on the second connecting column 33, so as to complete the angle adjustment of the tracer 20. The operation is convenient, so that the overall structure of the tracer component is small in size and light in weight, the patient's vertebral body is in good stress state, and there is no risk of injury to the vertebral body.

[0072] The tracing spinous process clamp provided by the embodiment of the utility model further includes a fixed connection component, through which the connecting portion 30 is detachably arranged on the spinous process clamp body 10. Thus, according to the different thicknesses of the back tissue of the patient, the spinous process clamp body 10 suitable for the thickness of the tissue can be selected to be connected with the tracing component, thereby improving the applicable range of the tracing spinous process clamp.

[0073] like Figure 1As shown, the fixed connection assembly includes a third connecting column 41 and a second fastener 42, and the third connecting column 41 is a cylindrical structure and is fixed on the spinous process clamp body 10. The connecting portion 30 is detachably mounted on the third connecting column 41 through the second fastener 42. Specifically, the second fastener 42 is preferably a hand-tightening nut, and a slotted hole 411 is provided on the third connecting column 41, and an internal thread that matches the external thread of the hand-tightening nut is provided in the slotted hole 411. A corresponding mounting hole is also provided at one end of the first connecting arm 31 away from the first connecting column 32. The hand-tightening nut is passed through the mounting hole on the first connecting arm 31 and tightened in the slotted hole 411, so that the connecting portion 30 can be detachably mounted on the spinous process clamp body 10 through the third connecting column 41. When it is necessary to replace the spinous process clamp body 10 of a different model and size, the hand nut is twisted to disengage it from the slot 411, and the tracer component is fixed to another spinous process clamp body 10 through the hand nut, thereby realizing the quick disassembly and quick replacement of the spinous process clamp body 10, which is convenient for operation. Figure 6 The longer spinous process clamp body 10 shown is replaced with Figure 7 When the short spinous process clamp body 10 is installed, the hand nut is tightened to remove the entire tracer component from the long spinous process clamp body 10 and install it on the Figure 7 The short spinous process clamp body 10 shown in the figure can be used.

[0074] like Figure 6 and Figure 7 As shown, the spinous process clamp body 10 provided by the embodiment of the utility model includes a first clamping arm 11 and a second clamping arm 12. A first clamping head 111 is provided at one end of the first clamping arm 11, and the tracer 20 is provided at one end of the first clamping arm 11 away from the first clamping head 111 through a connecting portion 30. A second clamping head 121 adapted to the first clamping head 111 is provided at one end of the second clamping arm 12, and one end of the second clamping arm 12 is connected to one end of the first clamping arm 11 away from the first clamping head 111, and the second clamping arm 12 can rotate relative to the first clamping arm 11 so that the second clamping head 121 and the first clamping head 111 are clamped or separated from each other. Since the first clamping head 111 and the second clamping head 121 are usually the parts of the spinous process clamp body 10 located in the patient's body, and the tracer component is located at one end of the spinous process clamp body 10 away from the patient's body surface, the tracer component occupies a small space and basically does not infringe on the use space of instruments and tools during surgery.

[0075] When the existing spinous process clamp needs to be clamped on the spinous process, a screwdriver or other locking tool must be used to clamp the spinous process clamp on the spinous process, which increases the number of instruments during surgery, is inconvenient to operate, and requires the management and disinfection of the corresponding locking tools. The spinous process clamp body 10 provided in the embodiment of the utility model also includes a screw-on assembly, which is arranged between the first clamping arm 11 and the second clamping arm 12, and the screw-on assembly is used to separate or approach the first clamping arm 11 and the second clamping arm 12 from each other along the first direction. The embodiment of the utility model realizes the clamping or separation of the first clamping arm 11 and the second clamping arm 12 through the screw-on assembly, and does not need to introduce other locking tools, which is convenient to operate.

[0076] The spinous process clamp body 10 further includes a limiting groove 13 and a limiting plate 14. The limiting groove 13 is arranged along a first direction (the first direction is as shown in FIG. Figure 6 The limiting plate 14 is matched with the limiting groove 13, and the limiting plate 14 is arranged on the other of the first clamping arm 11 and the second clamping arm 12. In the embodiment of the utility model, the limiting plate 14 is passed through the limiting groove 13, so that when the first clamping arm 11 and the second clamping arm 12 are close to each other so that the second clamping head 121 and the first clamping head 111 are clamped together, it can avoid the second clamping head 121 and the first clamping head 111 from being misaligned along the second direction perpendicular to the first direction, thereby ensuring that the second clamping head 121 and the first clamping head 111 accurately and stably clamp the spinous process. The second direction in the embodiment of the utility model is Figure 8 Specifically, the limiting sheet 14 is configured as an arc-shaped sheet structure and extends in a direction away from the second clamping head 121 and the first clamping head 111, so that even if the first clamping arm 11 and the second clamping arm 12 are close to and fit each other, the limiting sheet 14 will not extend out of one end of the limiting groove 13 and will not extend far from the first clamping arm 11 or the second clamping arm 12.

[0077] The screw-on assembly of the spinous process clamp body 10 includes a screw rod 15 and a toggle member. The screw rod 15 is screwed into the first clamping arm 11 and the second clamping arm 12 and enables the first clamping arm 11 and the second clamping arm 12 to move relative to the screw rod 15 to separate from or approach each other in a first direction. The toggle member is fixed on the screw rod 15 and is located between the first clamping arm 11 and the second clamping arm 12. When the spinous process needs to be clamped, the toggle member is toggled to enable the first clamping arm 11 and the second clamping arm 12 to move relative to the screw rod 15 to approach each other in the first direction. When the spinous process needs to be loosened, the toggle member is toggled to enable the first clamping arm 11 and the second clamping arm 12 to move relative to the screw rod 15 to separate from each other in the first direction. It can be seen that the embodiment of the utility model can directly control the spinous process clamp body 10 to clamp or loosen the spinous process by toggling the toggle member, without the need to introduce locking tools such as screwdrivers, and is easy to operate.

[0078] The toggle member is a wheel 16, and the wheel 16 is coaxially arranged with the screw 15. It is easy and labor-saving to toggle the wheel 16 to separate or bring the first clamping arm 11 and the second clamping arm 12 closer to each other. The operator only needs to continuously toggle the wheel 16 at the same position. The circumferential surface of the wheel 16 away from the screw 15 is knurled, which is not only anti-slip but also does not damage the sterile gloves on the operator's hands.

[0079] The first clamping arm 11 is provided with a first connecting through hole 112 along the first direction, and the second clamping arm 12 is provided with a second connecting through hole 122 along the first direction. The screwing assembly further includes a first nut 17 and a second nut 18. The first nut 17 is provided in the first connecting through hole 112. The second nut 18 is provided in the second connecting through hole 122, and the second nut 18 has a rotation direction opposite to that of the first nut 17. The screw rod 15 is screwed into the first connecting through hole 112 and the second connecting through hole 122 through the first nut 17 and the second nut 18. Thus, when the screw rod 15 rotates under the drive of the wheel 16, the first nut 17 drives the first clamping arm 11 to move in a direction away from or close to the second clamping arm 12, and the second nut 18 drives the second clamping arm 12 to move in a direction away from or close to the first clamping arm 11, thereby achieving the first clamping arm 11 and the second clamping wall to approach or separate from each other. If the first nut 17 is a left-handed nut, the second nut 18 is a right-handed nut. The left-handed nut and the right-handed nut cooperate with the screw 15 parts on both sides of the wheel 16 respectively, so that the first clamping arm 11 and the second clamping arm 12 are close to or away from each other in the process of the wheel 16 driving the screw 15 to rotate. The embodiment of the utility model clamps and locks the spinous process by the locking method of the nut and the screw 15, which can be applied to spinous process structures of random sizes, that is, the clamping force of the spinous process clamp body 10 on the spinous process can be adjusted according to the thickness and size of the spinous process itself, which is more practical than the traditional one-gear locking and four-gear locking methods of the spinous process clamp. The embodiment of the utility model can also engrave an indication arrow on the first clamping arm 11 or the second clamping arm 12 for indicating the rotation direction of the wheel 16, such as prompting the operator to turn the wheel 16 in the direction indicated by the indication arrow through the indication arrow to separate the first clamping arm 11 and the second clamping arm 12 from each other. When the wheel 16 is turned in the opposite direction to the direction indicated by the indicator arrow to a force state, the first clamping arm 11 and the second clamping arm 12 are brought closer to each other, thereby clamping and locking the spinous process.

[0080] The screw rod 15 has a first end 151 and a second end 152 along the first direction, the first end 151 is located outside the first clamping arm 11 on a side away from the second clamping arm 12, and the second end 152 is located outside the second clamping arm 12 on a side away from the first clamping arm 11. In order to prevent the first clamping arm 11 and / or the second clamping arm 12 from being separated from the screw rod 15 and affecting the use effect during the process of opening or closing the first clamping arm 11 and the second clamping arm 12, the screw connection assembly also includes a first anti-slipping member and a second anti-slipping member, and the first anti-slipping member is arranged at the first end 151 of the screw rod 15. The second anti-slipping member is arranged at the second end 152 of the screw rod 15. Specifically, the first anti-slipping member and the second anti-slipping member can both be anti-slipping balls 19, and it is only necessary to ensure that the diameter of the anti-slipping ball 19 is larger than the first connecting through hole 112 on the first clamping arm 11 and the second connecting through hole 122 on the second clamping arm 12.

[0081] As can be seen from the above, the tracer spinous process clamp provided by the embodiment of the utility model can adjust the placement of the tracer 20 after the tracer 20 is fixed on the patient's spinous process through the spinous process clamp body 10, so that the navigation system can track the tracer 20, thereby ensuring that the tracer 20 and the positioning target on the mechanical arm of the surgical robot can appear in the field of view of the navigation system at the same time. There is a slot 411 on the third connecting column 41 at the end of the spinous process clamp body 10 away from the body surface. After the tracer component is installed on the spinous process clamp body 10 through the slot 411, it can be firmly connected to the spinous process and other parts of the patient's spine through the spinous process clamp body 10. Secondly, for the spinous process clamp body 10, there is no need to introduce other locking tools. The spinous process clamp body 10 can be locked on the spinous process or detached from the spinous process by twisting the wheel 16 with your fingers. The tracing spinous process clamp has a small overall size and light weight, and the portion located outside the body surface can be low in height and low in center, which enables it to be firmly locked on the spinous process structure without introducing any damaging risk to the spine, thereby placing less burden on the spine.

[0082] The second embodiment of the present invention provides a navigation system, which includes a tracing spinous process clamp and a surgical robot. For the specific structure of the tracing spinous process clamp, please refer to the content provided in the first embodiment of the present invention. The tracing spinous process clamp includes a spinous process clamp body 10 and a tracing component, and the tracing component includes a tracer 20 and a connecting portion 30. The tracer 20 is connected to the spinous process clamp body 10 through the connecting portion 30 and can rotate relative to the spinous process clamp body 10. A positioning target is also provided on the robotic arm of the surgical robot. The positioning target and the tracer 20 need to appear in the field of view of the navigation system at the same time to ensure that the surgical robot can accurately find the affected area and perform the corresponding surgical operation.

[0083] In this embodiment, after the tracer 20 is fixed on the patient's spinous process through the spinous process clamp body 10, since the tracer 20 can rotate relative to the spinous process clamp body 10, if the tracer 20 appears in the navigation system at an inappropriate angle or position, or even does not appear in the navigation system at all, the placement of the tracer 20 can be adjusted by rotating to enable the navigation system to track the tracer 20, thereby ensuring that the tracer 20 and the positioning target of the surgical robot can appear in the field of view of the navigation system at the same time. In this way, the navigation system can accurately locate the surgical site according to the position information of the tracked tracer and inform the surgical robot, and the surgical robot can accurately perform the corresponding surgical operation, avoiding the risk of misoperation of the surgical robot. Moreover, the overall volume of the tracer spinous process clamp is small and the weight is light. The part located outside the patient's body surface can be low in height and low in center, so that it can be firmly locked on the spinous process structure without introducing damage to the spine, and the burden on the spine is relatively small.

[0084] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0085] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0086] The above are only preferred embodiments of the present application and are 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 tracing spinous process clamp, characterized in that: include: Spinous process clamp body (10); The tracing component comprises a tracer (20) and a connecting portion (30); the tracer (20) is connected to the spinous process clamp body (10) via the connecting portion (30) and can rotate relative to the spinous process clamp body (10).

2. The tracing spinous process clamp according to claim 1, characterized in that: The connecting portion (30) comprises: A first connecting arm (31), wherein the first connecting arm (31) is arranged on the spinous process clamp body (10), and a predetermined angle is formed between the first connecting arm (31) and the spinous process clamp body (10); A rotating connection assembly, wherein the tracer (20) is connected to an end of the first connecting arm (31) away from the spinous process clamp body (10) through the rotating connection assembly and can rotate relative to the first connecting arm (31).

3. The tracing spinous process clamp according to claim 2, characterized in that: The connecting portion (30) further comprises: A locking assembly is provided between the first connecting arm (31) and the rotating connecting assembly, and the locking assembly is at least used to lock the tracer (20) at a predetermined rotational position.

4. The tracing spinous process clamp according to claim 3, characterized in that: The locking assembly comprises: A first connecting column (32), wherein the first connecting column (32) is arranged at an end of the first connecting arm (31) away from the spinous process clamp body (10); A second connecting column (33), the second connecting column (33) being arranged on a side of the rotating connecting component close to the first connecting column (32); Wherein, a locking groove (231) is provided on one of the first connecting column (32) and the second connecting column (33), and a locking protrusion (232) adapted to the locking groove (231) is provided on the other of the first connecting column (32) and the second connecting column (33), and the tracer (20) is locked in the locking groove (231) by the locking protrusion (232).

5. The tracing spinous process clamp according to claim 4, characterized in that: The first connecting column (32) includes a first end surface (321), and the first end surface (321) is the end surface of the first connecting column (32) away from one end of the first connecting arm (31). The locking groove (231) includes a plurality of locking grooves (231), and the plurality of locking grooves (231) are arranged on the first end surface (321) along the axis of the first connecting column (32).

6. The tracing spinous process clamp according to claim 4, characterized in that: The second connecting column (33) includes a second end face (331), and the second end face (331) is the end face of the second connecting column (33) close to one end of the first connecting column (32). The locking protrusion (232) includes a plurality of locking protrusions (232), and the plurality of locking protrusions (232) are arranged on the second end face (331) along the axis of the second connecting column (33).

7. The tracing spinous process clamp according to claim 4, characterized in that: The first connecting column (32) and the second connecting column (33) are both provided with avoidance holes (233) along their axial directions, and the rotating connection assembly comprises: A first fastener (34), the first fastener (34) comprising a connecting shaft and a fixing portion located at one end of the connecting shaft, the diameter of the connecting shaft being smaller than the inner diameter of the avoidance hole (233), the connecting shaft passing through the avoidance holes (233) of the first connecting column (32) and the second connecting column (33) and being detachably connected to the first connecting arm (31), the fixing portion abutting against an end surface of the second connecting column (33) at one end away from the first connecting column (32); A second connecting arm (35), wherein the second connecting arm (35) is arranged on the second connecting column (33) and is located between the first connecting column (32) and the fixing portion, and the tracer (20) is arranged on the second connecting arm (35).

8. The tracing spinous process clamp according to claim 1, characterized in that: Also includes: A fixed connection component, wherein the connection portion (30) is detachably arranged on the spinous process clamp body (10) through the fixed connection component.

9. The tracing spinous process clamp according to claim 8, characterized in that: The fixed connection assembly comprises: A third connecting column (41), wherein the third connecting column (41) is fixed on the spinous process clamp body (10); A second fastener (42), the connecting portion (30) is detachably mounted on the third connecting column (41) via the second fastener (42).

10. The tracing spinous process clamp according to any one of claims 1 to 9, characterized in that: The spinous process clamp body (10) comprises: A first clamping arm (11), wherein a first clamping head (111) is disposed at one end of the first clamping arm (11), and the tracer (20) is disposed at an end of the first clamping arm (11) away from the first clamping head (111) through the connecting portion (30); A second clamping arm (12), one end of the second clamping arm (12) is provided with a second clamping head (121) adapted to the first clamping head (111), one end of the second clamping arm (12) is connected to an end of the first clamping arm (11) away from the first clamping head (111), and the second clamping arm (12) can be rotated relative to the first clamping arm (11) so that the second clamping head (121) and the first clamping head (111) are clamped together or separated from each other.

11. The tracing spinous process clamp according to claim 10, characterized in that: The spinous process clamp body (10) further comprises: A screw-on assembly is provided between the first clamping arm (11) and the second clamping arm (12), and is used to separate the first clamping arm (11) and the second clamping arm (12) from each other or bring them closer together along a first direction.

12. A navigation system, characterized in that: It comprises the tracing spinous process clamp as described in any one of claims 1 to 11.

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