Adjustable tracer

Abstract

The utility model discloses an adjustable tracer. The adjustable tracer at least comprises a reflection sphere (1), a perforated pressing plate (2), a fixing nut (3) and a fixing needle (4). Wherein the reflection ball body (1) is used for reflecting light so that an optical tracking device can determine the moving track of a focus area of a patient through light emitted by the reflection ball body (1), the pressing plate (2) with the hole comprises a plurality of guide holes (200) and is fixedly connected with the reflection ball body (1), the fixing nut (3) is used for fixing the fixing needle (4) to the pressing plate (2) with the hole, and the fixing needle (4) is fixed to the pressing plate (2) with the hole through the guide holes (200). And the adjustable tracer is used for penetrating through the guide hole (200) of the perforated pressing plate (2) to be fixed on the vertebra near the focus area of the patient, so that the adjustable tracer is fixed on the body of the patient.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to an adjustable tracer. Background Art

[0002] In minimally invasive spinal surgery, surgical robots can improve the success rate of surgery and reduce patient pain through precise operations. During the operation, an optical tracking system is usually required to locate the location of the lesion in real time so that the robot can perform the operation accurately.

[0003] At present, the traditional method of lesion localization is to fix the bracket or pressure plate used to locate the lesion on the patient, usually by directly fixing it to the human skeleton through thicker steel nails or needles. This fixation method not only causes large wounds and easily leads to a long recovery period for patients, but also has limitations on the insertion position due to the influence of factors such as blood vessel distribution and bone structure.

[0004] Therefore, the present application provides an adjustable tracer. Utility Model Content

[0005] The embodiments of this specification provide an adjustable tracer to at least partially solve the above-mentioned problems existing in the prior art.

[0006] The embodiments of this specification adopt the following technical solutions:

[0007] This specification provides an adjustable tracer, which at least includes a reflective sphere 1, a pressure plate with a hole 2, a fixing nut 3, and a fixing needle 4, wherein:

[0008] The reflective sphere 1 is used for reflecting light, so that the optical tracking device can determine the moving trajectory of the patient's lesion area through the light emitted by the reflective sphere 1;

[0009] The perforated pressing plate 2 comprises a plurality of guide holes 200 and is fixedly connected to the reflective sphere 1;

[0010] The fixing nut 3 is used to fix the fixing needle 4 on the perforated pressing plate 2;

[0011] The fixing needle 4 is used to pass through the guide hole 200 of the perforated pressing plate 2 and be fixed on the spine near the lesion area of ​​the patient, so that the adjustable tracer is fixed on the patient.

[0012] Optionally, the adjustable tracer further comprises a pressure plate extension seat 5 and a reflective sphere bracket 6, wherein:

[0013] The pressure plate extension seat 5 has one end fixedly connected to the perforated pressure plate 2 and the other end fixedly connected to the reflective sphere bracket 6;

[0014] The reflective sphere bracket 6 is fixedly connected to the pressure plate extension seat 5 by screws, and is fixedly connected to a plurality of reflective spheres 1 .

[0015] Optionally, the adjustable tracer further comprises a detachable reference object bracket 7, wherein the reference object bracket is fixedly connected to a plurality of reference objects 700;

[0016] The plurality of reference objects 700 are used to determine the relative position of the lesion area and the adjustable tracer.

[0017] Optionally, the reference object bracket 7 is fixed to the perforated pressure plate 2 by a plurality of screws.

[0018] Optionally, the reference object bracket 7 has a plurality of protruding structures 702;

[0019] The perforated pressing plate 2 has a groove structure 202 that matches the shape of the protruding structure 702 .

[0020] Optionally, the fixing nut 3 comprises an external thread 300 for fixing to the perforated pressing plate 2, and a fixing hole 302 for providing a passage for the fixing needle 4 to pass through;

[0021] The guide hole 200 of the perforated pressure plate 2 includes an internal thread 2000 matching the external thread 300 of the fixing nut 3 .

[0022] Optionally, the fixing nut 3 further comprises a petal-shaped structure 304 fixed to one end of the fixing nut 3 , and the end of the petal-shaped structure 304 comprises an oblique angle 3040 ;

[0023] The guide hole 200 of the perforated pressing plate 2 further includes an inclined structure 2002 for squeezing the petal-shaped structure 304 to clamp the fixing needle 4 passing through the fixing hole 302 .

[0024] Optionally, the adjustable tracer also includes a guide nut 8, which is used to provide a guide hole 800 to the fixing needle 4 before using the fixing nut 3 to fix the fixing needle 4 to the perforated pressure plate 2, so that the fixing needle 4 passes through the guide nut 8 and the perforated pressure plate 2 and is inserted into the spine near the patient's lesion area.

[0025] Optionally, a thread is provided on the head of the fixing needle 4 for fixing the fixing needle 4 in the patient's bone.

[0026] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0027] The present specification provides an adjustable tracer, which at least includes a reflective sphere 1, a perforated pressure plate 2, a fixing nut 3, and a fixing needle 4, wherein the reflective sphere 1 is used for reflecting light so that an optical tracking device can determine the movement trajectory of a patient's lesion area through the light emitted by the reflective sphere 1, the perforated pressure plate 2 includes a plurality of guide holes 200 and is fixedly connected to the reflective sphere 1, the fixing nut 3 is used for fixing the fixing needle 4 on the perforated pressure plate 2, and the fixing needle 4 is used for passing through the guide hole 200 of the perforated pressure plate 2 and fixing on the vertebrae near the patient's lesion area so that the adjustable tracer is fixed on the patient. Thus, during minimally invasive spinal endoscopy surgery, the adverse effects of fixing the adjustable tracer including the reflective sphere 1 on the patient can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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:

[0029] Figure 1 A stereogram of an adjustable tracer provided for this specification;

[0030] Figure 2a A stereoscopic view of a reflective sphere support 6 of an adjustable tracer provided in this specification;

[0031] Figure 2b The installation diagram of fixing the reflective sphere bracket 6 to the pressure plate extension seat 5 provided in this specification;

[0032] Figure 3a An exploded view of a reference support 7 provided in this specification;

[0033] Figure 3b A front perspective view of a reference support 7 provided in this specification;

[0034] Figure 3c A back perspective view of a reference support 7 provided in this specification;

[0035] Figure 3d The installation diagram of the reference support 7 installed on the perforated pressure plate 2 provided in this specification;

[0036] Figure 4 A three-dimensional diagram of a perforated pressing plate 2 provided in this specification;

[0037] Figure 5a A three-dimensional diagram of a fixing nut 3 provided in this specification;

[0038] Figure 5bThe installation diagram of the fixing nut 3 provided in this specification passing through the fixing pin 4 and being threadedly connected with the guide hole 200 of the perforated pressing plate 2;

[0039] Figure 5c Provided for this manual Figure 1 A cross-sectional view of the threaded connection between the middle fixing nut 3 and the guide hole 200;

[0040] Figure 5d A front view of a fixing nut 3 provided in this specification;

[0041] Figure 6a A stereoscopic view of a guide nut 8 provided in this specification;

[0042] Figure 6b A front view of a guide nut 8 provided in this specification;

[0043] Figure 6c This is a cross-sectional view of the guide nut 8 provided in this specification being threadedly connected to the guide hole 200. DETAILED DESCRIPTION

[0044] Exemplary embodiments are described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0045] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this specification. The singular forms "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0046] It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0047] The surgical tool of this specification is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0048] Figure 1 This is a schematic diagram of the structure of an adjustable tracer provided in this manual, such as Figure 1 As shown, the present specification provides an adjustable tracer, which at least includes a reflective sphere 1, a perforated pressure plate 2, a fixing nut 3, and a fixing needle 4, wherein the reflective sphere 1 is used for reflecting light so that the optical tracking device can determine the movement trajectory of the patient's lesion area through the light emitted by the reflective sphere 1, the perforated pressure plate 2 includes a plurality of guide holes 200 and is fixedly connected to the reflective sphere 1, the fixing nut 3 is used for fixing the fixing needle 4 on the perforated pressure plate 2, and the fixing needle 4 is used for passing through the guide hole 200 of the perforated pressure plate 2 and fixing on the spine near the patient's lesion area, so that the adjustable tracer is fixed to the patient.

[0049] Before minimally invasive spinal surgery, an adjustable tracer is fixed on the spine near the patient's lesion area, and the patient's lesion area and the adjustable tracer fixed near the patient's lesion area are photographed using, for example, a C-arm 3D scanning device or a traditional X-ray imaging device, and high-energy X-rays are generated by an X-ray transmitter. These rays penetrate the patient's body and are received by the detector, and then converted into digital signals, thereby generating a high-resolution X-ray 3D image. Among them, a reference structure that cannot be penetrated by the X-rays is provided on the adjustable tracer, which can be identified in the X-ray 3D image, thereby determining the relative position relationship between the reference structure and the patient's lesion area. Since the reflective sphere 1 and the reference structure are both fixedly connected to the adjustable tracer, the relative position relationship between the reflective sphere 1 and the patient's lesion area can be determined based on the relative position relationship between the reference structure and the patient's lesion area.

[0050] Furthermore, in minimally invasive spinal surgery, the reflective sphere 1 fixedly connected to the adjustable tracer fixed to the patient's spine can reflect light, so that the optical tracking measurement device of the optical tracking system can accurately capture the reflective sphere on the tracer in real time. Specifically, the optical tracking ranging device of the optical tracking system can usually use the principles of optical measurement and imaging to emit light sources such as laser beams or infrared rays to illuminate the target object, that is, the reflective sphere 1 on the adjustable tracer. Then, the optical tracking device receives the reflected light signal, and after photoelectric conversion and processing, obtains the position and direction information of the reflective sphere 1, which is usually expressed by three-dimensional coordinates.

[0051] Furthermore, since the perforated pressure plate 2 is fixedly connected to the reflective sphere 1, and the perforated pressure plate 2 is fixed to the spine near the patient's lesion area by the fixing pin 4 and the fixing nut 3 during the operation, the position of the reflective sphere 1 is relatively fixed to the patient. During the operation, if the patient moves, the perforated pressure plate 2 fixed to the patient will move, thereby causing the reflective sphere 1 to move as well. Based on the fact that the positions of the reflective sphere 1 and the patient are relatively fixed, the relative position relationship between the position of the reflective sphere 1 and the patient's lesion area has been predetermined, so the movement trajectory of the patient's lesion area can be indirectly determined based on the position information of the reflective sphere 1 captured by the optical tracking device.

[0052] Based on this, the optical tracking and ranging device of the optical tracking system can capture the reflective sphere 1 on the adjustable tracer in real time, and determine the three-dimensional coordinate information of the reflective sphere 1, so as to determine the position information of the lesion area in real time according to the coordinate information of the reflective sphere 1 and the predetermined relative position relationship between the reflective sphere 1 and the patient's lesion area, thereby ensuring the precise operation of the surgical robot in the surgical environment and improving the success rate of the operation.

[0053] Furthermore, the adjustable tracer includes a reflective sphere 1 for reflecting light, so that the optical tracking device can detect the position of the reflective sphere 1, thereby determining the movement trajectory of the patient's lesion area based on the reflective sphere 1. Specifically, the reflective sphere 1 can be an optical ball fixed on the adjustable tracer, and the surface of the optical ball has a reflective coating, which can reflect the light emitted by the optical tracking device, so that the optical tracking device can detect the position of the reflective sphere. Of course, the reflective sphere can also be other structures with special reflective coatings other than spherical structures, and the specific material and structure of the reflective sphere are not limited in the embodiments of this specification.

[0054] Furthermore, the perforated pressing plate 2 of the adjustable tracer includes a plurality of guide holes 200, which are used to provide a guide channel required for the fixing needle 4 to pass through the perforated pressing plate 2. In addition, one end of the perforated pressing plate 2 is fixedly connected to the reflective sphere 1, so that the relative position of the reflective sphere 1 and the perforated pressing plate 2 is fixed, that is, the reflective sphere 1 is fixed to the adjustable tracer, thereby, after determining the relative position of the patient's lesion area and the adjustable tracer, the relative position of the reflective sphere 1 fixed on the adjustable tracer and the patient's lesion area can be determined.

[0055] In addition, after the fixing needle 4 passes through the guide hole 200 of the perforated pressing plate 2, the fixing nut 3 can be used to fix the fixing needle 4 to the perforated pressing plate 2, so that when the fixing needle 4 passes through the guide hole 200 of the perforated pressing plate 2 and is fixed on the vertebra near the lesion area of ​​the patient, the relative position of the adjustable tracer and the patient is fixed. Specifically, the perforated pressing plate 2 can be combined with the fixing nut 3 through the guide hole 200, so that the fixing needle 4 can be fixed to the perforated pressing plate 2 after passing through the fixing nut 3.

[0056] Correspondingly, the fixing needle 4 is used to pass through the guide hole 200 of the perforated pressure plate 2 and be fixed on the patient's spine, so that the adjustable tracer can fit the patient's body closely and ensure the stability of the adjustable tracer during the operation.

[0057] In one or more embodiments of this specification, Figure 1 As shown, the adjustable tracer also includes a pressure plate extension seat 5 and a reflective sphere bracket 6, wherein one end of the pressure plate extension seat 5 is fixedly connected to the perforated pressure plate 2, and the other end is fixedly connected to the reflective sphere bracket 6, and the reflective sphere bracket 6 is fixedly connected to the pressure plate extension seat 5 by screws, and is fixedly connected to a plurality of reflective spheres 1.

[0058] Specifically, in order to make the optical tracking device better identify the reflective sphere 1, the adjustable tracer can also include a pressure plate extension seat 5, one end of the pressure plate extension seat 5 is fixedly connected to the perforated pressure plate 2, and the other end is fixedly connected to the reflective sphere bracket 6 containing the reflective sphere 1, and the pressure plate extension seat 5 has a certain inclination angle relative to the perforated pressure plate 2, thereby, when the perforated pressure plate 2 is fixed on the vertebra near the patient's lesion area, the reflective sphere bracket 6 is higher than the lower surface of the perforated pressure plate 2, preventing the extended reflective sphere bracket 6 from colliding with the protruding parts of the patient's body. In addition, since the reflective sphere 1 is fixedly connected to the reflective sphere bracket 6 higher than the perforated pressure plate 2, it is beneficial for the reflective sphere 1 to be better captured by the optical tracking device during the operation. At the same time, after the reflective sphere bracket 6 is fixedly connected to the pressure plate extension seat 5, the plane of the reflective sphere bracket 6 and the surface of the perforated pressure plate 2 also have a certain inclination angle, which is convenient for the optical tracking device to capture several reflective spheres 1 on the reflective sphere bracket 6.

[0059] It should be noted that the pressure plate extension seat 5 and the perforated pressure plate 2 can be an integrated structure or a split structure, and the embodiments of this specification do not limit this.

[0060] Furthermore, the stereogram of the reflective sphere bracket 6 is as follows: Figure 2aAs shown, the reflective sphere bracket is provided with a plurality of reflective spheres 1, and includes a bracket hole 600 with an internal thread, so that a screw matching the bracket hole 600 can pass through the bracket hole 600 to fix the reflective sphere bracket 6 on the pressure plate extension seat 5, thereby fixing the reflective sphere 1 to the adjustable tracer. Specifically, the installation diagram of fixing the reflective sphere bracket 6 to the pressure plate extension seat 5 is shown in FIG. Figure 2b shown.

[0061] In addition, the adjustable tracer further comprises a detachable reference object bracket 7, to which a plurality of reference objects 700 are fixedly connected. The plurality of reference objects 700 are used to determine the relative position of the lesion area and the adjustable tracer.

[0062] Specifically, Figure 3a As shown in the figure, this figure is an exploded view of a reference object bracket 7 provided in this specification. Several screws on both sides of the reference object bracket 7 can fix the reference object bracket 7 on the perforated pressure plate 2 through the holes provided by the reference object bracket 7 and the holes containing internal threads, and several reference objects 700 of different specifications are fixedly connected to the reference object bracket 7. When the reference object bracket 7 is not in use, several screws can be passed through the holes of the reference object cover plate and the holes of the reference object bracket 7 to fix the cover plate to the reference object bracket 7 to protect the reference object 700. It should be noted that the cover plate does not need to be opened during the use of the reference object bracket 7, that is, when the reference object bracket is photographed using an X-ray imaging device.

[0063] Among them, the reference object 700 mentioned here is made of a bone-like material, such as zirconium dioxide, so that the X-rays emitted by the X-ray imaging device cannot penetrate the reference object 700, so that the reference object 700 can be identified in the X-ray 3D image before the operation, and is used to determine the relative position relationship between the patient's lesion area and the reference object 700. The other parts of the reference object bracket 7, including the cover plate, are made of materials that cannot be imaged under the detection of the X-ray imaging device, so as not to interfere with the imaging of the reference object 700 during the detection process of the X-ray imaging device. Therefore, by fixing the reference object bracket 7 on the perforated pressure plate 2, it is possible to ensure clear and accurate imaging of the reference object and the patient's lesion area bones during the operation, so as to accurately determine the relative position relationship between the reference object 700 and the patient's lesion area, that is, determine the relative position relationship between the lesion area and the adjustable tracer. It should be noted that the reference object 700 can be a spherical structure or other structure that is easy to distinguish, and the specific structure of the reference object 700 is not limited in the embodiments of this specification.

[0064] Furthermore, the reference support 7 is fixed to the perforated pressure plate 2 by a plurality of screws. Figure 3bAs shown in FIG. 1 , the figure is a three-dimensional diagram of a reference support 7 provided in this specification. The reference support 7 includes a plurality of screws for fixing the reference support 7 to the perforated pressure plate 2, and Figure 3b The cover plate is fixed to the surface of the reference object 700 by screws.

[0065] In addition, the reference object bracket 7 has a plurality of protruding structures 702, and the perforated pressure plate 2 has a groove structure 202 that matches the shape of the protruding structure 702, which is used to locate the position where the reference object bracket 7 needs to be fixed when the reference object bracket 7 is fixed to the perforated pressure plate 2. Through the protruding structure 702 and the groove structure 202, the exact position where the reference object bracket 7 needs to be placed when the reference object bracket 7 is installed and fixed on the perforated pressure plate 2 can be determined, making the installation and removal process of the reference object 700 more convenient and efficient.

[0066] Specifically, Figure 3c As shown, this figure is a back stereoscopic view of a reference support 7 provided in this specification. On the reference support 7, a protruding structure 702 is provided, and its shape and size can match the groove structure 202 on the perforated pressing plate 2. In one or more embodiments of this specification, the protruding structure 702 can be a semicircular structure, and of course it can also be other shapes. The specific shape and size of the protruding structure 702 are not limited in the embodiments of this specification.

[0067] The installation diagram of installing the reference support 7 on the perforated pressure plate 2 is shown in FIG. Figure 3d As shown, after the protruding structure 702 is aligned with the groove structure 202, the reference object bracket 7 can be fixed on the perforated pressure plate 2 using screws.

[0068] Correspondingly, such as Figure 4 As shown, Figure 4 The present specification provides a stereoscopic view of a perforated pressure plate 2, wherein the perforated pressure plate 2 includes a groove structure 202 for accommodating a protruding structure 702, and its shape matches the protruding structure 702, thereby ensuring that the two can be tightly and stably combined. In addition, the perforated pressure plate 2 also includes a guide hole 200, a mounting hole 204, and an assembly hole 206. The mounting hole 204 is used to thread the screw of the reference support 7, so that the reference support 7 is fixed to the perforated pressure plate 2. The assembly hole 206 is used to fix the pressure plate extension seat 5.

[0069] It should be noted that the perforated pressure plate 2 provides multiple groups of guide holes 200 with different spacings for the insertion of the fixing needle 4, so that the position of the inserted fixing needle 4 of the adjustable tracer can be adjusted to adapt to different human spine widths and is suitable for patients with different bone sizes.

[0070] Furthermore, the fixing nut 3 includes an external thread 300 for fixing to the perforated pressure plate 2 and a fixing hole 302 for providing a passage for the fixing needle 4 . The guide hole 200 of the perforated pressure plate 2 includes an internal thread 2000 matching the external thread 300 of the fixing nut 3 .

[0071] Specifically, Figure 5a As shown, Figure 5a This is a stereoscopic diagram of a fixing nut 3 provided in this specification. One end of the fixing nut 3 includes a vertical pattern structure for increasing friction during the rotation of the nut. The middle includes an external thread 300 for threading the fixing nut 3 into the guide hole 200 of the perforated pressure plate 2. At the same time, the fixing nut includes a fixing hole 302 in the middle for the fixing needle 4 to pass through. Specifically, the fixing nut 3 passes through the fixing needle 4 and is threadedly connected to the guide hole 200 of the perforated pressure plate 2 as shown in the installation diagram. Figure 5b shown.

[0072] Further, such as Figure 5c As shown, Figure 5c for Figure 1 The cross-sectional view shows that the fixing nut 3 is threadedly connected to the guide hole 200. The guide hole 200 of the perforated pressure plate 2 includes an internal thread 2000 matching the external thread 300 of the fixing nut 3, so that the fixing nut 3 can be threadedly connected to the perforated pressure plate 2.

[0073] Furthermore, the fixing nut 3 also includes a petal-like structure 304 fixed to one end of the fixing nut 3, and the end of the petal-like structure 304 includes a bevel 3040. The guide hole 200 of the perforated pressure plate 2 also includes an inclined structure 2002, which is used to squeeze the petal-like structure 304 to clamp the fixing needle 4 passing through the fixing hole 302.

[0074] Specifically, Figure 5d This is a front view of a fixing nut 3 provided in this specification. Compared with an ordinary nut, a petal-shaped structure 304 is provided at one end of the fixing nut 3, and the end of the petal-shaped structure 304 includes an oblique angle 3040, so that the petal-shaped structure 304 of the fixing nut 3 can be tightened toward the center when being squeezed by an external force. Correspondingly, the guide hole 200 of the perforated pressure plate 2 has also been improved accordingly, and an inclined structure 2002 is added inside the guide hole 200, such as Figure 5c As shown by the arrow in the figure, the inclined structure 2002 will squeeze the petal-like structure 304 during the process of tightening the fixing nut 3. Through this squeezing effect, the petal-like structure 304 can more firmly clamp the fixing needle 4 passing through the fixing hole 302, thereby ensuring the stability of the fixing needle 4 during the operation and ensuring that the adjustable tracer can be firmly fixed on the patient.

[0075] Furthermore, the adjustable tracer also includes a guide nut 8, which is used to provide a guide hole 800 to the fixing needle 4 before using the fixing nut 3 to fix the fixing needle 4 to the perforated pressure plate 2, so that the fixing needle 4 passes through the guide nut 8 and the perforated pressure plate 2 and is inserted into the spine near the patient's lesion area.

[0076] Furthermore, in order to improve the accuracy and convenience of the fixing needle 4 when inserted into the patient's body, the adjustable tracer may also be provided with a guide nut 8. Figure 6a and Figure 6b As shown, Figure 6a A stereoscopic diagram of a guide nut 8 provided in this specification, Figure 6b This is a front view of a guide nut 8 provided in this specification. The core function of the guide nut 8 is to provide a precise guide hole 800, which matches the size of the fixing needle 4, ensuring that the fixing needle 4 can smoothly and accurately pass through the guide nut 8 and the guide hole 200 of the perforated pressure plate 2 during the insertion process, and finally be inserted into the spine near the patient's lesion area. This design simplifies the operation process of the needle insertion, reduces the difficulty of the operation, and also improves the accuracy and safety of the needle insertion.

[0077] It should be noted that if Figure 6c As shown, Figure 6c This is a cross-sectional view of the threaded connection between the guide nut 8 and the guide hole 200. The guide nut 8 does not include a petal-shaped structure design, and only provides a guiding function for the insertion of the fixing needle 4 during the needle insertion stage, but does not provide a fixing function.

[0078] Furthermore, a thread is provided on the head of the fixing needle 4 for fixing the fixing needle 4 in the patient's bone.

[0079] Specifically, in order to ensure that the fixing needle can be firmly fixed in the patient's bone, a thread can be specially provided on the head of the fixing needle 4, so that after the fixing needle is inserted into the bone, it can be tightly combined with the bone tissue through the thread, thereby providing a stable fixing effect. For example, the fixing needle 4 can be a Kirschner wire with a thread on the head.

[0080] Furthermore, in one or more embodiments of the present application, before the operation begins, the reference support 7 can be fixed to the perforated pressure plate 2, and then the perforated pressure plate 2 can be placed on the surface of the patient's lesion area, and the guide nut 8 can be threadedly connected to the appropriate guide hole 200, and then the fixing needle 4 is inserted into the bone near the patient's lesion area through the guide hole 800 of the guide nut 8, so that the fixing needle 4 is threadedly connected to the patient's bone, and then the guide nut 8 is replaced with the fixing nut 3 and tightened, so that the adjustable tracer is fixed to the patient. Then, an X-ray imaging device can be used for imaging, and the relative position relationship between the reference object 700 and the patient's lesion area in the X-ray imaging and the relative position relationship between the reflective sphere 1 and the reference object 700 can be determined. In this way, during the operation, the reflective sphere 1 fixedly connected to the adjustable tracer can be identified and tracked by the optical tracking device, and finally the position and movement trajectory of the patient's lesion area can be determined.

[0081] It should be noted that after the relative position relationship between the adjustable tracer and the lesion area is determined, the reference object bracket 7 can be removed from the perforated pressure plate 2 before performing the surgery to facilitate the operation of the mechanical arm of the surgical robot.

[0082] based on Figure 1 An adjustable tracer is provided, and the embodiments of the specification can reduce the adverse effects of fixing the adjustable tracer including the reflective sphere 1 on the patient during minimally invasive spinal endoscopic surgery. At the same time, since a plurality of guide holes 200 with different spacings are provided on the perforated pressure plate 2, the insertion position of the fixing needle 4 of the adjustable tracer can be adjusted, which is suitable for patients with different bone sizes.

[0083] The above is only a preferred embodiment of this specification and does not limit this specification in any form. Although this specification has been disclosed as a preferred embodiment, it is not used to limit this specification. Any technician familiar with this profession can make some changes or modify the technical content disclosed above into an equivalent embodiment with equivalent changes without departing from the scope of the technical solution of this specification. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of this specification without departing from the content of the technical solution of this specification still falls within the scope of the technical solution of this specification.

Claims

1. An adjustable tracer, characterized in that: The adjustable tracer comprises at least a reflective sphere (1), a pressure plate with a hole (2), a fixing nut (3), and a fixing needle (4), wherein: The reflective sphere (1) is used to reflect light, so that the optical tracking device can determine the movement trajectory of the patient's lesion area through the light emitted by the reflective sphere (1); The perforated pressure plate (2) comprises a plurality of guide holes (200) and is fixedly connected to the reflective sphere (1); The fixing nut (3) is used to fix the fixing needle (4) on the perforated pressure plate (2); The fixing needle (4) is used to pass through the guide hole (200) of the perforated pressure plate (2) and be fixed on the spine near the patient's lesion area, so that the adjustable tracer is fixed on the patient.

2. The adjustable tracer according to claim 1, characterized in that The adjustable tracer also includes a pressure plate extension seat (5) and a reflective sphere bracket (6), wherein: The pressing plate extension seat (5) has one end fixedly connected to the perforated pressing plate (2) and the other end fixedly connected to the reflective sphere bracket (6); The reflective sphere bracket (6) is fixedly connected to the pressure plate extension seat (5) by means of screws, and is fixedly connected to a plurality of reflective spheres (1).

3. The adjustable tracer according to claim 1, characterized in that The adjustable tracer further comprises a detachable reference object bracket (7), wherein the reference object bracket is fixedly connected to a plurality of reference objects (700); The plurality of reference objects (700) are used to determine the relative position of the lesion area and the adjustable tracer.

4. The adjustable tracer according to claim 3, characterized in that The reference object bracket (7) is fixed to the perforated pressure plate (2) by means of a plurality of screws.

5. The adjustable tracer according to claim 3, characterized in that The reference object support (7) has a plurality of protruding structures (702); The perforated pressing plate (2) has a groove structure (202) that matches the shape of the protruding structure (702).

6. The adjustable tracer according to claim 1, characterized in that The fixing nut (3) comprises an external thread (300) for fixing to the perforated pressure plate (2), and a fixing hole (302) for providing a passage for the fixing needle (4); The guide hole (200) of the perforated pressure plate (2) comprises an internal thread (2000) matching the external thread (300) of the fixing nut (3).

7. The adjustable tracer according to claim 6, characterized in that The fixing nut (3) further comprises a petal-shaped structure (304) fixed to one end of the fixing nut (3), and the end of the petal-shaped structure (304) comprises an oblique angle (3040); The guide hole (200) of the perforated pressure plate (2) further comprises an inclined structure (2002) for squeezing the petal-shaped structure (304) to clamp the fixing needle (4) passing through the fixing hole (302).

8. The adjustable tracer according to claim 1, characterized in that The adjustable tracer also includes a guide nut (8) for providing a guide hole (800) to the fixing needle (4) before the fixing needle (4) is fixed to the perforated pressure plate (2) using the fixing nut (3), so that the fixing needle (4) passes through the guide nut (8) and the perforated pressure plate (2) and is inserted into the spine near the patient's lesion area.

9. The adjustable tracer according to claim 1, characterized in that The head of the fixing needle (4) is provided with a thread for fixing the fixing needle (4) in the patient's bone.

Images