High-position osteotomy device capable of achieving high-precision positioning

Abstract

The high-position osteotomy device comprises a mechanical arm, and the tail end of the mechanical arm is sequentially connected with an installation base, an insulation assembly and a surgical tool. The mechanical arm tracer is of an annular sleeve structure, the mechanical arm tracer is arranged on the outer side of the installation base and the outer side of the insulation assembly in a sleeving mode, a plurality of reflector sets distributed at intervals in the axial direction are arranged on the peripheral wall of the mechanical arm tracer, and each reflector set comprises a plurality of reflectors distributed in the circumferential direction; according to the utility model, high-precision positioning is realized, the problem that tracking is affected due to shielding of a mechanical arm or other parts is reduced, and the tracking accuracy of the system is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a high-position osteotomy device with high-precision positioning. Background Art

[0002] In the field of high-precision medical surgery, especially orthopedic surgery such as high osteotomy, accurate surgical positioning is crucial. Traditional surgical methods rely on the doctor's experience and manual operation, which may lead to insufficient precision during complex or minor surgeries, increasing surgical risks and patient recovery time.

[0003] In order to improve the accuracy and safety of surgery, robotic arm-assisted surgery systems are used in the prior art. These systems usually include one or more robotic arms that can be programmed to perform precise movements and operations. However, there are some limitations to the robotic arm-assisted surgery systems of the prior art.

[0004] like Figure 5 As shown, the tracers used in existing robotic arm-assisted surgery systems are mostly planar reference array structures. This solution has the following defects: 1) It is easy to be blocked by the robotic arm itself or other surgical components during the movement of the robotic arm, affecting the tracking ability of the optical camera, thereby reducing the positioning accuracy; 2) When the robotic arm is tilted or rotated at a large angle, the planar reference array tracer may cause signal loss or increased error, affecting the stability of the operation; 3) In order to avoid the occlusion problem, the doctor or surgical team may need to constantly adjust the angle of the tracer, which increases the complexity and time consumption of the surgical operation. Summary of the invention

[0005] The purpose of the utility model is to provide a high-position osteotomy device with high-precision positioning to address the problems existing in the prior art, thereby achieving high-precision positioning, reducing the problem of tracking being affected by obstruction by a mechanical arm or other components, and ensuring the tracking accuracy of the system.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A high-precision positioning high-position osteotomy device comprises: a robotic arm, the end of which is connected to a mounting seat, an insulating component and a surgical tool in sequence; a robotic arm tracer, which is a ring-shaped structure and is sleeved on the outside of the mounting seat and the insulating component, and the outer peripheral wall of the robotic arm tracer is provided with a plurality of reflective sheet groups distributed along the axial direction at intervals, and each reflective sheet group includes a plurality of reflective sheets distributed along the circumference.

[0008] The outer peripheral side of the robotic arm tracer is provided with a first reflector group, a second reflector group and a third reflector group, each group of reflectors includes six reflectors evenly spaced around the circumference, and the first reflector group, the second reflector group and the third reflector group are evenly spaced along the axial direction.

[0009] The outer side of the robotic arm tracer is divided into six virtual reflective surfaces, and each of the virtual reflective surfaces includes three reflective sheets; the robotic arm tracer is configured so that the optical camera obtains the position information of the end of the robotic arm through one of the virtual reflective surfaces each time.

[0010] The three reflective sheets within the range of each virtual reflective surface are staggered in the axial direction.

[0011] The relative position relationship of the three reflective sheets within the range of each virtual reflective surface is the same.

[0012] The outer wall of the robot arm tracer is provided with a plurality of slots, and the reflective sheets are fixedly embedded in the slots one by one.

[0013] The robotic arm tracer includes a first ring sleeve and a second ring sleeve connected to the first ring sleeve, the first ring sleeve and the second ring sleeve form a convex three-dimensional structure, the inner wall of the first ring sleeve is interference fit with the mounting seat, and the inner wall of the second ring sleeve is interference fit with the insulating component.

[0014] The high-position osteotomy device also includes a trolley, which is provided with a mechanical arm receiving seat, and the mechanical arm is detachably mounted on the mechanical arm receiving seat.

[0015] The trolley is provided with a trolley tracer, and the trolley tracer is a planar reference array structure.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The robot arm tracer adopts a ring structure, which is sleeved on the outside of the mounting base and the insulating component, so that the robot arm tracer closely follows the movement of the end of the robot arm. The end of the robot arm can be positioned by locating the position of the robot arm tracer through an optical camera;

[0018] The robotic arm tracer adopts a ring structure, and a reflector group is provided on the outer wall of the tracer. Each group is composed of multiple reflectors distributed along the circumference and spaced apart along the axial direction. Through this layout design, the optical positioning camera can capture the reflector signal from different angles of the robotic arm tracer. When the robotic arm tracer moves with the robotic arm at various angles and directions, there is always one side facing the optical camera, thereby avoiding the problem of being blocked by other components or being tilted at a large angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall structural diagram of a high-position osteotomy device in one embodiment of the present application;

[0020] Figure 2 This is a disassembled structural diagram of a mounting base, a robotic arm tracer, and an insulating component in one embodiment of the present application;

[0021] Figure 3 This is a structural diagram of a robot arm tracer in one embodiment of the present application;

[0022] Figure 4 This is a structural diagram of a robot arm tracer in one embodiment of the present application;

[0023] Figure 5 This is a structural diagram of a prior art robotic arm tracer for this application;

[0024] In the figure: 1. Robotic arm; 2. Mounting seat; 3. Insulation component; 4. Robotic arm tracer; 401. First ring sleeve; 402. Second ring sleeve; 5. Reflective sheet; 6. Trolley; 7. Robotic arm receiving seat; 8. Trolley tracer. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the utility model to clearly and completely describe the technical solution of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0027] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0028] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] like Figure 5 As shown, the tracer in the prior art is a planar reference array structure. The defect of this solution is that the planar reference array tracer moves with the robotic arm and is easily blocked by the robotic arm itself or other components, or is tilted at a large angle, which may affect the tracking ability of the system and thus affect the accuracy of the surgery. Although the blockage can be avoided by adjusting the angle of the tracer, it brings the problem of inconvenience in operation.

[0030] like Figures 1 to 4 As shown, a high-precision positioning high-position osteotomy device includes: a robotic arm 1, the end of which is connected to a mounting seat 2, an insulating component 3 and a surgical tool in sequence; a robotic arm tracer 4, which is a ring structure, and the robotic arm tracer 4 is sleeved on the outside of the mounting seat 2 and the insulating component 3, and the outer peripheral wall of the robotic arm tracer 4 is provided with a plurality of reflective sheet groups distributed along the axial direction of the ring, and each reflective sheet group includes a plurality of reflective sheets 5 distributed along the circumference of the ring.

[0031] Among them, the robotic arm 1 is the main power execution component of the device, and the end is connected to the mounting base 2, the insulating component 3 and the surgical tool. Such a structural design allows the robotic arm to be directly connected to the surgical tool for performing precise surgical operations.

[0032] An optical camera, such as an NDI camera, tracks the reflective film on the tracer in real time to accurately determine the position and orientation of the end-of-arm.

[0033] The robot arm tracer 4 adopts a ring structure, which is sleeved on the outside of the mounting base 2 and the insulating component 3, so that the robot arm tracer 4 closely follows the movement of the end of the robot arm. By locating the position of the robot arm tracer 4 through an optical camera, the end of the robot arm 1 can be located.

[0034] The robot arm tracer 4 adopts a ring structure, and a reflector group is provided on the outer wall of the tracer. Each group is composed of a plurality of reflectors 5 distributed along the circumference and spaced apart along the axial direction. Through this layout design, the optical positioning camera can capture the reflector signal from different angles of the robot arm tracer 4. When the robot arm tracer 4 moves with the robot arm at various angles and directions, there is always one side facing the optical camera, thereby avoiding the problem of being blocked by other components or being tilted at a large angle.

[0035] In some embodiments, a first reflector group, a second reflector group and a third reflector group are provided on the outer peripheral side of the robotic arm tracer 4, each reflector group includes six reflectors 5 evenly spaced around the circumference, and the first reflector group, the second reflector group and the third reflector group are evenly spaced along the axial direction.

[0036] The design of three groups of reflective sheets improves the accuracy of positioning because the optical camera can capture the signals of the reflective sheets from more angles, increasing the reliability of positioning.

[0037] In some embodiments, the outer side of the robot arm tracer 4 is divided into six virtual reflective surfaces, each of which includes three reflective sheets 5; the robot arm tracer 4 is configured such that the optical camera obtains the position information of the end of the robot arm through one virtual reflective surface each time. Figure 3 As shown, three reflective sheets 5 within the same virtual reflective surface range are identified.

[0038] Due to the design of six virtual reflective surfaces, no matter how the tracer rotates or moves, there is always a reflective surface facing the camera, reducing the risk of the tracer being blocked by other objects in the surgical area, thereby achieving continuous positioning of the end of the robotic arm.

[0039] In some embodiments, the three reflective sheets 5 within each virtual reflective surface are staggered in the axial direction.

[0040] The three reflective sheets 5 in each virtual reflective surface are not simply arranged in a row, but are staggered along the axial direction. The optical camera determines the position and direction of the robot arm tracer 4 by capturing the light signals reflected by these reflective sheets staggered along the axial direction.

[0041] In some embodiments, the relative position relationship of the three reflective sheets 5 within each virtual reflective surface is the same.

[0042] The three reflective sheets 5 in each virtual reflective surface have the same relative positional relationship, which provides a standardized tracking mode for the optical camera. The optical camera can identify and track the reflective sheets more efficiently based on this standardized layout because the camera system only needs to process one pattern of reflective sheet distribution.

[0043] In some embodiments, the outer wall of the robot arm tracer 4 is provided with a plurality of slots, and the reflective sheets 5 are fixedly embedded in the slots one by one.

[0044] The reflective sheet 5 is fixed to the outer wall of the robot arm tracer 4 through the slot, ensuring the installation stability and accuracy of the reflective sheet.

[0045] In some embodiments, the robotic arm tracer 4 includes a first ring sleeve 401 and a second ring sleeve 402 connected to the first ring sleeve 401. The first ring sleeve 401 and the second ring sleeve 402 form a convex three-dimensional structure. The inner wall of the first ring sleeve 401 is interference fit with the mounting seat 2, and the inner wall of the second ring sleeve 402 is interference fit with the insulating component 3.

[0046] The convex three-dimensional structure design makes the installation and maintenance of the tracer easier. The interference fit ensures a firm connection between the tracer and the mounting base and the insulating component, reducing the error caused by relative movement.

[0047] Preferably, the first reflective sheet group and the second reflective sheet group are arranged in the first ring sleeve 401, and the third reflective sheet group is arranged in the second ring sleeve 402. By utilizing the different positions of the two ring sleeves, the space can be more effectively utilized, and a more reasonable layout is provided for the reflective sheet group.

[0048] In some embodiments, the high-position osteotomy device further comprises a trolley 6 , which is provided with a robotic arm receiving seat 7 , and the robotic arm 1 is detachably mounted on the robotic arm receiving seat 7 .

[0049] In some embodiments, the trolley 6 is provided with a trolley tracer 8, which is a planar reference array structure.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision positioning high-position osteotomy device, characterized in that: include: A robotic arm (1), the end of which is sequentially connected to a mounting base (2), an insulating component (3), and a surgical tool; A robot arm tracer (4) is a ring structure, the robot arm tracer (4) is sleeved on the outside of the mounting seat (2) and the insulating component (3), the outer peripheral wall of the robot arm tracer (4) is provided with a plurality of reflective sheet groups distributed along the axial direction of the ring sleeve, and each reflective sheet group includes a plurality of reflective sheets (5) distributed along the circumference of the ring sleeve.

2. A high-precision positioning high-position osteotomy device according to claim 1, characterized in that: The outer peripheral side of the robot arm tracer (4) is provided with a first reflector group, a second reflector group and a third reflector group, each of the reflector groups includes six reflectors (5) evenly spaced around the circumference, and the first reflector group, the second reflector group and the third reflector group are evenly spaced along the axial direction of the ring sleeve.

3. A high-precision positioning high-position osteotomy device according to claim 2, characterized in that: The outer side of the robot arm tracer (4) is divided into six virtual reflective surfaces, each of which includes three reflective sheets (5); the robot arm tracer (4) is configured such that an optical camera obtains the position information of the end of the robot arm through one of the virtual reflective surfaces each time.

4. A high-precision positioning high-position osteotomy device according to claim 3, characterized in that: The three reflective sheets (5) within the range of each virtual reflective surface are staggered in the axial direction.

5. The high-precision positioning high-position osteotomy device according to claim 4, characterized in that: The relative position relationship of the three reflective sheets (5) within the range of each virtual reflective surface is the same.

6. The high-precision positioning high-position osteotomy device according to claim 1, characterized in that: The outer wall of the mechanical arm tracer (4) is provided with a plurality of slots, and the reflective sheets (5) are fixedly embedded in the slots in a one-to-one correspondence.

7. The high-precision positioning high-position osteotomy device according to claim 1, characterized in that: The robotic arm tracer (4) comprises a first ring sleeve (401) and a second ring sleeve (402) connected to the first ring sleeve (401), wherein the first ring sleeve (401) and the second ring sleeve (402) form a convex three-dimensional structure, wherein the inner wall of the first ring sleeve (401) is interference-fitted with the mounting seat (2), and the inner wall of the second ring sleeve (402) is interference-fitted with the insulating component (3).

8. The high-precision positioning high-position osteotomy device according to claim 1, characterized in that: The high-position osteotomy device further comprises a trolley (6), the trolley (6) being provided with a mechanical arm receiving seat (7), and the mechanical arm (1) being detachably mounted on the mechanical arm receiving seat (7).

9. The high-precision positioning high-position osteotomy device according to claim 8, characterized in that: The trolley (6) is provided with a trolley tracer (8), and the trolley tracer (8) is a planar reference array structure.

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