A calibration tool for double-sided probe hook

Abstract

The present application relates to a calibration tool for a double-sided probe hook, which is used in the field of robotic surgery, and includes a base, a reference seat is mounted on the base, a first fixing unit for fixing the reference seat is provided on the base, a calibration block is provided on the base, a calibration hole is provided on the calibration block, a detection rod is provided in the calibration hole, the detection rod is located on one side of the hook body, and one end of the detection rod facing the hook body contacts the hook body. The technical effect of the present application is: by controlling the concentricity between the hook body and the detection rod of the double-sided probe, the possibility of deviation of the double-sided probe hook when the robot's mechanical arm contacts the patient's spinal structure is reduced, and the surgical risk is reduced while improving the surgical accuracy and surgical effect.

Description

Technical Field

[0001] The present application relates to the technical field of robotic surgery, and in particular to a calibration tool for a double-sided probe hook. Background Art

[0002] A double-sided probe hook is an instrument specifically used in medical surgery. It usually has a specific shape and function to adapt to different surgical needs. Its main uses include detecting and capturing broken bones or other tissues in human wounds and performing delicate operations during surgery.

[0003] Reference Figure 1 The double-sided probe hook includes a reference frame 1, which includes a reference seat 2, on which a reference sleeve 3 is arranged, and the outer edge of the reference sleeve 3 is integrally formed with a first positioning block 4 and a second positioning block 5, respectively, a first positioning groove 6 is provided on the first positioning block 4, and a second positioning groove 7 is provided on the second positioning block 5. The reference seat 2 is provided with two reference grooves 8, a reserved positioning groove 9 and a bottom positioning groove 10, and the end of the reference sleeve 3 away from the reference seat 2 is connected to a hook body 11 through a pin. In the existing surgical procedure, the double-sided probe hook contacts the patient's spinal structure through the robot's mechanical arm to perform the surgical operation, and the concentricity offset range between the end of the hook body 11 and the contacted object is required to be within 0.03mm.

[0004] The above-mentioned method of using a robot to manipulate a double-sided probe hook for surgery requires high concentricity dimensional accuracy between the hook body of the double-sided probe hook and the object it contacts. If the concentricity dimensional accuracy requirement is not met, deviations or errors are prone to occur in the surgical operation, which may accidentally injure the peripheral nerves of the spine during the operation, affecting the surgical effect while increasing the surgical risk. Summary of the invention

[0005] In order to help solve the problem that the positioning accuracy between the hook body of the double-sided probe hook and the object it contacts in existing robotic surgery is difficult to determine, and the concentricity is prone to deviation, the present application provides a calibration tool for a double-sided probe hook, which adopts the following technical solution: it includes a base, a reference seat is mounted on the base, the base is provided with a first fixing unit for fixing the reference seat, the base is provided with a calibration block, the calibration block is provided with a calibration hole, the calibration hole is provided with a detection rod matching the calibration hole, the detection rod is located on one side of the hook body and the detection rod is in contact with the hook body at one end of the hook body.

[0006] Through the above technical solution, when it is necessary to detect the concentricity dimensional accuracy of the hook body of the double-sided probe hook and the contact object, the operator uses the first fixing unit to install the reference seat of the double-sided probe hook on the base with the detection rod as the reference of the contact object, so as to fix the double-sided probe hook. At this time, the hook body of the double-sided probe hook is located on one side of the calibration block, and then the detection rod is passed through the calibration hole so that the detection rod contacts the end of the hook body facing the center of the end face of the hook body, and the detection rod is detected to see whether the concentricity of the end of the hook body away from the reference seat and the detection rod is within the required range. If there is a deviation, the hook body of the double-sided probe hook is disassembled for fine-tuning and reinstalled until the concentricity of the end of the hook body facing the detection rod and the detection rod is within the required range. By controlling the concentricity between the hook body of the double-sided probe and the detection rod, the possibility of deviation of the double-sided probe hook when the robot arm contacts the patient's spinal structure is reduced, and the surgical risk is reduced while improving the surgical accuracy and surgical effect.

[0007] In a specific possible implementation manner, the first fixing unit includes bottom positioning posts arranged on the base and respectively matched with the two reference grooves, and the two bottom positioning posts are respectively partially penetrated into the two reference grooves.

[0008] Through the above technical solution, the two bottom positioning columns are both inserted into the reference groove of the reference seat, limiting the free movement of the reference seat, thereby limiting the overall position of the reference frame, ensuring that the relative position of the reference frame and the base is fixed, reducing the possibility of reference frame deviation, and improving the stability of the reference frame installed on the base.

[0009] In a specific possible implementation scheme, a first fixing screw matching the bottom positioning groove is provided on the base, and one end of the first fixing screw facing the reference seat is threadedly connected in the bottom positioning groove.

[0010] Through the above technical solution, the first fixing screw is threadedly connected to the bottom positioning groove, which further reduces the possibility of shaking of the reference seat and improves the stability of the connection between the reference seat and the base.

[0011] In a specific feasible implementation scheme, the base is provided with a second fixing unit for fixing the reference sleeve, the second fixing unit includes a mounting seat arranged on the base, the mounting seat is provided with a second fixing screw matching the first positioning groove, the second fixing screw is threadedly connected in the first positioning groove at one end facing the reference sleeve, and the base is provided with a third fixing screw matching the second positioning groove, the third fixing screw is threadedly connected in the second positioning groove at one end facing the reference sleeve.

[0012] Through the above technical solution, the second fixing screw is threadedly connected to the first positioning groove, and the third fixing screw is threadedly connected to the second positioning groove, which reduces the possibility of position deviation of the reference sleeve, improves the stability of the connection between the reference sleeve and the base, and further improves the accuracy of the concentricity positioning dimension between the hook body and the detection rod.

[0013] In a specific possible implementation scheme, the calibration block includes a fixed block arranged on the base, a support block is arranged on the surface of the fixed block facing away from the base, the support block is inclined toward the hook body and the calibration hole is arranged on the support block.

[0014] Through the above technical solution, the support block is tilted toward the hook body to facilitate the contact between the detection rod and the end of the hook body, and to facilitate the operator to observe the position of the detection rod and the hook body during the detection process.

[0015] In a specific possible implementation manner, an arc-shaped chamfer is provided at one end of the detection rod facing the hook body.

[0016] Through the above technical solution, the design of the annular arc chamfer can reduce the risk of injury to operators caused by sharp edges and corners, while reducing the possibility of the sharp edge of the detection rod scratching the end of the hook body or the two interfering with each other.

[0017] In a specific possible implementation manner, a taking column is provided at one end of the detection rod away from the hook body.

[0018] Through the above technical solution, the operator can use the picking column to easily and portablely take the detection rod from the calibration hole, which is more flexible and convenient for replacing detection rods of different models.

[0019] In a specific possible implementation scheme, a sink hole is provided on the surface of the base facing the reference seat, and the reference seat is partially located at the inner edge of the sink hole.

[0020] Through the above technical solution, the sinking hole roughly limits the position of the reference seat, while reducing the height of the reference seat relative to the base, thereby improving the stability of the reference seat placement.

[0021] In a specific possible implementation scheme, a plurality of avoidance grooves are provided on the surface of the base facing away from the reference seat.

[0022] Through the above technical solution, the avoidance groove reduces the weight of the base, and at the same time leaves space for the operator to turn the first fixing screw, the second fixing screw and the third fixing screw, thereby facilitating operation.

[0023] In a specific implementation scheme, a reserved block is bolted to the base, a mounting bolt matching the reserved positioning groove is passed through the reserved block, and one end of the mounting bolt facing the reference seat is threadedly connected in the reserved positioning groove.

[0024] Through the above technical solution, the operator can remove the reserved block from the base by means of bolt disassembly, which is more flexible. The end of the installation bolt facing the reference seat is threaded into the reserved positioning groove, which further reduces the possibility of shaking of the reference seat and improves the stability of the reference seat.

[0025] In summary, the present application has the following beneficial technical effects: when it is necessary to detect the concentricity dimensional accuracy of the hook body of the double-sided probe hook and the contact object, with the detection rod as the reference of the contact object, the operator installs the reference seat of the double-sided probe hook on the base using the first fixing unit, thereby fixing the double-sided probe hook. At this time, the hook body of the double-sided probe hook is located on one side of the calibration block, and then the detection rod is passed through the calibration hole so that the detection rod contacts the end of the hook body facing the center of the end face of the hook body, and the detection rod is detected to see whether the concentricity of the end of the hook body away from the reference seat and the detection rod is within the required range. If there is a deviation, the hook body of the double-sided probe hook is disassembled for fine-tuning and reinstalled until the concentricity of the end of the hook body facing the detection rod and the detection rod is within the required range. By controlling the concentricity between the hook body of the double-sided probe and the detection rod, the possibility of deviation of the double-sided probe hook when the robot's mechanical arm contacts the patient's spinal structure is reduced, and the surgical risk is reduced while improving the surgical accuracy and surgical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a double-sided probe hook in the prior art.

[0027] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0028] Figure 3 It is a schematic diagram of the structure of the detection rod in the embodiment of the present application.

[0029] Figure markings: 1. reference frame; 2. reference seat; 3. reference sleeve; 4. first positioning block; 5. second positioning block; 6. first positioning groove; 7. second positioning groove; 8. reference groove; 9. reserved positioning groove; 10. bottom positioning groove; 11. hook body; 12. base; 13. calibration block; 14. calibration hole; 15. detection rod; 16. bottom positioning column; 17. first fixing screw; 18. mounting seat; 19. second fixing screw; 20. third fixing screw; 21. fixing block; 22. supporting block; 23. arc chamfer; 24. picking column; 25. sinking hole; 26. avoidance groove; 27. reserved block; 28. mounting bolt. DETAILED DESCRIPTION

[0030] The following is combined with Figure 2-3 This application is described in further detail.

[0031] The embodiment of the present application discloses a calibration tool for a double-sided probe hook.

[0032] Reference Figure 2 and Figure 3 The calibration tool for the double-sided probe hook includes a base 12, and the reference seat 2 is mounted on the base 12. In the embodiment of the present application, the base 12 is made of aluminum alloy material, which has the advantages of light weight, high strength, corrosion resistance, good thermal conductivity and electrical conductivity, easy processing and forming, and beautiful and environmentally friendly.

[0033] Reference Figure 2 and Figure 3 , a first fixing unit for fixing the reference seat 2 is provided on the base 12, and the first fixing unit includes a bottom positioning column 16 provided on the base 12 and matching the size of the two reference grooves 8, respectively, and the two bottom positioning columns 16 are partially penetrated in the two reference grooves 8. Therefore, the two bottom positioning columns 16 are both penetrated in the reference grooves 8 of the reference seat 2, limiting the free movement of the reference seat 2, thereby limiting the position of the reference frame 1 as a whole, ensuring that the relative position of the reference frame 1 and the base 12 is fixed, reducing the possibility of deviation of the reference frame 1, and improving the stability of the reference frame 1 installed on the base 12.

[0034] Reference Figure 2 and Figure 3 , a reserved block 27 is bolted to the base 12. In the embodiment of the present application, the reserved block 27 is L-shaped, and a mounting bolt 28 matching the size of the reserved positioning groove 9 is passed through the reserved block 27. The end of the mounting bolt 28 facing the reference seat 2 is threadedly connected to the reserved positioning groove 9. When the reserved block 27 is not needed in actual use, the operator can remove the reserved block 27 from the base 12 by means of bolt disassembly, which is more flexible. The end of the mounting bolt 28 facing the reference seat 2 is threadedly connected to the reserved positioning groove 9, which further reduces the possibility of shaking of the top of the reference seat 2 and improves the stability of the reference seat 2.

[0035] Reference Figure 2 and Figure 3 A sink hole 25 is provided on the surface of the base 12 facing the reference seat 2. The sharp edges of the sink hole 25 are chamfered to reduce the possibility of interference of the sink hole 25 with the reference seat 2. In the embodiment of the present application, a certain gap is left between the sink hole 25 and the reference seat 2. Part of the reference seat 2 is located at the inner edge of the sink hole 25. The sink hole 25 roughly limits the position of the reference seat 2 while reducing the height of the reference seat 2 relative to the base 12, thereby improving the stability of the placement of the reference seat 2 and reducing the height of components such as the reserved block 27, saving materials.

[0036] Reference Figure 2 and Figure 3The base 12 is provided with a first fixing screw 17 matching the size of the bottom positioning groove 10, and the end of the first fixing screw 17 facing the reference seat 2 is threadedly connected in the bottom positioning groove 10. The base 12 is provided with a second fixing unit for fixing the reference sleeve 3, and the second fixing unit includes a mounting seat 18 provided on the base 12, and the mounting seat 18 is provided with a second fixing screw 19 matching the size of the first positioning groove 6, and the end of the second fixing screw 19 facing the reference sleeve 3 is threadedly connected in the first positioning groove 6, and the base 12 is provided with a third fixing screw 20 matching the size of the second positioning groove 7, and the end of the third fixing screw 20 facing the reference sleeve 3 is threadedly connected in the second positioning groove 7.

[0037] Therefore, the first fixing screw 17 is threadedly connected to the bottom positioning groove 10, which further reduces the possibility of shaking of the reference seat 2 and improves the stability of the connection between the reference seat 2 and the base 12; the second fixing screw 19 is threadedly connected to the first positioning groove 6, and the third fixing screw 20 is threadedly connected to the second positioning groove 7, which reduces the possibility of position deviation of the reference sleeve 3, improves the stability of the connection between the reference sleeve 3 and the base 12, and further improves the accuracy of the concentricity positioning dimensions between the hook body 11 and the detection rod 15.

[0038] Reference Figure 2 and Figure 3 A plurality of avoidance grooves 26 are provided on the surface of the base 12 facing away from the reference seat 2. The avoidance grooves 26 reduce the weight of the base 12 and leave space for the operator to rotate the first fixing screw 17, the second fixing screw 19 and the third fixing screw 20, thereby facilitating operation.

[0039] Reference Figure 2 and Figure 3 A calibration block 13 is provided on the base 12. The calibration block 13 includes a fixed block 21 fixedly connected to the base 12. A support block 22 is fixedly connected to the surface of the fixed block 21 facing away from the base 12. The support block 22 is tilted toward the hook body 11. A calibration hole 14 is provided on the support block 22. A detection rod 15 matching the size of the calibration hole 14 is provided in the calibration hole 14. The detection rod 15 is located on one side of the hook body 11 and one end of the detection rod 15 facing the hook body 11 contacts the hook body 11. The support block 22 is tilted toward the hook body 11, which facilitates the detection rod 15 to contact the end of the hook body 11 and facilitates the operator to observe the position of the detection rod 15 and the hook body 11 during the detection process.

[0040] Reference Figure 2 and Figure 3The end of the detection rod 15 facing away from the hook body 11 is fixedly connected with a pick-up column 24, and the operator can use the pick-up column 24 to easily and portablely take the detection rod 15 from the calibration hole 14, which is more flexible and convenient for replacing different types of detection rods 15. The end of the detection rod 15 facing the hook body 11 is provided with an arc-shaped chamfer 23. The design of the arc-shaped chamfer 23 can reduce the risk of injury to the operator by sharp edges and corners, and at the same time reduce the possibility of the sharp edge of the detection rod 15 scratching the end of the hook body 11 or the interference between the two.

[0041] The implementation principle of the embodiment of the present application is: when it is necessary to detect the concentricity dimensional accuracy of the hook body 11 of the double-sided probe hook and the contact object, taking the detection rod 15 as the reference of the contact object, the operator sets up the reference frame 1 on the base 12, so that the two bottom positioning columns 16 are both inserted into the reference groove 8 of the reference seat 2, thereby realizing the fixation of the double-sided probe hook. At this time, the hook body 11 of the double-sided probe hook is located on one side of the calibration block 13, and then the detection rod 15 is inserted through the calibration hole 14, so that the detection rod 15 contacts the end of the hook body 11 facing the detection rod 15 at the center of the end face of the hook body 11, and detects whether the concentricity of the end of the hook body 11 and the detection rod 15 is within the required range. If there is a deviation, the hook body 11 of the double-sided probe hook is disassembled for fine-tuning and reinstalled until the concentricity of the end of the hook body 11 facing the detection rod 15 and the detection rod 15 is within the required range. By controlling the concentricity between the hook body 11 and the detection rod 15 of the double-sided probe, the possibility of deviation of the double-sided probe hook when the robot arm contacts the patient's spinal structure is reduced, thereby reducing surgical risks and improving surgical accuracy and surgical results.

[0042] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A calibration tool for a double-sided probe hook, characterized in that: The invention comprises a base (12), a reference seat (2) being mounted on the base (12), a first fixing unit for fixing the reference seat (2) being provided on the base (12), a calibration block (13) being provided on the base (12), a calibration hole (14) being provided on the calibration block (13), a detection rod (15) matching the calibration hole (14) being provided in the calibration hole (14), the detection rod (15) being located on one side of the hook body (11), and one end of the detection rod (15) facing the hook body (11) being in contact with the hook body (11).

2. The calibration tool for double-sided probe hook according to claim 1, characterized in that: The first fixing unit comprises a bottom positioning column (16) which is arranged on the base (12) and matches the two reference grooves (8) respectively, and the two bottom positioning columns (16) are respectively partially inserted into the two reference grooves (8).

3. The calibration tool for double-sided probe hook according to claim 1, characterized in that: The base (12) is provided with a first fixing screw (17) matching the bottom positioning groove (10), and one end of the first fixing screw (17) facing the reference seat (2) is threadedly connected in the bottom positioning groove (10).

4. The calibration tool for double-sided probe hook according to claim 1, characterized in that: The base (12) is provided with a second fixing unit for fixing the reference sleeve (3), the second fixing unit comprises a mounting seat (18) arranged on the base (12), a second fixing screw (19) matching the first positioning groove (6) is passed through the mounting seat (18), one end of the second fixing screw (19) facing the reference sleeve (3) is threadedly connected in the first positioning groove (6), and a third fixing screw (20) matching the second positioning groove (7) is passed through the base (12), and one end of the third fixing screw (20) facing the reference sleeve (3) is threadedly connected in the second positioning groove (7).

5. The calibration tool for double-sided probe hook according to claim 1, characterized in that: The calibration block (13) comprises a fixed block (21) arranged on the base (12); a support block (22) is provided on the surface of the fixed block (21) facing away from the base (12); the support block (22) is arranged obliquely toward the hook body (11) and the calibration hole (14) is arranged on the support block (22).

6. The calibration tool for double-sided probe hook according to claim 1, characterized in that: An arc-shaped chamfer (23) is provided at one end of the detection rod (15) facing the hook body (11).

7. The calibration tool for double-sided probe hook according to claim 1, characterized in that: A picking column (24) is provided at one end of the detection rod (15) which is away from the hook body (11).

8. The calibration tool for double-sided probe hook according to claim 1, characterized in that: A sink hole (25) is provided on the surface of the base (12) facing the reference seat (2), and a portion of the reference seat (2) is located at the inner edge of the sink hole (25).

9. The calibration tool for double-sided probe hook according to claim 1, characterized in that: A plurality of avoidance grooves (26) are provided on the surface of the base (12) facing away from the reference seat (2).

10. The calibration tool for double-sided probe hook according to claim 1, characterized in that: A reserved block (27) is bolted to the base (12), and a mounting bolt (28) matching the reserved positioning groove (9) is passed through the reserved block (27), and one end of the mounting bolt (28) facing the reference seat (2) is threadedly connected in the reserved positioning groove (9).

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