A calibration tool for guiding and locating a device

Abstract

The present application relates to a calibration tool for a guide locator, which is used in the field of robotic surgery, including a base plate, a first connecting assembly for fixing a reference frame, an adjustment hole matching the adjustment bolt of the reference frame, a calibration block, a calibration hole, a test needle inserted into the calibration hole and one end of the test needle facing the guide sleeve corresponding to the guide sleeve. The technical effect of the present application is: by controlling the concentricity between the guide sleeve of the guide locator and the test needle, the possibility of deviation when the robot's mechanical arm is connected to 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 guide locator. Background Art

[0002] The guide locator for spinal surgery is a high-precision instrument used to assist spinal surgery. The guide locator plays a key role in helping doctors accurately locate and manipulate the patient's spinal structure during surgery.

[0003] Reference Figure 1 The guide locator includes a reference frame 1, a reference locating hole 2 is provided on the reference frame 1, and a drilling guide sleeve, namely a guide sleeve 10, is connected to the reference frame 1 through an adjusting bolt 3. The guide locator also includes a test needle 4, which can also be replaced by a drill bit during the operation. In the existing operation, the guide locator is connected to the patient's spinal structure through the robot's mechanical arm to perform the operation, and the concentricity offset range between the guide sleeve 10 and the test needle 4 is required to be within 0.03mm.

[0004] The above-mentioned method of using a robot to manipulate the guide locator for surgery has high requirements for the concentricity dimensional accuracy of the guide sleeve and the test needle of the guide locator. If the concentricity dimensional accuracy requirements are not met, deviations or errors are prone to occur in the surgical operation, and the surrounding tissues of the spine may be accidentally injured during the operation, affecting the surgical effect and increasing the surgical risk. Summary of the invention

[0005] In order to help solve the problem that the dimensional positioning accuracy between the guide sleeve and the test needle of the guide locator in the existing robotic surgery is difficult to determine and the concentricity is prone to deviation, the present application provides a calibration tool for a guide locator, adopts the following technical solution: it includes a base plate, a reference frame is mounted on the base plate, the base plate is provided with a first connecting component for fixing the reference frame, the base plate is provided with an adjustment hole matching the adjustment bolt of the reference frame, the base plate is provided with a calibration block, the calibration block is provided with a calibration hole matching the test needle, the test needle is inserted into the calibration hole and one end of the test needle facing the guide sleeve corresponds to the guide sleeve.

[0006] Through the above technical solution, when it is necessary to detect the concentricity dimensional accuracy between the guide sleeve of the guide locator and the test needle, the operator installs the reference frame of the guide locator on the base plate using the first connecting assembly, connects the guide sleeve of the guide locator to the reference frame through the adjusting bolt, aligns the hole of the guide sleeve with the calibration hole of the calibration block, and then inserts the test needle into the calibration hole of the calibration block to detect whether the end of the test needle facing the guide sleeve can be inserted into the hole of the guide sleeve. If there is a deviation, adjust the adjusting bolt to adjust the position of the guide sleeve until the test needle can be inserted into the hole of the guide sleeve and the concentricity of the guide sleeve and the test needle is within the required range, and finally completely tighten the adjusting bolt. By controlling the concentricity between the guide sleeve of the guide locator and the test needle, the possibility of deviation when the robot's mechanical arm is connected to the patient's spinal structure is reduced, reducing surgical risks while improving surgical accuracy and surgical results.

[0007] In a specific possible implementation manner, the first connecting component includes a bottom positioning column arranged on the bottom plate and matching with the reference positioning hole, and the bottom positioning column is partially inserted into the reference positioning hole.

[0008] Through the above technical solution, the bottom positioning column is inserted into the reference positioning hole of the reference frame to limit the free movement of the reference frame, ensure that the relative position of the reference frame and the base plate is fixed, reduce the possibility of reference frame deviation, and improve the stability of the reference frame installed on the base plate.

[0009] In a specific feasible implementation scheme, the base plate is provided with a second connecting component for fixing the calibration block, the second connecting component includes a mounting hole opened on the base plate, a mounting bolt matching the mounting hole is passed through the mounting hole, a threaded groove matching the mounting bolt is opened on the surface of the calibration block facing the base plate, and the mounting bolt is threadedly connected in the threaded groove.

[0010] Through the above technical solution, the operator can remove the calibration block from the base plate by means of bolt disassembly, which is more flexible and convenient for subsequent adjustment and replacement of calibration blocks of different sizes to cope with different types of test needles.

[0011] In a specific possible implementation scheme, a mounting groove corresponding to the mounting hole is opened on the bottom plate, and the end of the mounting bolt is entirely located in the mounting groove.

[0012] Through the above technical solution, the end of the mounting bolt is entirely located in the mounting groove, which reduces the possibility of the mounting bolt interfering with other components and improves the stability of the base plate placement.

[0013] In a specific possible implementation scheme, a calibration positioning post is provided on the base plate, a calibration positioning groove matching the calibration positioning post is opened on the surface of the calibration block facing the base plate, and the calibration positioning post is partially inserted into the calibration positioning groove.

[0014] Through the above technical solution, the calibration positioning column is inserted into the calibration positioning groove of the calibration block to limit the free movement of the calibration block, ensuring that the relative position of the calibration block and the base plate is fixed, reducing the possibility of the calibration block offset, and improving the stability of the calibration block installed on the base plate. At the same time, the accuracy of the concentricity between the calibration guide sleeve and the test needle is improved.

[0015] In a specific possible implementation manner, the number of the calibration and positioning posts is two, and the two calibration and positioning posts are respectively located on two sides of the mounting hole.

[0016] Through the above technical solution, two calibration positioning columns are respectively located on both sides of the mounting hole to limit the positions on both sides of the mounting hole, thereby further ensuring that the relative position of the calibration block and the base plate is fixed while improving the stability of the calibration block installed on the base plate.

[0017] In a specific possible implementation scheme, a limiting groove matching the calibration block is formed on the bottom plate, and the calibration block is located in the limiting groove and contacts with the groove wall of the limiting groove.

[0018] Through the above technical solution, the limiting groove limits the position of the calibration block, reduces the possibility of the calibration block shifting, and improves the stability of the placement of the calibration block.

[0019] In a specific possible implementation manner, an arc chamfer is provided on the surface of the calibration block facing away from the bottom plate.

[0020] Through the above technical solution, the arc chamfer improves the aesthetic effect of the calibration block while reducing the risk of the sharp edge of the calibration block cutting the operator. The arc chamfer also plays an anti-mistake effect, reducing the possibility of the calibration block being installed in the wrong position, and improving the installation efficiency of the calibration block.

[0021] In a specific feasible implementation scheme, a plurality of reserved holes are opened on the base plate, a pressure plate is provided on the base plate, a plurality of pressure block bolts matching the plurality of reserved holes are passed through the pressure plate, the plurality of pressure block bolts are respectively threadedly connected in the reserved holes, and the reference frame is pressed tightly between the pressure plate and the base plate.

[0022] Through the above technical solution, the reference frame is pressed tightly between the pressure plate and the base plate, which reduces the possibility of shaking of the reference frame and further improves the stability of the connection between the reference frame and the base plate. When the pressure plate is not needed, it can be removed by bolts.

[0023] In a specific implementation manner, the base plate and the calibration block are made of aluminum alloy material.

[0024] In summary, the present application has the following beneficial technical effects: when it is necessary to detect the concentricity dimensional accuracy between the guide sleeve of the guide locator and the test needle, the operator installs the reference frame of the guide locator on the base plate using the first connecting assembly, connects the guide sleeve of the guide locator to the reference frame through the adjusting bolt, aligns the hole of the guide sleeve with the calibration hole of the calibration block, and then inserts the test needle into the calibration hole of the calibration block, and detects whether the end of the test needle facing the guide sleeve can be inserted into the hole of the guide sleeve. If there is a deviation, adjust the adjusting bolt to adjust the position of the guide sleeve until the test needle can be inserted into the hole of the guide sleeve and the concentricity of the guide sleeve and the test needle is within the required range, and finally completely tighten the adjusting bolt. By controlling the concentricity between the guide sleeve of the guide locator and the test needle, the possibility of deviation when the robot's mechanical arm is connected to the patient's spinal structure is reduced, and the surgical risk is reduced while improving the surgical accuracy and effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a guide positioner in the prior art.

[0026] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0027] Figure 3 It is a structural schematic diagram used to reflect the adjustment hole in the embodiment of the present application.

[0028] Figure numerals: 1. reference frame; 2. reference positioning hole; 3. adjusting bolt; 4. test needle; 5. base plate; 6. adjusting hole; 7. calibration block; 8. calibration hole; 9. bottom positioning column; 10. guide sleeve; 11. mounting bolt; 12. mounting groove; 13. calibration positioning column; 14. limit groove; 15. arc chamfer; 16. reserved hole; 17. pressure plate; 18. pressure block bolt. DETAILED DESCRIPTION

[0029] The following is combined with Figure 2-3 This application is described in further detail.

[0030] The embodiment of the present application discloses a calibration tool for a guide locator.

[0031] Reference Figure 2 and Figure 3The calibration tooling for the guide locator includes a base plate 5, a reference frame 1 is mounted on the base plate 5, and an adjustment hole 6 matching the size of the adjustment bolt 3 of the reference frame 1 is opened on the base plate 5. In order to facilitate the subsequent adjustment of the tightness of the adjustment bolt 3, the size of the adjustment hole 6 in the embodiment of the present application is larger than the size of the adjustment bolt 3. The base plate 5 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. In the embodiment of the present application, chamfers are provided around the base plate 5. The chamfering process can remove the sharp corners of the base plate 5, making the appearance of the base plate 5 more beautiful while reducing the possibility of cutting the user.

[0032] Reference Figure 2 and Figure 3 , a first connection assembly for fixing the reference frame 1 is provided on the bottom plate 5, and the first connection assembly includes a bottom positioning column 9 provided on the bottom plate 5 and matching the size of the reference positioning hole 2. In the embodiment of the present application, the number of the bottom positioning columns 9 is set to four, and the four bottom positioning columns 9 are partially penetrated in the reference positioning hole 2. Therefore, the bottom positioning column 9 is penetrated in the reference positioning hole 2 of the reference frame 1 to limit the free movement of the reference frame 1, ensure that the relative position of the reference frame 1 and the bottom plate 5 is fixed, reduce the possibility of deviation of the reference frame 1, and improve the stability of the reference frame 1 installed on the bottom plate 5.

[0033] Reference Figure 2 and Figure 3 , a plurality of reserved holes 16 are provided on the bottom plate 5, and the number of the reserved holes 16 can be set according to the actual use requirements. A pressing plate 17 is provided on the bottom plate 5. In the embodiment of the present application, two pressing block bolts 18 matching the reserved holes 16 are passed through the pressing plate 17, and the two pressing block bolts 18 are respectively threaded into the reserved holes 16 on the bottom plate 5, and the reference frame 1 is pressed between the pressing plate 17 and the bottom plate 5. Therefore, pressing the reference frame 1 between the pressing plate 17 and the bottom plate 5 reduces the possibility of shaking of the reference frame 1, further improves the stability of the connection between the reference frame 1 and the bottom plate 5, and can be disassembled by bolt disassembly when the pressing plate 17 is not needed.

[0034] Reference Figure 2 and Figure 3 , a calibration block 7 is arranged on the bottom plate 5, and the calibration block 7 is also made of aluminum alloy. A calibration hole 8 matching the size of the test needle 4 is opened on the calibration block 7, and the test needle 4 is inserted into the calibration hole 8, and one end of the test needle 4 facing the guide sleeve 10 corresponds to the guide sleeve 10. Two arc chamfers 15 are arranged on the surface of the calibration block 7 facing away from the bottom plate 5. The two arc chamfers 15 not only improve the aesthetic effect of the calibration block 7, but also reduce the risk of the sharp edge of the calibration block 7 cutting the operator. The arc chamfers 15 also play a fool-proof role, reducing the possibility of the calibration block 7 being installed in reverse position, and improving the installation efficiency of the calibration block 7.

[0035] Reference Figure 2 and Figure 3 The bottom plate 5 is provided with a second connection component for fixing the calibration block 7. The second connection component includes a mounting hole provided on the bottom plate 5. A mounting bolt 11 matching the size of the mounting hole is passed through the mounting hole. A threaded groove matching the size of the mounting bolt 11 is provided on the surface of the calibration block 7 facing the bottom plate 5. The mounting bolt 11 is threadedly connected in the threaded groove. A mounting groove 12 corresponding to the position of the mounting hole is provided on the bottom plate 5. The end of the mounting bolt 11 is located in the mounting groove 12 as a whole, which reduces the possibility of the mounting bolt 11 interfering with other components and improves the stability of the placement of the bottom plate 5.

[0036] Therefore, the operator can remove the calibration block 7 from the base plate 5 by means of bolt disassembly, which is more flexible and convenient for subsequent adjustment and replacement of calibration blocks 7 of different sizes to cope with different models of test needles 4.

[0037] Reference Figure 2 and Figure 3 , a limiting groove 14 matching the size of the calibration block 7 is provided on the bottom plate 5, and the calibration block 7 is located in the limiting groove 14 and in contact with the groove wall of the limiting groove 14. The limiting groove 14 limits the position of the calibration block 7, reduces the possibility of the calibration block 7 being offset, and improves the stability of the placement of the calibration block 7. In addition, since there may be inconsistencies in the surface roughness of the bottom plate 5, after the limiting groove 14 is provided on the bottom plate 5, the groove wall of the limiting groove 14 can be processed so that the surface roughness of the bottom of the limiting groove 14 is within Ra1.6, so that the contact surface between the calibration block 7 and the limiting groove 14 is smoother, thereby improving the accuracy of the concentricity between the calibration guide sleeve 10 and the test needle 4 on the calibration block 7.

[0038] Reference Figure 2 and Figure 3 , a calibration positioning column 13 is provided on the bottom plate 5, and a calibration positioning groove matching the size of the calibration positioning column 13 is provided on the surface of the calibration block 7 facing the bottom plate 5, and the calibration positioning column 13 is partially inserted into the calibration positioning groove. In the embodiment of the present application, the number of the calibration positioning columns 13 is two, and the two calibration positioning columns 13 are respectively located on both sides of the mounting hole. With the two calibration positioning columns 13 respectively located on both sides of the mounting hole, the positions on both sides of the mounting hole are limited, which further ensures that the relative position of the calibration block 7 and the bottom plate 5 is fixed, while improving the stability of the calibration block 7 installed on the bottom plate 5.

[0039] The implementation principle of the embodiment of the present application is as follows: when it is necessary to detect the concentricity dimensional accuracy between the guide sleeve 10 of the guide locator and the test needle 4, the operator respectively passes the four bottom positioning columns 9 through the reference positioning holes 2 of the reference frame 1, so that the reference frame 1 is installed on the bottom plate 5, the guide sleeve 10 of the guide locator is connected to the reference frame 1 through the adjusting bolt 3, the hole of the guide sleeve 10 is aligned with the calibration hole 8 of the calibration block 7, and then the test needle 4 is inserted into the calibration hole 8 of the calibration block 7, and the end of the test needle 4 facing the guide sleeve 10 is detected. Whether it can be inserted into the hole of the guide sleeve 10, if there is a deviation, the adjusting bolt 3 is adjusted to adjust the position of the guide sleeve 10 until the test needle 4 can be inserted into the hole of the guide sleeve 10 and the concentricity of the guide sleeve 10 and the test needle 4 is within 0.03mm, and finally the adjusting bolt 3 is completely locked. By controlling the concentricity between the guide sleeve 10 of the guide locator and the test needle 4, the possibility of deviation when the robot's mechanical arm is connected to the patient's spinal structure is reduced, and the surgical risk is reduced while improving the surgical accuracy and surgical effect.

[0040] 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 guide locator, characterized in that: The invention comprises a base plate (5), a reference frame (1) is mounted on the base plate (5), a first connecting component for fixing the reference frame (1) is provided on the base plate (5), an adjustment hole (6) matching an adjustment bolt (3) of the reference frame (1) is provided on the base plate (5), a calibration block (7) is provided on the base plate (5), a calibration hole (8) matching a test needle (4) is provided on the calibration block (7), the test needle (4) is inserted into the calibration hole (8), and one end of the test needle (4) facing the guide sleeve (10) corresponds to the guide sleeve (10).

2. The calibration tool for guiding the positioner according to claim 1, characterized in that: The first connection component comprises a bottom positioning column (9) arranged on the bottom plate (5) and matching the reference positioning hole (2); the bottom positioning column (9) is partially inserted into the reference positioning hole (2).

3. The calibration tool for guiding the positioner according to claim 1, characterized in that: The base plate (5) is provided with a second connection component for fixing the calibration block (7), the second connection component comprising a mounting hole formed on the base plate (5), a mounting bolt (11) matching the mounting hole being passed through the mounting hole, a threaded groove matching the mounting bolt (11) being formed on the surface of the calibration block (7) facing the base plate (5), and the mounting bolt (11) being threadedly connected in the threaded groove.

4. The calibration tool for guiding and positioning a device according to claim 3, characterized in that: The bottom plate (5) is provided with a mounting groove (12) corresponding to the mounting hole, and the end of the mounting bolt (11) is entirely located in the mounting groove (12).

5. The calibration tool for guiding the positioner according to claim 2, characterized in that: The bottom plate (5) is provided with a calibration positioning column (13), and the calibration block (7) is provided with a calibration positioning groove matching the calibration positioning column (13) on the surface facing the bottom plate (5), and the calibration positioning column (13) is partially inserted into the calibration positioning groove.

6. The calibration tool for guiding the positioner according to claim 5, characterized in that: The number of the calibration and positioning posts (13) is two, and the two calibration and positioning posts (13) are respectively located on two sides of the mounting hole.

7. The calibration tool for guiding and positioning a device according to claim 1, characterized in that: The bottom plate (5) is provided with a limiting groove (14) matching the calibration block (7); the calibration block (7) is located in the limiting groove (14) and in contact with the groove wall of the limiting groove (14).

8. The calibration tool for guiding and positioning a device according to claim 1, characterized in that: The calibration block (7) is provided with an arc chamfer (15) on the surface facing away from the bottom plate (5).

9. The calibration tool for guiding and positioning a device according to claim 1, characterized in that: The base plate (5) is provided with a plurality of reserved holes (16), the base plate (5) is provided with a pressure plate (17), the pressure plate (17) is provided with a plurality of pressure block bolts (18) matching the plurality of reserved holes (16), the plurality of pressure block bolts (18) are respectively threadedly connected in the reserved holes (16), and the reference frame (1) is pressed between the pressure plate (17) and the base plate (5).

10. The calibration tool for guiding and positioning a device according to claim 1, characterized in that: The base plate (5) and the calibration block (7) are made of aluminum alloy material.

Images