Connecting device

Abstract

The utility model provides a connecting device which comprises a fixing frame, a binding belt and a locking mechanism, the binding belt is connected to the fixing frame, the locking mechanism comprises an elastic element and a first elastic claw, one end of the elastic element is connected to the fixing frame, the other end of the elastic element is connected to the first elastic claw, a first sliding groove is formed in the fixing frame, and a second sliding groove is formed in the fixing frame. The first elastic claw slides in the first sliding groove. According to the connecting device provided by the utility model, the calibration tool which is small in size and easy to sterilize can be connected to the ray machine, the use of a sterile sleeve by the ray machine is not influenced, and the calibration tool is positioned on the outer side of the sterile sleeve, so that the identification and positioning of an optical positioning device of a navigation system on the calibration tool are not influenced; moreover, the device can be suitable for ray machines of different models and calibration tools of different specifications, is good in adaptability, and is convenient to operate.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a connecting device. Background Art

[0002] In navigation surgery, it is usually necessary to take a radiographic image of a calibration tool with fixed radiographic markers and tracers together with the diseased part of the human body so that the navigation system can identify and complete the registration and calibration of the diseased part of the human body. The calibration tool generally has a double-layer tungsten steel ball and a tracer. The relative position relationship between the radiation source and the detection plate is calculated through the imaging of the tungsten steel ball in the radiographic image and the design parameters of the calibration tool, and the position of the marking tool is identified and located through the tracer. The calibration tool is close to the human body during use and needs to be sterile. Therefore, the calibration tool must be sterilized, usually at low temperature.

[0003] For example, in orthopedic robot navigation surgery, the calibration tool needs to be fixed on the robotic arm of the surgical robot or the receiving plate of the X-ray machine. At present, the calibration tool is generally fixed on the robotic arm. In this case, it is necessary to control the movement of the robotic arm to align the calibration tool with the receiving plate, and the alignment is difficult, which may result in incomplete shooting of the markers. In addition, when switching to the frontal and lateral positions, the robotic arm needs to be controlled to reposition, which is time-consuming.

[0004] Connecting the calibration tool directly to the X-ray machine makes its alignment more accurate and easier to operate, and there is no need to reposition it when switching between the frontal and lateral positions. The calibration tool for a fixed model of X-ray machine can be connected to the corresponding model of X-ray machine, that is, an integrated calibration tool, which is relatively large in size. However, the commonly used low-temperature sterilization tends to have a small space and cannot hold a larger calibration tool, so it cannot be sterilized, resulting in difficulty in sterilization. If a sterile cover is applied to the outer cover of the calibration tool, there will be a sterile cover between the calibration tool and the optical positioning device of the navigation system. The wrinkles of the sterile cover will affect the propagation of light and affect the accurate recognition and positioning of the tungsten steel ball of the calibration tool by the optical positioning device of the surgical robot. In addition, the integrated calibration tool can only be used for special models of X-ray machines and has poor adaptability. Utility Model Content

[0005] In view of the defects existing in the above-mentioned prior art, the purpose of the utility model is to provide a connecting device which can connect a calibration tool which is small in size and easy to sterilize to a receiving plate of a X-ray machine and has good adaptability.

[0006] The utility model provides a connecting device, including a fixed frame, a binding belt, and a locking mechanism, wherein the binding belt is connected to the fixed frame, and the locking mechanism includes an elastic element and a first spring claw, one end of the elastic element is connected to the fixed frame, and the other end is connected to the first spring claw, and the fixed frame is provided with a first slide groove, and the first spring claw slides in the first slide groove.

[0007] In one embodiment, the straps are Velcro straps, and the straps are provided in at least two groups.

[0008] In one embodiment, the locking mechanism is provided with at least two groups, which are respectively located on two sides of the fixing frame.

[0009] In one embodiment, the locking mechanism further includes a fixing claw connected to the fixing frame.

[0010] In one embodiment, the locking mechanism further includes a second spring claw, a second sliding groove is provided in the fixing frame, and the second spring claw slides in the second sliding groove.

[0011] In one embodiment, the first sliding groove is arranged in parallel with the second sliding groove.

[0012] In one embodiment, the locking mechanism further includes a rotatable rod, which is rotatably connected to the fixed frame, one end of the rotatable rod is directly or indirectly connected to the first spring claw, and the other end is directly or indirectly connected to the second spring claw.

[0013] In one embodiment, the locking mechanism further includes a first connecting rod, one end of which is rotatably connected to the rotatable rod, and the other end of which is connected to the first spring claw.

[0014] In one embodiment, the locking mechanism further includes a second connecting rod, one end of which is rotatably connected to the rotatable rod, and the other end of which is connected to the second spring claw.

[0015] In one embodiment, the first connecting rod and / or the second connecting rod are connected to the rotatable rod via a synchronization pin.

[0016] In one embodiment, a first spring claw stopper is disposed on the first sliding slot, and the first spring claw stopper is used to limit the travel of the first spring claw.

[0017] In one embodiment, a second spring claw stopper is disposed on the second sliding slot, and the second spring claw stopper is used to limit the travel of the second spring claw.

[0018] Compared with the prior art, the connection device provided by the utility model has the following beneficial effects:

[0019] 1. The calibration tool, which is small in size and easy to sterilize, can be connected to the X-ray machine without affecting the use of the sterile cover of the X-ray machine. The calibration tool is outside the sterile cover and does not affect the identification and positioning of the optical positioning device of the navigation system.

[0020] 2. It can be applied to different types of X-ray machines and calibration tools of different specifications, with good adaptability and easy operation;

[0021] 3. When taking radiographic images, the calibration tool and the radiation receiving position remain fixed to ensure that the position of the radiation developing marker is within the developing range, and that the multi-layer radiation developing marker and the X-ray machine receiving plate do not block each other, making operation easy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0023] Figure 1 A schematic diagram of an application scenario of a connecting device shown in one embodiment of the utility model;

[0024] Figure 2 A schematic diagram of the structure of a connecting device shown in one embodiment of the utility model;

[0025] Figure 3 A schematic diagram of the structure of a connecting device shown in one embodiment of the utility model;

[0026] Figure 4 This is a schematic structural diagram of the locking mechanism shown in Example 1;

[0027] Figure 5 This is a schematic diagram of the locking mechanism shown in Example 2.

[0028] Reference numerals:

[0029] 10. Connecting device; 20. X-ray machine; 30. Main control trolley; 40. Binocular camera; 6. Calibration tool; 7. Tracer; 1. Fixing frame; 2. Binding strap; 3. Locking mechanism; 11. First slide slot; 12. Second slide slot; 13. First slide slot stopper; 14. Second slide slot stopper; 15. Fixing screw; 31. Elastic element; 32. First spring claw; 33. First connecting rod; 34. Second connecting rod; 35. Rotatable rod; 41. Fixed claw; 42. Second spring claw. DETAILED DESCRIPTION

[0030] In order to make the purpose, advantages and features of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0031] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features. The term "proximal end" is usually the end close to the operator, and the term "distal end" is usually the end close to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to two corresponding parts, which include not only the endpoints. The terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. In addition, as used in the present utility model, an element is arranged on another element, which usually only means that there is a connection, coupling, matching or transmission relationship between the two elements, and the connection, coupling, matching or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below or on one side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0032] The core idea of ​​the utility model is to provide a connection device to solve the problems of large size, difficulty in sterilization and poor adaptability of the integrated calibration tool in the prior art.

[0033] Example 1

[0034] Reference Figure 1 to Figure 3The connection device 10 provided in this embodiment includes a fixed frame 1, two sets of straps 2, and two sets of locking mechanisms 3. The two sets of straps 2 are fixedly connected or detachably connected to the two sides of the fixed frame 1, and the straps 2 can be directly fixed to one end of the receiving plate of the X-ray machine 20 during installation. The straps 2 can be Velcro straps, and the Velcro straps can be adjusted in length for easy installation and fixation, and are suitable for X-ray machines of different specifications and sizes. When in use, the calibration tool 6 is connected to the fixed frame 1 through two sets of locking mechanisms 3, and the two sets of locking mechanisms are arranged on both sides of the fixed frame 1. A tracer 7 is provided on one side of the calibration tool 6, and the tracer 7 can be in the form of a tracking array. The main control trolley 30 and the binocular camera 7 arranged on the main control trolley can identify and locate the calibration tool 6 and its tracer 7.

[0035] Reference Figure 2 to Figure 4 The locking mechanism 3 includes an elastic element 31, a first spring claw 32, and a fixed claw 41. The elastic element 31 can be an elastic material or a spring, and the elastic material or spring is in a stretched state. One end of the elastic element 31 is connected to the fixed frame 1 through a fixing screw 15, and the other end is connected to the first spring claw 32. A first slide groove 11 is provided in the fixed frame 1, and the end of the first spring claw 32 close to the fixed frame can slide in the first slide groove 11. The first slide groove 11 is arranged parallel to the elastic element 31, that is, the first spring claw 32 can slide along the axis or center line of the elastic element. In the working state, the first spring claw 32 is connected to the fixed claw 41 and is respectively connected to the two ends of the calibration tool 6, and the calibration tool 6 is locked under the elastic force of the elastic element 31.

[0036] Reference Figure 4 When the calibration tool is not installed, the first spring claw 32 is at the lowest position under the elastic force of the elastic element 31. At this time, the distance between the first spring claw 32 and the fixed claw 41 is the shortest. When the calibration tool 6 needs to be installed on the fixed frame 1, first connect one end of the calibration tool 6 to the fixed claw 41, pull the first spring claw 32 upward, align the first spring claw 32 with the other end of the calibration tool 6, and the first spring claw 32 is connected to the other end of the calibration tool 6. After the calibration tool 6 is installed on the fixed frame 1, connect the strap 2 to the receiving end of the X-ray machine. When the calibration tool needs to be removed, first remove the strap 2 from the X-ray machine, and then release the connection between the calibration tool 6 and the fixed frame 1.

[0037] This embodiment fixes the calibration tool on the X-ray machine through a strap, and connects the calibration tool through a locking mechanism. The calibration tool with a small connection volume and easy sterilization can be connected to the receiving end of the X-ray machine without affecting the use of a sterile cover by the X-ray machine. The calibration tool is outside the sterile cover, which does not affect the identification and positioning of the optical positioning device of the navigation system. It is suitable for different models of X-ray machines and has good adaptability. When taking a light film, the calibration tool remains fixed to the radiation receiving position to ensure that the position of the radiation development marker is within the development range, and the plane where the multi-layer radiation development marker is located is parallel to the X-ray machine receiving plate and will not block each other. Moreover, the distance between the first spring claw and the fixed claw of the locking mechanism is adjustable, which increases the adaptability of the calibration tool.

[0038] Example 2

[0039] The parts of this embodiment that have the same structure and construction as those in Embodiment 1 will not be described in detail, and only the different technical features will be described in detail.

[0040] Reference Figure 2 , Figure 3 and Figure 5 The locking mechanism 3 includes an elastic element 31, a first spring claw 32, a second spring claw 42, a rotatable rod 35, a first connecting rod 33 and a second connecting rod 34. The elastic element 31 is a tension spring, one end of which is connected to the fixed frame 1 through a fixing screw 15, and the other end is connected to the first spring claw 32. The first spring claw 32 is fixedly connected to the first connecting rod 33, and the second spring claw 42 is fixedly connected to the second connecting rod 34. The fixed frame 1 is provided with a first slide groove 11 and a second slide groove 12 arranged in parallel, and the axis of the elastic element 31 is arranged parallel to the axis or center line of the first slide groove 11. The first connecting rod 11 and the first spring claw 32 can slide in the first slide groove 11 at one end close to the fixed frame, and the second connecting rod 34 can slide in the second slide groove 12. The rotatable rod 35 is rotatably connected to the fixed frame 1, and one end of the rotatable rod 35 is rotatably connected to the first connecting rod 33, and the other end is rotatably connected to the second connecting rod 34. In addition, the rotatable rod 35 may not be directly connected to the first connecting rod 33 , but may be directly connected to the first elastic claw 32 .

[0041] Specifically, the center position of the rotatable rod 35 is connected to the fixed frame 1 through a rotating shaft, and the rotatable rod 35 can rotate along the rotating shaft. Both ends of the rotatable rod 35 are provided with symmetrical waist slots, and the waist slots are provided with synchronization pins, and the synchronization pins can rotate in the waist slots. Figure 4 The left synchronization pin is fixedly connected to the corresponding first connecting rod 33 or first spring claw 32, and the right synchronization pin is fixedly connected to the second connecting rod 34. Such a setting can ensure that when the first spring claw 32 and the first connecting rod 33 move along the first sliding groove 11, they can smoothly drive the rotation of the rotatable rod 35, so that the second connecting rod 34 moves in the opposite direction along the second sliding groove 12.

[0042] When the calibration tool is not installed, the first claw 32 is at the lowest position under the pulling force of the elastic element 31, and at this time, the distance between the first claw 32 and the second claw 42 is the shortest. When the calibration tool needs to be installed, the first claw 32 is pulled upward, and the first claw 32 and the first connecting rod 33 move upward along the first slide groove 11, driving the rotatable rod 35 to rotate clockwise, and the right side of the rotatable rod 35 moves downward, so that the second connecting rod 34 moves downward along the second slide groove 12, thereby driving the second claw 42 to move downward, and the distance between the first claw 32 and the second claw 42 increases. When the distance between the first claw 32 and the second claw 42 reaches the outer frame that can accommodate the calibration tool, the outer frame of the calibration tool is placed between the first claw 32 and the second claw 42, and the first claw 32 is released. The first claw 32 moves downward under the pulling force of the elastic element 31, and the second claw 42 moves upward, and finally the outer frame of the calibration tool is clamped. When the calibration tool needs to be removed from the fixing frame, the installation steps are repeated, and when the distance between the first spring claw 32 and the second spring claw 42 is sufficient to remove the calibration tool, the calibration tool can be removed. In addition, when installing or removing the calibration tool, the second spring claw can also be directly operated, and the second spring claw drives the rotatable rod to rotate counterclockwise, thereby causing the first spring claw to move in the opposite direction.

[0043] Furthermore, a first slide slot stopper 13 is provided at the upper end of the first slide slot 11, and the first slide slot stopper 13 is used to limit the stroke of the first connecting rod 33, to prevent the stroke of the first spring claw 32 from being too long, that is, to prevent the invalid stroke from being too large, and to prevent the first spring claw 32 from escaping from the first slide slot 11. A second slide slot stopper 14 is provided at the upper end of the second slide slot 12, and the second slide slot stopper 14 is used to limit the stroke of the second connecting rod 34, to prevent the stroke of the second spring claw 42 from being too long, that is, to prevent the distance between the first spring claw 32 and the second spring claw 42 from being too small, resulting in a long operating stroke required to install the calibration tool. The provision of the first slide slot stopper 13 and the second slide slot stopper 14 makes the installation and removal of the calibration tool more convenient.

[0044] The above is a description of the specific embodiments of the utility model, which is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be based on the attached claims.

Claims

1. A connection device, characterized in that: It includes a fixed frame, a strap, and a locking mechanism, the strap is connected to the fixed frame, the locking mechanism includes an elastic element and a first spring claw, one end of the elastic element is connected to the fixed frame, and the other end is connected to the first spring claw, the fixed frame is provided with a first slide groove, and the first spring claw slides in the first slide groove.

2. The connection device according to claim 1, characterized in that: The locking mechanism further comprises a fixing claw connected to the fixing frame.

3. The connection device according to claim 1, characterized in that: The locking mechanism further includes a second spring claw, and the fixing frame is provided with a second sliding groove, and the second spring claw slides in the second sliding groove.

4. The connection device according to claim 3, characterized in that: The first sliding groove is arranged in parallel with the second sliding groove.

5. The connection device according to claim 3, characterized in that: The locking mechanism further comprises a rotatable rod, which is rotatably connected to the fixed frame, one end of which is directly or indirectly connected to the first spring claw, and the other end of which is directly or indirectly connected to the second spring claw.

6. The connection device according to claim 5, characterized in that: The locking mechanism further comprises a first connecting rod, one end of which is rotatably connected to the rotatable rod, and the other end of which is connected to the first spring claw.

7. The connection device according to claim 5, characterized in that: The locking mechanism further comprises a second connecting rod, one end of which is rotatably connected to the rotatable rod, and the other end of which is connected to the second spring claw.

8. The connection device according to claim 3, characterized in that: A first spring claw stopper is provided on the first sliding slot, and the first spring claw stopper is used to limit the travel of the first spring claw.

9. The connection device according to claim 3, characterized in that: The second sliding slot is provided with a second spring claw stopper, and the second spring claw stopper is used to limit the travel of the second spring claw.

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