Surgical robot positioning and guiding device

Abstract

The utility model relates to a surgical robot positioning and guiding device, and belongs to the field of surgical robot positioning and guiding devices. A surgical robot positioning and guiding device comprises a guiding rod, the guiding rod is formed into a metal rod type piece, and one end of the guiding rod is provided with a cylindrical guiding connector so that the guiding rod can be detachably connected with a surgical robot. According to the surgical robot positioning and guiding device, the guiding rod is arranged as a main component of the surgical robot positioning and guiding device, the metal rod type piece design is adopted, and it is ensured that the device has good strength and stability in the surgical process. By means of the design, operation convenience is improved, operation risks caused by poor connection are reduced, it is guaranteed that the guide rod can be accurately positioned in the operation process, errors are reduced, and therefore operation efficiency and safety are improved.

Description

Technical Field

[0001] The utility model relates to a positioning and guiding device for a surgical robot, belonging to the field of positioning and guiding devices for surgical robots. Background Technique

[0002] In the orthopedic field, more and more surgeries are assisted by robots. Different surgical tools can be mounted at the front end of the surgical robot to complete different indication surgical operations. Compared with traditional surgeries, accurate positioning and stable operation are the core performance and prominent advantages of surgical robots. The stiffness, stability, and integratability of the front-end surgical tool connecting device are the keys restricting the performance and safety of the entire robotic surgery.

[0003] Striking tools are often used in orthopedic joint replacement surgeries, and their main function is to achieve the assembly between joint products and other orthopedic products by applying force. Such striking tools usually consist of a handle and a hammer head. The handle is generally made of plastic or metal materials, has a certain length and a gripping part for convenient operation by doctors. The hammer head is generally made of metal or plastic materials, has a certain weight and shape to apply force.

[0004] In view of the above-mentioned prior art, the inventor found that traditional orthopedic striking tools cannot be compatible with the current popular surgical robots because traditional orthopedic striking tools do not have a positioning and navigation interface that can cooperate with surgical robots, thus unable to achieve accurate positioning and increasing the risk of damage to the patient's bone structure. Content of the Utility Model

[0005] In order to solve the above technical problems, the present application provides a positioning and guiding device for a surgical robot.

[0006] The positioning and guiding device for a surgical robot provided by the present application adopts the following technical solutions:

[0007] A positioning and guiding device for a surgical robot, comprising:

[0008] A guiding rod, the guiding rod is formed as a metal rod-shaped part, and one end of the guiding rod is provided with a guiding interface penetrating along its thickness direction to be detachably connected with the surgical robot.

[0009] Through the above technical solution, the present application sets the guiding rod as the main component of the positioning and guiding device for the surgical robot, and adopts the design of a metal rod-shaped part to ensure good strength and stability during the operation. This design not only improves the operation convenience but also reduces the surgical risk caused by poor connection, ensuring that the guiding rod can be accurately positioned during the operation, reducing errors, and thus improving the efficiency and safety of the surgery.

[0010] Further, a grooved connection bayonet recessed inward along the axial direction is provided inside the guiding interface.

[0011] Through the above technical solution, the present application optimizes the structure of the guiding interface. Through the grooved connection bayonet, the connection strength between the positioning guiding device of the surgical robot and the surgical robot is further improved, and it is not easy to generate shaking, which is beneficial to improving the positioning accuracy and thus ensuring the surgical quality.

[0012] Further, the guiding rod includes a first section body and a second section body that are detachably arranged. The first section body and the second section body are fitted together. One end of the first section body is provided with a guiding interface, at least a part of the first section body is arranged parallel to the guiding interface, the other end of the first section body bends towards the second section body and is provided with a fitting plug at its end. One end of the second section body close to the first section body is provided with a fitting socket recessed along its axial direction. The fitting socket and the fitting plug are cooperatively arranged to fix the first section body and the second section body.

[0013] Through the above technical solution, the present application designs the guiding rod as a detachable structure, which is divided into a first section body and a second section body. This structure is convenient for transportation and storage, and at the same time can flexibly adjust the length of the rod according to the actual surgical needs. One end of the first section body is provided with a guiding interface, and the fitting plug at the other end effectively cooperates with the fitting socket of the second section body to ensure reliable connection between the two section bodies and prevent loosening or displacement caused by external forces during the operation. This modular design improves the adaptability of the device, enables it to be used in various different types of surgeries, and enhances the versatility of the device.

[0014] Further, a fixing member is also provided between the first section body and the second section body. One end of the fixing member is fitted with the first section body, and the other end of the fixing member is fitted with the second section body.

[0015] Further, the fixing member includes:

[0016] A pressing member, which is formed as a metal plate-shaped member and is arranged at one end of the fixing member. An elastic member insertion groove recessed along its thickness direction is provided on one side of the pressing member. The pressing member is arranged at an interval from the first section body;

[0017] A column, which is arranged at the other end of the fixing member. The column is arranged on the same side as the elastic member insertion groove and is formed as a convex structure protruding outward along one side of the fixing member. At least a part of the column is fitted with the second section body so that the other end of the fixing member abuts against the second section body;

[0018] A fixing protrusion is arranged between the pressing piece and the column, the fixing protrusion is arranged on the same side as the column and is located in the same plane, at least a part of the fixing protrusion is embedded in the first section, and a fixing pin hole is arranged on the fixing protrusion and is perpendicular to the circumferential direction of the fixing piece.

[0019] Through the above technical solution, the present application adds a fixing piece between the first section and the second section to enhance the connection stability between the two, ensuring that the overall structure of the guide rod will not be loosened by external forces during use, thereby improving the safety and reliability of the equipment.

[0020] At the same time, by making the fixing member include multiple parts such as a column, a pressing member and a fixing protrusion, a multiple support structure is formed. The design of the column enables the fixing member to be tightly combined with the second section, thereby preventing structural displacement during use. During use, the pressing member can achieve the effect of quickly separating the first section and the second section through a pressing process, thereby improving the separation efficiency.

[0021] Furthermore, the first section also includes:

[0022] A first groove, the first groove is arranged opposite to the pressing member and is arranged on the outer peripheral surface of the first segment, and the first groove is formed as a groove sunken in the radial direction of the first segment;

[0023] A second groove, the second groove is arranged on one side of the first groove close to the other end of the first section, the second groove is provided with a protrusion insertion hole recessed along its radial direction to be engaged with the fixing protrusion;

[0024] A first pin hole is provided through the first section along a radial direction and is coaxially provided with the pin hole on the fixing protrusion.

[0025] Furthermore, the second section also includes:

[0026] A limiting groove is arranged on one side of the second section body and is formed as a groove recessed along the thickness direction of the second section body, and the limiting groove is embedded in the column.

[0027] Through the above technical solution, the present application effectively limits the relative movement between the second section and the column through the limiting groove design. During surgery, the limiting groove can help ensure that the various parts of the device will not be accidentally displaced or deformed when subjected to force, thereby maintaining the stability of the guide rod. This design not only increases the reliability of the device, but also reduces the surgical risks caused by poor connection to a certain extent, ensures the accuracy of the doctor's operation during the operation, and thus improves the overall effect of the operation.

[0028] Further, the first body section further includes:

[0029] A pin rod, which is formed as a metal rod-shaped member and has a diameter not greater than that of the first pin hole.

[0030] Through the above technical solution, in this application, the pin rod is used as the main support structure of the fixing member, so that the fixing member has good stability during use, facilitating the quick separation of the first body section and the second body section during actual use.

[0031] Further, the surgical robot positioning and guiding device further includes:

[0032] A positioning joint, which is provided on one side of the guiding rod and is formed as a conical metal member, and the positioning joint is perpendicularly arranged with respect to the guiding rod.

[0033] Through the above technical solution, the conical metal member design of the positioning joint designed in this application is perpendicularly arranged with respect to the guiding rod, enabling it to provide more stable positioning support during the surgical process. The design of the positioning joint not only enhances the overall structural stability of the device but also effectively improves the positioning accuracy, ensuring that the surgical robot can accurately reach the position during the execution of tasks.

[0034] In summary, this application includes at least one of the following beneficial technical effects:

[0035] 1. In this application, by providing the guiding rod as the main component of the surgical robot positioning and guiding device and adopting the metal rod-shaped member design, it is ensured that it has good strength and stability during the surgical process. This design not only improves the operation convenience but also reduces the surgical risks caused by poor connection, ensuring that the guiding rod can accurately position during the surgical process, reducing errors, and thus enhancing the surgical efficiency and safety.

[0036] 2. In this application, the guiding rod is designed as a detachable structure, which is divided into a first body section and a second body section. This structure is convenient for transportation and storage, and at the same time, the length of the rod can be flexibly adjusted according to the actual surgical needs. One end of the first body section is provided with a guiding interface, and the fitting plug at the other end effectively cooperates with the fitting socket of the second body section to ensure a reliable connection between the two body sections and prevent loosening or displacement caused by external forces during the surgery. This modular design improves the adaptability of the device, enabling it to be used in various different types of surgeries and enhancing the versatility of the device.

[0037] 3. Through the above technical solution, this application adds a fixing member between the first body section and the second body section to enhance the connection stability between the two, ensuring that the overall structure of the guiding rod will not be loosened by external forces during use, thereby improving the safety and reliability of the device.

[0038] Meanwhile, by including multiple parts such as a vertical column, a pressing member, and a fixing protrusion in the fixing member, a multi-support structure is formed. The design of the vertical column enables the fixing member to be closely combined with the second body section, thereby preventing structural displacement during use. During use, the pressing member can achieve the effect of quickly separating the first body section and the second body section through pressing, thus improving the separation efficiency.

[0039] 4. The application effectively limits the relative movement between the second body section and the vertical column through the design of the limiting groove. During the operation, the limiting groove can help ensure that each part of the device will not have unexpected displacement or deformation when subjected to force, thereby maintaining the stability of the guiding rod. This design not only increases the reliability of the device but also reduces the surgical risk caused by poor connection to a certain extent, ensuring the accuracy of the doctor's operation during the surgery, and thus improving the overall effect of the surgery. Brief Description of the Drawings

[0040] Figure 1 is an exploded assembly view of the surgical robot positioning and guiding device according to the embodiment of the present application.

[0041] Figure 2 is a sectional view of the fixing member in the surgical robot positioning and guiding device according to the embodiment of the present application.

[0042] Figure 3 is a front view of the guiding interface in the surgical robot positioning and guiding device according to the embodiment of the present application.

[0043] Figure 4 is a schematic structural view of the joint ball head impact tool with the surgical robot positioning and guiding device manufactured in Embodiment 1 of the present application.

[0044] Figure 5 is a schematic structural view of the shoulder glenoid product impact tool with the surgical robot positioning and guiding device manufactured in Embodiment 1 of the present application.

[0045] Explanation of Reference Numerals: 1, guiding rod; 11, guiding interface; 111, connection bayonet; 12, first body section; 121, fitting plug; 122, first groove; 123, second groove; 124, first pin hole; 125, pin rod; 13, second body section; 131, fitting socket; 132, limiting groove; 14, fixing member; 141, pressing member; 1411, elastic member insertion groove; 1412, elastic member; 142, vertical column; 143, fixing protrusion; 1431, fixing pin hole; 2, positioning joint. Detailed Description of the Embodiment

[0046] The following will further describe the present application in detail Figure 1-2 in conjunction with the attached

[0047] As Figure 1-3, A surgical robot positioning and guiding device includes a guiding rod 1. The guiding rod 1 is provided with a first section 12 and a second section 13. At one end of the first section 12, a guiding interface 11 with a cylindrical structure is provided. On the guiding interface 11, a tooth groove-shaped connecting bayonet 111 is arranged to be recessed inward along its axial direction. A stable connection structure is formed with the surgical robot through the connecting bayonet 111.

[0048] In the direction away from the connecting bayonet 111 of the first section 12, it is bent downward and two fitting plugs 121 are provided at its end. Each fitting plug 121 is formed as a conical convex structure extending outward along the axial direction of the first section 12, and its cone angle α conforms to the Morse taper design. At the other end of the first section 12, a first groove 122 and a second groove 123 are also arranged at intervals.

[0049] Among them, the first groove 122 is circular and is arranged on the outer peripheral surface of the first section 12. Its recessed depth is not less than 1 / 5 of the diameter distance of the first section 12 and not greater than 3 / 5 of the diameter distance of the first section 12. The second groove 123 is arranged between the first groove 122 and the fitting plug 121 and is in the same plane as the first groove 122. At the position of the second groove 123 on the second section 13, a through groove structure is also provided along its radial direction. The through groove structure is vertically connected to the second groove 123 to form a first pin hole 124. A pin rod 125 can be inserted and installed in the first pin hole 124. Among them, the pin rod 125 is a hardened steel part, and the diameter of the pin rod 125 does not exceed the diameter of the first pin hole 124.

[0050] At the end of the second section 13, two fitting sockets 131 that cooperate with the first section 12 are provided. Each fitting socket 131 is formed as a groove recessed along the axial direction of the second section 13. On the outer peripheral surface of the second section 13 and on the same side as the second groove 123, a limiting groove 132 is also provided.

[0051] At the same time, between the first section 12 and the second section 13, a fixing member 14 is detachably provided. The fixing member 14 is formed as a metal part with a disc-shaped end at one end and a rod-shaped part at the other end. The disc-shaped end of the fixing member 14 is a pressing member 141. An elastic member insertion groove 1411 opposite to the first groove 122 is provided on the pressing member 141. The geometric center of the elastic member insertion groove 1411 is coaxially arranged with the geometric center of the first groove 122. The pressing member 141 and the first section 12 are arranged at intervals to respectively arrange both ends of the elastic member 1412 inside the first groove 122 and the elastic member insertion groove 1411. Among them, the elastic member 1412 is preferably a cylindrical helical compression spring.

[0052] Among them, the depth of the elastic member insertion groove 1411 is not less than 1 / 4 of the wall thickness of the pressing member 141 and not greater than 1 / 2 of the wall thickness of the pressing member 141. The width of the elastic member insertion groove 1411 is not greater than 1 / 2 of the diameter distance of the first section 12 and not less than 1 / 3 of the diameter distance of the first section 12.

[0053] A fixing protrusion 143 is further provided in the middle section of the fixing member 14. The fixing protrusion 143 protrudes towards the first section 12 along the thickness direction of the fixing member 14 and is disposed in the second groove 123. A fixing pin hole 1431 coaxial with the first pin hole 124 is provided on the fixing protrusion 143, so that the pin rod 125 passes through the fixing protrusion 143 from one end of the first section 12 and reaches the other end of the first section 12.

[0054] A column 142 is provided at the lower end of the fixing member 14. The column 142 and the fixing protrusion 143 are arranged on the same side and are both formed as cylindrical protrusion structures. At least a part of the column 142 is disposed in the limiting groove 132 on the second section 13.

[0055] It should be noted that during actual use, by pressing the pressing member 141 of the fixing member 14, under the action of the elastic member 1412 and the fixing protrusion 143, since the pressing member 141 is spaced from the first section 12, when the pressing member 141 moves towards the second section 13, the column 142 performs a supporting displacement with the fixing protrusion 143 as a fulcrum, so as to disengage from the limiting groove 132. When the force at the pressing member 141 is removed, under the action of the elastic member 1412, the pressing member 141 moves in a direction away from the first section 12, so that with the fixing protrusion 143 as a fulcrum, the column 142 is re-inserted into the limiting groove 132, thereby completing the fixation of the first section 12 and the second section 13 and enabling the overall assembly of the positioning and navigation device of the surgical robot to be completed.

[0056] At the same time, it should be noted that a positioning joint 2 can also be provided on the second section 13. The positioning joint 2 is disposed on one side of the guide rod 1 and is formed as a conical metal part. The positioning joint 2 is perpendicular to the guide rod 1. In the axial direction of the positioning joint 2 and the second section 13, a central through hole is provided to allow a Kirschner wire or a Steinmann pin to pass through for intraoperative positioning and improve the positioning accuracy.

[0057] The following further describes the installation and use of the positioning and guiding device of the surgical robot in combination with the actual scenario:

[0058] Embodiment 1

[0059] Embodiment 1 provided by the present utility model is a joint ball head impact tool with a positioning and guiding device for a surgical robot. As Figure 4As shown in the figure, the surgical robot positioning and guiding device is welded and combined with the joint ball head striking tool, which can not only achieve the original striking purpose, but also be used in cooperation with the surgical robot to improve the striking accuracy of the joint ball head and the surgical quality. During actual use, the navigation tracer of the surgical robot is installed on the guiding rod 1. The doctor holds the handle and uses a bone hammer to strike the tail end of the handle to complete the implantation of the joint ball head. During the striking process, the doctor can judge whether the implantation position of the ball head is accurate according to the instructions of the robot, thereby improving the surgical quality.

[0060] Embodiment 2

[0061] Embodiment 2 provided by the present utility model is a striking tool for shoulder glenoid products with a surgical robot positioning and guiding device. As Figure 5 shown in the figure, one side of a surgical robot positioning and guiding device provided by the present utility model can be connected to the handle, and the other side is welded to the striking rod to form a striking tool for shoulder glenoid products. Compared with the traditional striking tool, Embodiment 2 can not only achieve the original striking purpose, but also be used in cooperation with the surgical robot to improve the striking accuracy of the joint ball head and the surgical quality. During actual use, the navigation tracer of the surgical robot is installed on the guiding rod 1. The doctor holds the handle and uses a bone hammer to strike the tail end of the handle to complete the implantation of the glenoid product. During the striking process, the doctor can judge whether the implantation position of the ball head is accurate according to the instructions of the robot, thereby improving the surgical quality.

[0062] The above are all the preferred embodiments of this application. The protection scope of this application is not limited accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A positioning and guiding device for a surgical robot, characterized in that, Comprising: A guiding rod (1), the guiding rod (1) being formed as a metal rod-shaped member, and one end of the guiding rod (1) being provided with a cylindrical guiding interface (11) for detachably connecting it to a surgical robot.

2. The positioning and guiding device for a surgical robot according to claim 1, characterized in that A toothed groove-shaped connecting bayonet (111) that is recessed inward along the axial direction is provided inside the guiding interface (11).

3. The positioning and guiding device for a surgical robot according to claim 1, characterized in that, The guiding rod (1) includes a first section body (12) and a second section body (13) that are detachably arranged. The first section body (12) and the second section body (13) are fitted together. One end of the first section body (12) is provided with the guiding interface (11). At least a part of the first section body (12) is arranged parallel to the guiding interface (11). The other end of the first section body (12) is bent towards the second section body (13) and is provided with a fitting plug (121) at its end. One end of the second section body (13) close to the first section body (12) is provided with a fitting socket (131) that is recessed along its axial direction. The fitting socket (131) and the fitting plug (121) are cooperatively arranged to fix the first section body (12) and the second section body (13).

4. A surgical robot positioning and guiding device according to claim 3, characterized in that, A fixing member (14) is further provided between the first section body (12) and the second section body (13). One end of the fixing member (14) is fitted with the first section body (12), and the other end of the fixing member (14) is fitted with the second section body (13).

5. The positioning and guiding device for a surgical robot according to claim 4, wherein The fixing member (14) includes: A pressing member (141), the pressing member (141) being formed as a metal plate-shaped member and arranged at one end of the fixing member (14). An elastic member insertion groove (1411) that is recessed along its thickness direction is provided on one side of the pressing member (141). The pressing member (141) is arranged at an interval from the first section body (12); A column (142), the column (142) being arranged at the other end of the fixing member (14). The column (142) is arranged on the same side as the elastic member insertion groove (1411) and is formed as a convex structure that protrudes outward along one side of the fixing member (14). At least a part of the column (142) is fitted with the second section body (13) so that the other end of the fixing member (14) abuts against the second section body (13); A fixing protrusion (143), the fixing protrusion (143) being arranged between the pressing member (141) and the column (142). The fixing protrusion (143) is arranged on the same side as the column (142) and is located in the same plane. At least a part of the fixing protrusion (143) is fitted with the first section body (12). A fixing pin hole (1431) that is perpendicular to the circumferential direction of the fixing member (14) is provided on the fixing protrusion (143).

6. The positioning and guiding device for a surgical robot according to claim 5, characterized in that, The first section body (12) further includes: A first groove (122) is provided on the outer peripheral surface of the first section body (12) opposite to the pressing member (141). The first groove (122) is formed as a groove recessed in the radial direction of the first section body (12). An elastic member (1412) is provided in the elastic member insertion groove (1411) of the first groove (122). A second groove (123) is provided on one side of the first groove (122) close to the other end of the first section body (12). The second groove (123) is provided with a protruding insertion hole recessed in its radial direction for engaging with the fixed protrusion (143). A first pin hole (124) is provided through the first section body (12) in the radial direction and is coaxially arranged with the fixed pin hole (1431) on the fixed protrusion (143).

7. An operative robot positioning and guiding device according to claim 5, wherein, The second section body (13) further includes: A limit groove (132) is provided on one side of the second section body (13) and is formed as a groove recessed in the thickness direction of the second section body (13). The limit groove (132) is engaged with the column (142).

8. The positioning and guiding device for a surgical robot according to claim 6, characterized in that, The first section body (12) further includes: A pin rod (125) is formed as a metal rod-shaped member and its diameter is not greater than the diameter of the first pin hole (124).

9. The positioning and guiding device for a surgical robot according to claim 1, characterized in that, The surgical robot positioning and guiding device further includes: A positioning joint (2) is provided on one side of the guiding rod (1) and is formed as a conical metal member. The positioning joint (2) is perpendicular to the guiding rod (1).

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