3D mouse universal fixator, universal fixator and fixator system

Abstract

The utility model discloses a 3D mouse universal fixer, a universal fixer and a fixer system. The 3D mouse universal fixer comprises a sliding part, a first ball joint, a universal lock, a second ball joint and a 3D mouse, the sliding part is detachably connected with the fixed table and can slide along the fixed table, and the first ball joint is arranged on the sliding part so as to drive the first ball joint to slide along the fixed table; the first ball joint is connected with the second ball joint through the universal lock, so that when the sliding part drives the first ball joint to slide to a target position, the second ball joint can rotate in all directions under the rotation of the first ball joint; the 3D mouse is fixed on the second ball joint, and the 3D mouse can rotate in all directions under the rotation of the second ball joint so as to communicate and interact with the surgical robot. The utility model has the advantages of convenient operation, high control precision, good stability, strong adaptability and the like.

Description

Technical Field

[0001] The utility model relates to the field of surgical instruments, in particular to a 3D mouse universal fixator, a universal fixator, and a fixator system. Background Art

[0002] In the field of neurosurgery, with the rapid development of medical technology, surgical robots have become important tools for achieving high-precision and minimally invasive surgical operations. Especially during endoscopic surgeries, the role of neurosurgical robots is particularly crucial. Such surgeries usually require doctors to operate in an extremely narrow and complex space, and the precise positioning of the lesion and the clarity of the field of view are directly related to the success of the surgery and the postoperative recovery of the patient.

[0003] During endoscopic surgeries, neurosurgical robots need to precisely control the movement of the endoscope to ensure that doctors can obtain the best field of view. This requirement stems from the particularity of neurosurgical operations. The surgical area is often deep within the skull, surrounded by important nerves, blood vessels, and other structures. Any minor deviation may lead to serious consequences. Therefore, during the surgery, the doctor sits in front of the console at the operating table, fixes the universal mouse through a special universal mouse fixing device, and then controls the movement of the surgical robot through the universal mouse to achieve remote and high-precision operations without directly touching the patient's brain.

[0004] However, the existing universal mouse fixing devices have the disadvantages of inconvenient operation, insufficient control precision, stability problems, poor adaptability, and lack of ergonomic design in the application of neurosurgical robots. Summary of the Invention

[0005] Based on the above problems, the present application provides a 3D mouse universal fixator, a universal fixator, and a fixator system to solve or alleviate the problems existing in the above prior art.

[0006] The present application provides a 3D mouse universal fixator, including: a sliding part, a first ball joint, a universal lock, a second ball joint, and a 3D mouse; the sliding part is detachably connected to the fixed platform and can slide along the fixed platform, and the first ball joint is arranged on the sliding part to drive the first ball joint to slide along the fixed platform; the first ball joint is connected to the second ball joint through the universal lock, so that when the sliding part drives the first ball joint to slide to the target position, the second ball joint can rotate omnidirectionally under the rotation of the first ball joint; the 3D mouse is fixed on the second ball joint, and the 3D mouse can rotate omnidirectionally under the rotation of the second ball joint to communicate and interact with the surgical robot.

[0007] Preferably, the sliding part includes a clamping part, a fixing block, and a handle; the clamping part is detachably fixed on the fixing table, and the fixing block is arranged on the clamping part, and the first ball joint is arranged on the fixing block, so that the first ball joint is fixed on the fixing table based on the clamping part; the handle passes through the fixing block and is connected to the clamping part, so that the clamping part and the fixing table are in a fixed state or a released fixed state through the handle.

[0008] Preferably, the first ball joint includes a first ball head component and a first ball socket component; one end of the first ball head component is fixed on the sliding part, and the other end is movably connected with the first ball socket component to support the first ball socket component based on the first ball head component; the first ball socket component is connected to the second ball joint through the universal lock to enable the second ball joint to rotate omnidirectionally under the rotation of the first ball socket component.

[0009] Preferably, the second ball joint includes a second ball socket component and a second ball head component; the second ball socket component is fixed to the first ball joint through the universal lock, so that the second ball head component rotates omnidirectionally under the rotation of the second ball socket component based on the fixation of the universal lock. One end of the second ball head component is arranged on the second ball socket component, and the other end is provided with the 3D mouse, so that the 3D mouse can rotate omnidirectionally under the rotation of the second ball socket component.

[0010] Preferably, the 3D mouse includes a housing and an anti-misoperation strip; the housing is detachably fixed to the second ball joint, so that the housing can rotate omnidirectionally under the rotation of the second ball joint; the anti-misoperation strip is arranged on the housing to guide the operator to hold it.

[0011] Preferably, the housing includes a base and an upper shell; the base is detachably fixed to the second ball joint to fix the upper shell to the second ball joint; the anti-misoperation strip is arranged on the upper shell to guide the operator to hold it.

[0012] Preferably, the housing further includes a heightening cap; the heightening cap is arranged on the upper shell to increase the length of the 3D mouse.

[0013] Preferably, the anti-misoperation strip includes a front anti-misoperation strip and a rear anti-misoperation strip; the front anti-misoperation strip is arranged on the upper shell so that the operator can distinguish the front end of the upper shell by holding it; the rear anti-misoperation strip is arranged on the upper shell so that the operator can distinguish the rear end of the upper shell by holding it.

[0014] The present application also provides a universal fixator, comprising: a sliding part, a first ball joint, a universal lock, a second ball joint, and an object to be fixed; the sliding part is detachably connected to a fixing table and can slide along the fixing table, and the first ball joint is arranged on the sliding part; the first ball joint is connected to the second ball joint through the universal lock, so that the second ball joint can rotate omnidirectionally under the rotation of the first ball joint; the object to be fixed is fixed on the second ball joint, and the object to be fixed can rotate omnidirectionally and be fixed on the fixing table under the rotation of the second ball joint.

[0015] The present application also provides a fixator system, comprising the 3D mouse universal fixator described in any one of the present application.

[0016] The present utility model provides a 3D mouse universal fixator, a universal fixator, and a fixator system. A 3D mouse universal fixator includes: a sliding part, a first ball joint, a universal lock, a second ball joint, and a 3D mouse. The sliding part is detachably connected to a fixed table and can slide along the fixed table. The first ball joint is provided on the sliding part to drive the first ball joint to slide along the fixed table. The first ball joint is connected to the second ball joint through the universal lock, so that when the sliding part drives the first ball joint to slide to a target position, the second ball joint can rotate omnidirectionally under the rotation of the first ball joint. The 3D mouse is fixed on the second ball joint and can rotate omnidirectionally under the rotation of the second ball joint to communicate and interact with the surgical robot. In this embodiment, the combination of the sliding part, the first ball joint, the universal lock, the second ball joint, and the 3D mouse realizes high-precision operation control. The doctor can precisely control the movement of the surgical robot by finely adjusting the direction and position of the 3D mouse, so as to achieve long-distance and high-precision surgical operations without directly contacting the patient's brain. This is particularly important for neurosurgical operations because the surgical area is deep in the cranial cavity and any minor deviation may lead to serious consequences. In addition, by detachably connecting the sliding part to the fixed table and being able to slide on the fixed table, the doctor can adjust the position of the mouse according to the surgical needs. At the same time, the combination of the first ball joint and the second ball joint enables the 3D mouse to rotate flexibly within an omnidirectional range, further enhancing the flexibility of the operation. This flexibility enables the fixator to adapt to different surgical scenarios and operation requirements. In addition, the clamping part in the sliding part is used to firmly fix on the operating table or other fixed tables, and the fixed or released state can be easily achieved through the operation of the handle, ensuring the stability of the fixator during the surgical process and avoiding operation errors or accidents caused by unstable fixation. At the same time, the universal lock mechanism also ensures that the direction and position of the mouse can be stably locked when needed, improving the reliability of the operation. Finally, by using the 3D mouse universal fixator, the doctor can more conveniently control the movement of the surgical robot, thereby improving the efficiency of the surgical operation. At the same time, due to the improvement of the operation precision and the enhancement of the stability, the risk during the surgical process is greatly reduced, further enhancing the safety of the operation. In summary, the present utility model has the advantages of convenient operation, high control precision, good stability, and strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of a 3D mouse universal fixator in Embodiment 1 of the present application;

[0018] Figure 2 It is a schematic structural diagram of a 3D mouse in Embodiment 1 of the present application.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts. Detailed implementation manners

[0020] In order to enable those skilled in the art of this technology to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0021] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The following will detail the present application with reference to the drawings and in combination with the embodiments.

[0022] Figure 1 Schematic structural diagram of a 3D mouse universal fixer in Embodiment 1 of the present application;

[0023] Figure 2 Schematic structural diagram of a 3D mouse in Embodiment 1 of the present application. As Figure 1-2As shown in the figure, a 3D mouse universal fixator includes: a sliding part 1, a first ball joint 2, a universal lock 3, a second ball joint 4, and a 3D mouse 5; the sliding part 1 is detachably connected to the fixed table and can slide along the fixed table, and the first ball joint 2 is arranged on the sliding part 1 to drive the first ball joint 2 to slide along the fixed table; the first ball joint 2 is connected to the second ball joint 4 through the universal lock 3, so that when the sliding part 1 drives the first ball joint 2 to slide to the target position, the second ball joint 4 can rotate omnidirectionally under the rotation of the first ball joint 2; the 3D mouse 5 is fixed on the second ball joint 4, and the 3D mouse 5 can rotate omnidirectionally under the rotation of the second ball joint 4 to communicate and interact with the surgical robot. In this embodiment, the combination of the sliding part 1, the first ball joint 2, the universal lock 3, the second ball joint 4 and the 3D mouse 5 realizes high-precision operation control. The doctor can precisely control the movement of the surgical robot by finely adjusting the direction and position of the 3D mouse 5, so as to achieve long-distance and high-precision surgical operations without directly contacting the patient's brain. At the same time, the combination of the first ball joint 2 and the second ball joint 4 enables the 3D mouse 5 to rotate flexibly within an omnidirectional range, further enhancing the flexibility of the operation. This flexibility enables the fixator to adapt to different surgical scenarios and operation requirements. In addition, the clamping part 11 in the sliding part 1 is used to firmly fix on the operating table or other fixed tables, and the fixed or released state can be easily achieved through the operation of the handle 13, ensuring the stability of the fixator during the operation and avoiding operation errors or accidents caused by unstable fixation. At the same time, the universal lock 3 mechanism also ensures that the direction and position of the mouse can be stably locked when needed, improving the reliability of the operation. Finally, by using the 3D mouse universal fixator, the doctor can more conveniently control the movement of the surgical robot, thereby improving the efficiency of the surgical operation. At the same time, due to the improvement of operation accuracy and the enhancement of stability, the risks during the operation are greatly reduced, further improving the safety of the operation. In summary, the utility model has the advantages of convenient operation, high control precision, good stability, strong adaptability, etc.

[0024] Preferably, the sliding part 1 includes a clamping part 11, a fixing block 12, and a handle 13. The clamping part 11 is detachably fixed to the fixing table, and the fixing block 12 is provided on the clamping part 11. The first ball joint 2 is provided on the fixing block 12 so that the first ball joint 2 is fixed to the fixing table based on the clamping part 11. The handle 13 passes through the fixing block 12 and is connected to the clamping part 11 to make the clamping part 11 in a fixed state or a released state with respect to the fixing table through the handle 13. In this embodiment, through the operation of the handle 13, the fixing or releasing of the clamping part 11 with respect to the fixing table can be easily achieved, greatly improving the flexibility and convenience of the operation. The state of the device can be quickly adjusted as needed without using complex tools or performing cumbersome steps. Moreover, the clamping part 11 is detachably fixed to the fixing table, and through the stable connection of the fixing block 12 and the first ball joint 2, the stability and reliability of the device during operation are ensured, reducing the risk of operation errors or device damage caused by device loosening or instability, and improving work efficiency and safety. In addition, the detachable clamping part 11 facilitates its maintenance and replacement. When the clamping part 11 is worn or damaged, it can be easily removed from the fixing table and necessary repairs or replacements can be carried out, extending the service life of the device and reducing the maintenance cost. Finally, due to the certain generality and adjustability of the clamping part 11 and the fixing block 12, the sliding part 1 can be applied to various devices of different specifications and types.

[0025] Preferably, a sliding guide rail is provided on the clamping part 11 so that the clamping part 11 moves on the fixing table based on the sliding guide rail to drive the first ball joint 2 to slide along the fixing table. In this embodiment, the sliding part 1 enables the entire fixture to slide conveniently along the fixing table. In addition, the handle 13 makes the fixing and releasing between the clamping part 11 and the fixing table very simple and fast, further improving the efficiency of surgical preparation and operation. Moreover, the presence of the universal locking 3 mechanism ensures that during the operation, when the sliding part 1 drives the first ball joint 2 to slide to the target position, the second ball joint 4 can stably rotate omnidirectionally under the rotation of the first ball joint 2. This stability not only ensures the smooth progress of the surgical operation but also avoids operation errors caused by mouse shaking or displacement, thus improving the safety of the operation.

[0026] Optionally, the track clearance on both sides of the sliding guide rail can be adjusted by the handle 13. In this embodiment, the handle 13 is operated to adjust the track clearance on both sides of the sliding guide rail. This flexibility can accommodate sliding components of different sizes, shapes, or weights, improving the versatility and adaptability of the device. Moreover, the adjustment method of the handle 13 is generally easier to achieve precise control, enabling fine-tuning of the track clearance to ensure the stability and smoothness of the sliding component when moving on the guide rail, reducing friction, noise, or jamming caused by excessive or too small clearance. Additionally, over time, the sliding guide rail may experience changes in track clearance due to wear or foreign object intrusion. By adjusting the track clearance with the handle 13, maintenance and adjustment can be easily carried out without disassembling the entire guide rail system, thus reducing the maintenance cost and difficulty. Finally, a reasonable track clearance helps reduce friction and wear between the sliding component and the guide rail, thereby extending the service life of the guide rail and the sliding component. By regularly checking and adjusting the track clearance, it can be ensured that the guide rail system is always in the best working condition, reducing performance degradation and failure risks caused by wear.

[0027] Preferably, the first ball joint 2 includes: a first ball head component 21 and a first ball socket component 22; one end of the first ball head component 21 is fixed on the sliding component 1, and the other end is movably connected with the first ball socket component 22 to support the first ball socket component 22 based on the first ball head component; the first ball socket component 22 is connected to the second ball joint 4 through the universal lock 3, so that the second ball joint 4 can rotate omnidirectionally under the rotation of the first ball socket component 22. In this embodiment, the movable connection between the first ball head component 21 and the first ball socket component 22 enables the second ball joint 4 to achieve omnidirectional rotation under the rotation of the first ball socket component 22, providing extremely high flexibility and allowing the device to move freely and adjust its posture in multiple directions, suitable for application scenarios that require complex motion trajectories and high flexibility. Additionally, compared with traditional multi-joint connection structures, ball joints are usually more compact and lightweight. The compact combination of the first ball head component 21 and the first ball socket component 22 reduces the required space and weight, which is particularly important for devices that require efficient energy utilization and portability. Moreover, due to its unique structural characteristics, the ball socket joint usually has a high load-bearing capacity and stability. The movement of the first ball head component 21 in the ball socket component is well constrained, reducing wear and damage caused by unstable movement. Finally, the components of the ball joint are detachable and replaceable, enabling easy repair and replacement when the components are damaged or worn, reducing the maintenance cost and downtime.

[0028] Preferably, the first ball head component 21 includes: a first support rod and a first ball head; one end of the first support rod is fixed on the sliding part 1, and the first ball head is fixed at the other end to support the first ball head based on the first support rod; the first ball head is movably connected with the first ball socket component 22, so that the second ball joint 4 can rotate omnidirectionally under the rotation of the first ball head. In this embodiment, the first ball head is firmly fixed on the sliding part 1 through the first support rod, enhancing the stability of the entire ball joint structure. The first support rod, as the main load-bearing and supporting component, can withstand various forces and torques from the sliding part 1 and the second ball joint 4, ensuring the reliable operation of the ball joint under complex working conditions. Moreover, the first ball head, as the rotation center, realizes a movable connection with the first ball socket component 22, allowing the second ball joint 4 to rotate omnidirectionally under the precise control of the first ball head. By optimizing the matching precision and lubrication performance of the first ball head and the first ball socket component 22, the smoothness and accuracy of rotation can be further improved to meet the requirements of high-precision motion control. In addition, refining the first ball head component 21 into two relatively independent modules, namely the first support rod and the first ball head, makes the entire ball joint system have higher modularity and maintainability. When replacing or upgrading components is needed, operations can be carried out more conveniently and quickly, reducing the maintenance cost and downtime. In addition, one end of the first support rod is fixed on the sliding part 1, enabling the first ball head component 21 to be flexibly configured according to actual installation requirements.

[0029] Preferably, the first ball socket component 22 includes a first ball socket, a first connecting rod, and a first locking ring. The first ball socket is movably disposed on the first ball head so that the first connecting rod rotates omnidirectionally under the rotation of the first ball socket. One end of the first connecting rod is fixed to the first ball socket, and the other end is fixed to the first locking ring so that the first locking ring rotates omnidirectionally under the rotation of the first connecting rod. The first locking ring is fixed to the second ball joint 4 through the universal lock 3 so that the second ball joint 4 rotates omnidirectionally under the rotation of the first locking ring based on the fixation of the universal lock 3. In this embodiment, by movably disposing the first ball socket on the first ball head and firmly connecting the first ball socket and the first locking ring through the first connecting rod, the continuity and stability of the transmission path are ensured. The first connecting rod, as a transmission medium, can effectively transmit the rotational motion of the first ball socket to the first locking ring, thereby driving the second ball joint 4 to achieve omnidirectional rotation. This direct transmission method reduces energy loss and transmission error, improving the transmission efficiency and stability of the system. Additionally, the first ball socket component 22 allows the second ball joint 4 to rotate omnidirectionally under the rotation of the first locking ring. Due to the movable connection between the first ball socket and the first ball head and the fixed connection between the first connecting rod and the first locking ring, the second ball joint 4 can freely rotate in almost any direction without worrying about motion limitation or jamming. This flexible omnidirectional rotation ability enables the device or robot to cope with complex and changing working environments and task requirements. Moreover, integrating the first ball socket, the first connecting rod, and the first locking ring into the first ball socket component 22 improves the structural integration of the entire ball joint system. Not only does it reduce the required space and weight, but it also makes the system easier to install and debug. At the same time, a high degree of structural integration also helps to improve the overall rigidity and stability of the system, reducing deformation and damage caused by vibration or impact. Finally, the modularity of the first ball socket component 22 allows for easy maintenance and upgrade when needed. For example, if the first connecting rod or the first locking ring wears or breaks, these components can be replaced individually without replacing the entire ball joint system, thus reducing maintenance costs and downtime and improving the reliability and availability of the device.

[0030] Preferably, the second ball joint 4 includes: a second ball socket member 42 and a second ball head member 41; the second ball socket member 42 is fixed to the first ball joint 2 through the universal lock 3, so that the second ball head member 41 rotates omnidirectionally under the rotation of the second ball socket member 42 based on the fixation of the universal lock 3. One end of the second ball head member 41 is disposed on the second ball socket member 42, and the other end is provided with the 3D mouse 5, so that the 3D mouse 5 can rotate omnidirectionally under the rotation of the second ball socket member 42. In this embodiment, through the second ball joint 4, the 3D mouse 5 can achieve omnidirectional rotation under the rotation of the second ball socket member 42. The 3D mouse 5 can be freely rotated and tilted as needed, so as to more precisely control the viewing angle and the operation object. Moreover, compared with traditional mice or joysticks, the 3D mouse 5 with omnidirectional rotation ability can provide higher operation accuracy and efficiency. Therefore, omnidirectional rotation and tilting operations can be achieved without frequently moving the mouse or adjusting the hand posture, reducing the possibility of hand fatigue and misoperation, and improving work efficiency and accuracy. Finally, the second ball joint 4 usually has the characteristic of a compact structure, which makes the entire 3D mouse 5 system more lightweight and easy to integrate into various devices.

[0031] Preferably, the second ball socket component 42 includes: a second locking ring, a second connecting rod, and a second ball socket; the second locking ring is provided with a second connecting rod, and the second locking ring is connected to the first ball joint 2 through the universal lock 3, so that the second connecting rod can rotate in all directions under the rotation of the first ball joint 2 based on the fixation of the universal lock 3; the second connecting rod is fixed to the second ball socket, so that the second ball socket can rotate under the rotation of the second connecting rod; the second ball head component 41 is movably arranged on the second ball socket, so that the second ball head component 41 can rotate in all directions under the rotation of the second ball socket. In this embodiment, by connecting the second locking ring to the first ball joint 2 through the universal lock 3, the stable connection between the second ball socket component 42 and the first ball joint 2 is ensured. This stable connection mode enables the second ball socket component 42 to maintain a stable posture during the rotation process, reducing the error caused by shaking or vibration. At the same time, the fixed connection between the second connecting rod and the second ball socket also enhances the stability of the entire structure, so that the second ball head component 41 can achieve full-directional rotation more smoothly. Moreover, the second ball and socket component 42 allows the second ball head component 41 to achieve omnidirectional rotation under the rotation of the second ball socket. Due to the close fit and cooperative work between the second locking ring, the second connecting rod and the second ball socket, the second ball head component 41 can rotate freely in almost any direction to meet the operation requirements in different application scenarios. This flexible omnidirectional rotation capability improves the adaptability and usability of the equipment. In addition, the second locking ring is connected to the first ball joint 2 through the universal lock 3, ensuring the continuity and efficiency of power transmission. When the first ball joint 2 rotates, the power is transmitted to the second locking ring through the universal lock 3, and then the second ball socket is driven to rotate through the second connecting rod. This direct transmission method reduces energy loss and transmission error, and improves the transmission efficiency of the system. Finally, the modularity of the second ball and socket component 42 allows for easy maintenance and upgrading when necessary. If a component is worn or damaged, it can be replaced alone without replacing the entire second ball and socket component 42, reducing maintenance costs and downtime, and improving the reliability and usability of the equipment.

[0032] Preferably, the second ball head component 41 includes: a second ball head and a second support rod; the second ball head is movably disposed in the second ball socket and fixed with the second support rod, so that the second support rod rotates omnidirectionally under the rotation of the second ball head; the 3D mouse 5 is fixed on the second support rod, so that the 3D mouse 5 can rotate omnidirectionally under the rotation of the second support rod. In this embodiment, the second ball head is movably disposed in the second ball socket, ensuring that the second ball head can accurately follow the rotation of the second ball socket. At the same time, since the second support rod is fixed to the second ball head, the 3D mouse 5 also rotates omnidirectionally with the rotation of the second support rod. This precise rotation control can accurately control the rotation direction and angle of the 3D mouse 5, improving the accuracy and reliability of the operation. In addition, the second support rod, as a key component connecting the second ball head and the 3D mouse 5, its stability and strength are crucial for the performance of the entire system. By firmly fixing the second support rod to the second ball head, the stability of the 3D mouse 5 during rotation can be ensured, reducing errors caused by shaking or vibration. In addition, since the second support rod is fixed to the second ball head, the position and angle of the 3D mouse 5 can be flexibly adjusted as needed. This flexible installation and adjustment ability can adapt to different hand shapes and operating habits, improving the adaptability and comfort of the device. Finally, by fixing the 3D mouse 5 to the second support rod and enabling it to rotate omnidirectionally with the rotation of the second ball head, it can be more natural and smooth.

[0033] Preferably, the 3D mouse 5 includes a housing 51 and an anti-error strip 52. The housing 51 is detachably fixed to the second ball joint 4, enabling the housing 51 to rotate omnidirectionally under the rotation of the second ball joint 4. The anti-error strip 52 is provided on the housing 51 to guide the operator's grip. In this embodiment, the detachability of the housing 51 makes the maintenance and cleaning of the 3D mouse 5 more convenient. When it is necessary to clean the internal dust or replace components, the housing 51 can be easily removed from the second ball joint 4, and after necessary operations, it can be reinstalled, reducing the maintenance difficulty and cost, and improving the reliability and service life of the device. In addition, the anti-error strip 52 provided on the housing 51 provides clear grip guidance for the operator, helping to reduce misoperations and improve the accuracy of operations. At the same time, it can maintain the comfort and stability of the hand during long-term use of the 3D mouse 5. The anti-error strip 52 can also be optimized according to different hand shapes and gripping habits. Finally, since the housing 51 is detachably fixed to the second ball joint 4 and the second ball joint 4 itself has the characteristic of omnidirectional rotation, the 3D mouse 5 can maintain a stable posture during rotation. This stability reduces the shaking and vibration caused by rotation, improving the accuracy and reliability of operations. At the same time, the stable rotation characteristic also enables one to focus more on the operation itself, improving work efficiency.

[0034] Preferably, the housing 51 includes a base 511 and an upper shell 512. The base 511 is detachably fixed to the second ball joint 4 to fix the upper shell 512 to the second ball joint 4. The anti-error strip 52 is provided on the upper shell 512 to guide the operator's grip. In this embodiment, the base 511, as the connecting component between the housing 51 and the second ball joint 4, its detachable fixing method ensures the firmness of the connection, enabling the upper shell 512 to be firmly fixed to the second ball joint 4, thus ensuring the stability of the 3D mouse 5 during rotation. The firm structure reduces the errors caused by shaking or vibration, improving the accuracy and reliability of operations. In addition, since the base 511 and the upper shell 512 are detachable, it is convenient for maintenance and upgrading. The base 511 and the upper shell 512 can be easily separated, and after necessary operations, they can be reassembled, reducing the maintenance difficulty and cost, and improving the maintainability and scalability of the device. Moreover, the anti-error strip 52 provided on the upper shell 512 provides clear grip guidance for the operator, helping to reduce misoperations and improve the accuracy of operations. At the same time, it also enables the hand to maintain comfort and stability during long-term use of the 3D mouse 5. The shape, position and material of the anti-error strip 52 can be optimized according to hand shape and gripping habit.

[0035] Preferably, the housing 51 further includes: a heightening cap 513; the heightening cap 513 is disposed on the upper housing 512 to increase the length of the 3D mouse 5. In this embodiment, the heightening cap 513 increases the overall height of the 3D mouse 5, thereby providing a larger gripping space, which helps to disperse the hand pressure and reduce the hand fatigue during long-term use. At the same time, the longer mouse length also makes the gripping posture more natural and stable. In addition, the heightening cap 513 enables the 3D mouse 5 to better adapt to different hand shapes. Whether the hand is large or small, the most suitable gripping method can be found by adjusting the position of the heightening cap 513 or selecting heightening caps 513 with different heights. In addition, the heightening cap 513 not only increases the length of the 3D mouse 5, but also enhances the stability of the mouse by increasing the weight and changing the center of gravity distribution. During operation, a more stable mouse helps to reduce the shaking and deviation caused by hand movements, improving the accuracy and stability of the operation. This is particularly important for application scenarios that require high-precision operations. Finally, the heightening cap 513, as a detachable accessory, is convenient for cleaning and replacement.

[0036] Preferably, the anti-misoperation strips 52 include: a front anti-misoperation strip 52 and a rear anti-misoperation strip 52; the front anti-misoperation strip 52 is disposed on the upper housing 512 to enable the operator to distinguish the front end of the upper housing 512 by gripping; the rear anti-misoperation strip 52 is disposed on the upper housing 512 to enable the operator to distinguish the rear end of the upper housing 512 by gripping. In this embodiment, the front anti-misoperation strip 52 and the rear anti-misoperation strip 52 enable the operator to clearly distinguish the front end and the rear end of the upper housing 512 when gripping the 3D mouse 5. This clear guidance helps to reduce misoperations caused by direction confusion, improving the accuracy and efficiency of the operation. This is particularly important in scenarios that require fine operations or quick responses. In addition, by providing the front anti-misoperation strip 52 and the rear anti-misoperation strip 52, the gripping feeling of the 3D mouse 5 becomes more intuitive and comfortable. When gripping the mouse, the operator can naturally find the correct gripping position and direction, reducing the confusion and discomfort caused by searching for the gripping point, enabling the operator to focus more on the operation itself. In addition, finally, by providing the front anti-misoperation strip 52 and the rear anti-misoperation strip 52, it better adapts to different operating habits. Whether the operator is accustomed to operating with the front end of the mouse or is more inclined to use the rear end, the most suitable operating method can be found through the guidance of the anti-misoperation strips 52.

[0037] The present application also provides a universal fixator, comprising: a sliding part, a first ball joint, a universal lock, a second ball joint, and an object to be fixed; the sliding part is detachably connected to a fixing table and can slide along the fixing table, and the first ball joint is arranged on the sliding part; the first ball joint is connected to the second ball joint through the universal lock, so that the second ball joint can rotate omnidirectionally under the rotation of the first ball joint; the object to be fixed is fixed on the second ball joint, and the object to be fixed can rotate omnidirectionally and be fixed on the fixing table under the rotation of the second ball joint.

[0038] The present application also provides a fixator system, comprising the 3D mouse universal fixator according to any one of the embodiments of the present application.

[0039] Finally, it should be noted that: in the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "inner side", "upper", "lower", "outer side", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0040] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "arranged", "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 connection; 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 communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] The above are only the preferred embodiments of the present invention, and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A 3D mouse universal fixator, characterized in that Comprising: A sliding part (1), a first ball joint (2), a universal lock (3), a second ball joint (4), and a 3D mouse (5); The sliding part (1) is detachably connected to the fixed platform and can slide along the fixed platform. The first ball joint (2) is provided on the sliding part (1) to drive the first ball joint (2) to slide along the fixed platform; The first ball joint (2) is connected to the second ball joint (4) through the universal lock (3). When the sliding part (1) drives the first ball joint (2) to slide to the target position, the second ball joint (4) can rotate omnidirectionally under the rotation of the first ball joint (2); The 3D mouse (5) is fixed on the second ball joint (4). The 3D mouse (5) can rotate omnidirectionally under the rotation of the second ball joint (4) to communicate and interact with the surgical robot.

2. The 3D mouse universal fixer according to claim 1, wherein The sliding part (1) includes: a clamping part (11), a fixing block (12), and a handle (13); The clamping part (11) is detachably fixed on the fixed platform, and the fixing block (12) is provided on the clamping part (11). The first ball joint (2) is provided on the fixing block (12) so that the first ball joint (2) is fixed on the fixed platform based on the clamping part (11); The handle (13) passes through the fixing block (12) and is connected to the clamping part (11) to make the clamping part (11) and the fixed platform in a fixed state or a released fixed state through the handle (13).

3. The 3D mouse universal fixator according to claim 1, characterized in that The first ball joint (2) includes: a first ball head component (21) and a first ball socket component (22); One end of the first ball head component (21) is fixed on the sliding part (1), and the other end is movably connected to the first ball socket component (22) to support the first ball socket component (22) based on the first ball head component; The first ball socket component (22) is connected to the second ball joint (4) through the universal lock (3) to make the second ball joint (4) rotate omnidirectionally under the rotation of the first ball socket component (22).

4. The 3D mouse universal fixing device according to claim 1, characterized in that, The second ball joint (4) includes: a second ball socket component (42) and a second ball head component (41); The second ball socket component (42) is fixed to the first ball joint (2) through the universal lock (3) so that the second ball head component (41) rotates omnidirectionally under the rotation of the second ball socket component (42) based on the fixation of the universal lock (3); One end of the second ball head component (41) is provided on the second ball socket component (42), and the other end is provided with the 3D mouse (5) to make the 3D mouse (5) rotate omnidirectionally under the rotation of the second ball socket component (42).

5. The 3D mouse universal fixing device according to claim 1, characterized in that, The 3D mouse (5) includes: a housing (51) and an anti-misalignment strip (52); The housing (51) is detachably fixed to the second ball joint (4) so that the housing (51) can rotate omnidirectionally under the rotation of the second ball joint (4); The anti - error strip (52) is provided on the housing (51) to guide the operator's grip.

6. The 3D mouse universal fixing device according to claim 5, wherein, The housing (51) includes: a base (511) and an upper shell (512); The base (511) is detachably fixed to the second ball joint (4) to fix the upper shell (512) to the second ball joint (4); An anti - error strip (52) is provided on the upper shell (512) to guide the operator's grip.

7. The 3D mouse universal fixer according to claim 6, characterized in that, The housing (51) further includes: a heightening cap (513); The heightening cap (513) is provided on the upper shell (512) to increase the length of the 3D mouse (5).

8. The 3D mouse universal fixer according to claim 7, wherein The anti - error strip (52) includes: a front anti - error strip (52) and a rear anti - error strip (52); The front anti - error strip (52) is provided on the upper shell (512) so that the operator can distinguish the front end of the upper shell (512) by gripping; The rear anti - error strip (52) is provided on the upper shell (512) so that the operator can distinguish the rear end of the upper shell (512) by gripping.

9. A universal fixator, characterized in that, Comprising: A sliding part, a first ball joint, a universal lock, a second ball joint, an object to be fixed; The sliding part is detachably connected to the fixing table and can slide along the fixing table. The first ball joint is provided on the sliding part; The first ball joint is connected to the second ball joint through the universal lock so that the second ball joint can rotate omnidirectionally under the rotation of the first ball joint; The object to be fixed is fixed on the second ball joint and can rotate omnidirectionally and be fixed on the fixing table under the rotation of the second ball joint.

10. A fixator system, characterized in that, Comprising the 3D mouse universal fixer according to any one of claims 1 - 8.

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