Navigation positioning device

Abstract

The utility model provides a navigation positioning device, which comprises a master control trolley, a positioning instrument and a locking mechanism, and is characterized in that the master control trolley is connected with the positioning instrument through a support arm; a protective cover is arranged outside the positioning instrument, and a positioning instrument hook is arranged on the protective cover; the locking mechanism is installed on the master control trolley and comprises a hook plate, a baffle and a foot bar, one end of the pedal is rotatably connected with one end of the hook plate, the foot bar is used for driving the hook plate to rotate, in the storage state, a first cavity is formed between the baffle and the hook plate, and the hook plate is arranged in the first cavity. And one end of the positioning instrument hook is positioned in the first cavity. According to the device, the occupied space is reduced, excessive external cables are avoided, operation of medical staff is facilitated, the state of the device in the storage state is stable, damage to the position indicator caused by shaking of the position indicator in the transportation process is avoided, the precision and the service life of the device are guaranteed, and installation and storage operation is easy, convenient and fast.

Description

Technical Field

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

[0002] During the process of navigation surgery of a surgical robot, such as spinal surgery, a navigation positioning device including an optical locator and a master control trolley is required to achieve positioning. Among them, the optical locator is used to achieve positioning and tracking, and the master control trolley is used to receive doctor's instructions, display and record surgical data. Usually, the optical locator needs to be fixed on a mobile device to facilitate the adjustment of its position during the operation. At present, in many navigation positioning devices on the market, the optical locator and the master control trolley are separated and connected to each other by cables. Such a structure and connection method require more operating room space, and a large number of cables are not convenient for medical staff to operate during the operation.

[0003] In order to reduce the occupied space and design a more concise and convenient navigation positioning system device, the optical locator can be directly installed on the master control trolley through a mechanical arm, so that the occupied space during the operation is small, and the problem of excessive cables is avoided. However, for a navigation positioning device with an integrated design of an optical locator and a master control trolley, its volume is large, and it is inconvenient to store and transport. During transportation, collisions or bumps often occur, which are likely to damage the optical locator, resulting in a decrease in its accuracy and even a reduction in the service life of the device. Summary of the Utility Model

[0004] Aiming at the above defects in the prior art, the purpose of the utility model is to provide a navigation positioning device, in which the locator is installed on the master control trolley, reducing the occupied space, facilitating storage and transportation, not being easily affected by external forces during transportation, and having simple and convenient installation and use operations.

[0005] The utility model provides a navigation positioning device, including a master control trolley, a locator, and a locking mechanism, wherein:

[0006] The master control trolley is connected to the locator through an arm;

[0007] A protective cover is arranged outside the locator, and a locator hook is arranged on the protective cover;

[0008] The locking mechanism is installed on the master control trolley. The locking mechanism includes a hook plate, a baffle, and a treadle rod. One end of the treadle rod is rotatably connected to one end of the hook plate. The treadle rod is used to drive the hook plate to rotate. In the storage state, a first cavity is formed between the baffle and the hook plate, and one end of the locator hook is located in the first cavity.

[0009] In one embodiment, the treadle rod is rotatably connected to the main control trolley, the baffle is rotatably connected to the main control trolley, and the axis of rotation of the treadle rod relative to the main control trolley is parallel to the axis of rotation of the baffle relative to the main control trolley.

[0010] In one embodiment, one end of the hook plate is provided with a second cavity, and at least a part of the movable rotating shaft is located in the second cavity, and the movable rotating shaft is connected to the treadle rod.

[0011] In one embodiment, the movable rotating shaft moves in the second cavity.

[0012] In one embodiment, the movement includes rotation and sliding in a plane perpendicular to the axis of rotation.

[0013] In one embodiment, a pedal is provided on the treadle rod, and the pedal is located at a position away from the movable rotating shaft.

[0014] In one embodiment, the locking mechanism further includes an elastic member, one end of the elastic member is connected to the treadle rod, and the other end is connected to the main control trolley.

[0015] In one embodiment, the locking further includes a side plate, the side plate is fixedly connected to the main control trolley, and the side plate is rotatably connected to the side plate.

[0016] In one embodiment, there are two side plates, which are respectively located on both sides of the hook plate and / or the treadle rod.

[0017] In one embodiment, a hook-shaped structure is provided at one end of the hook plate away from the main control trolley.

[0018] In one embodiment, in the storage state, the hook-shaped structure of the hook plate abuts against the baffle.

[0019] In one embodiment, there are two locator hooks, which are respectively located at both ends of the protective cover.

[0020] In one embodiment, in the storage state, at least one of the locator hooks is connected to the locking mechanism.

[0021] In one embodiment, there are at least two locator hooks, and a first trolley hook is provided on the main control trolley. In the storage state, at least one of the locator hooks is connected to the first trolley hook.

[0022] In one embodiment, an elastic pad is provided on the protective cover. In the storage state, the elastic pad abuts against the main control trolley.

[0023] In one embodiment, through holes are provided on the elastic pad.

[0024] Compared with the prior art, the navigation and positioning device provided by the present utility model has the following beneficial effects:

[0025] 1. The locator is installed on the main control trolley. In the use state, the space occupied in the operating room is reduced. The connection cable between the locator and the main control trolley can be built into the interior of the device, avoiding excessive external cables and facilitating the operation of medical staff;

[0026] 2. The space under the equipment workbench is reasonably utilized. The locator is stored under the equipment body workbench by adjusting the support arm. In the storage state or transportation state, the occupied space is small. The locator is locked to the body of the main control trolley through a locking mechanism, avoiding damage to the locator caused by the shaking of the locator during transportation and ensuring the accuracy and service life of the equipment;

[0027] 3. The installation and storage operations are simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects, and advantages of the present utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0029] Figure 1 Structural schematic diagram of the navigation and positioning device shown in an embodiment of the present utility model in the use state;

[0030] Figure 2 Structural schematic diagram of the navigation and positioning device shown in an embodiment of the present utility model;

[0031] Figure 3 Structural schematic diagram of the main control trolley and the locator shown in an embodiment of the present utility model;

[0032] Figure 4 Structural schematic diagram of the navigation and positioning device shown in an embodiment of the present utility model in the storage state;

[0033] Figure 5 Structural schematic diagram of the locator shown in an embodiment of the present utility model;

[0034] Figure 6 Structural schematic diagram of the locking mechanism shown in an embodiment of the present utility model;

[0035] Figure 7 Side view of the locking mechanism shown in an embodiment of the present utility model;

[0036] Figure 8 Structural schematic diagram of the elastic pad shown in an embodiment of the present utility model;

[0037] Figure 9Side view of the elastic pad shown in an embodiment of the present utility model.

[0038] Reference numerals:

[0039] 1, main control trolley; 2, display screen; 5, support arm; 6, protective cover; 7, locking mechanism; 11, first trolley hook; 12, workbench; 52, support arm joint; 51, support arm head; 61, first locator hook; 62, second locator hook; 63, first elastic pad; 64, second elastic pad; 65, handle; 71, hook plate; 72, baffle; 73, pedal; 74, treadle rod; 75, left side plate; 76, right side plate; 77, connecting plate; 78, tension spring; 79, movable rotating shaft; 82, second cavity; 81, first cavity. Detailed implementation manners

[0040] To make the objectives, advantages and features of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are in very simplified forms and are not drawn to scale, only for conveniently and clearly assisting in explaining the objectives of the embodiments of the present utility model. In addition, the structures shown in the accompanying drawings are often part of the actual structures. In particular, the accompanying drawings need to show different focuses and sometimes different scales are adopted.

[0041] As used in the present utility model, the singular forms "a", "an" and "the" include plural referents. The term "or" is generally used in the sense of including "and / or". The term "several" is generally used in the sense of including "at least one". The term "at least two" is generally used in the sense of including "two or more". In addition, the terms "first", "second", "third" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or at least two of such features. The term "proximal end" generally refers to the end close to the operator, and the term "distal end" generally refers to the end close to the patient. "One end" and "the other end", as well as "proximal end" and "distal end", generally refer to two corresponding parts, which include not only the endpoints. The terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements. In addition, as used in the present utility model, one element being disposed on another element generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate element, and should not be construed as indicating or implying the spatial position relationship between the two elements, that is, one element may be inside, outside, above, below or on one side of the other element, etc. in any orientation, unless otherwise explicitly specified in the content. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0042] The core idea of the present utility model is to provide a navigation and positioning device with an integrated design to solve the problems of large occupied space, difficult to store, and easy to be damaged during transportation in the prior art.

[0043] Referring to Figure 1 、 Figure 2 and Figure 4, the navigation and positioning device provided in this embodiment includes a main control trolley 1, a support arm 5, a positioning instrument (not marked in the figure), a protective cover 6 disposed outside the positioning instrument, and a locking mechanism 7. The main control trolley 1 is connected to the positioning instrument through the support arm 5. At least two support arm joints 52 are provided on the support arm 5, and the position of the positioning instrument, as well as the switching between the use state and the storage state, can be adjusted by adjusting the support arm 5 and the support arm joints 52. The upper part of the support arm 5 is the support arm head 51, and the support arm head 51 is connected to the protective cover 6, and the support arm head 51 and the protective cover 6 can rotate relative to each other. A display screen 2 is provided on the main control trolley 1. The upper plane of the main control trolley 1 serves as a workbench 12, on which a keyboard or a mouse can be placed for doctors or operators to operate. Generally, a relatively large area is required for the convenience of operating the workbench 12, and its area is larger than the cross-section of the body of the main control trolley 1. In this embodiment, the support arm 5 is a spring support arm, and the maximum arm span of the support arm in the horizontal direction is 1.5 meters. Starting from the horizontal direction, the first arm can rotate 70 degrees upward and 40 degrees downward, and the maximum and minimum moving spaces in the vertical direction are more than 2 meters, providing a large moving space. Utilizing the characteristic that the support arm 5 can rotate 40 degrees downward in the horizontal direction, the positioning instrument can be stored under the workbench.

[0044] Refer to Figures 1 to 5 , the protective cover 6 disposed outside the positioning instrument is used to protect the positioning instrument inside. A handle 65 is provided at a position near the middle at the rear of the protective cover 6. The handle 65 is used to adjust the position and angle of the positioning instrument. By holding the handle 65 with one hand, the positioning instrument can be pulled to any desired position by changing the position and direction of the support arm 5, and then by rotating the handle 65 up, down, left, and right, the best working angle can be found. The positioning instrument is generally a binocular positioning instrument, and a camera is provided at each of its left and right ends. The shape of the protective cover 6 is set to match the shape of the positioning instrument. Two hooks, namely a first positioning instrument hook 61 and a second positioning instrument hook 62, are respectively provided at the left and right ends of the protective cover 6. First elastic pads 63 and second elastic pads 64 are respectively provided on the upper and lower sides at the central position of the protective cover 6. The first elastic pads 63 and the second elastic pads 64 are made of rubber, and a circular through hole is provided at the front end thereof. The structures and shapes of the first elastic pads 63 and the second elastic pads 64 can refer to Figure 8 and Figure 9 . In the storage state, the first elastic pads 63 and the second elastic pads 64 are tightly abutted against the body of the main control trolley 1, and the circular through holes at the front ends of the first elastic pads 63 and the second elastic pads 64 can be squeezed and deformed, so that the first elastic pads 63 and the second elastic pads 64 are firmly fixed on the device.

[0045] A first trolley hook 11 is provided at the upper part of the main control trolley 1, near the workbench. In the storage state, the first trolley hook 11 is connected to the first locator hook 61. Here, the first trolley hook 11 and the first locator hook 61 can be in any connectable form, such as a snap connection, a threaded connection, etc. A locking mechanism 7 is provided at the lower part of the main control trolley 1, away from the workbench. In the storage state, the locking mechanism 7 is used to lock the second trolley hook 62. Figure 6 and Figure 7 The locking mechanism 7 includes a hook plate 71, a baffle 72, a pedal 73, a pedal rod 74, a left side plate 75, a right side plate 76, a connecting plate 77, and a tension spring 78. The connecting plate 77 is fixedly connected to the main control trolley 1, and the left side plate 75 and the right side plate 76 are fixedly connected to the main control trolley 1 through the connecting plate 77, and the left side plate 75 and the right side plate 76 are respectively located on the left and right sides of the locking mechanism. Of course, the left side plate 75 and the right side plate 76 can also be directly connected to the main control trolley 1. The middle part of the pedal rod 74 is rotatably connected to the left side plate 75 and the right side plate 76, respectively. Specifically, the left side plate 75 and the right side plate 76 are fixedly connected to the rotating shaft, and the middle position of the pedal rod 74 is sleeved on the rotating shaft. A pedal 73 is provided on the pedal rod 74 at one end away from the body of the main control trolley 1, and the operator can control the locking mechanism by stepping on the pedal 73. The end of the pedal rod 74 away from the pedal 73 is rotatably connected to the hook plate 71. A second cavity 82 is provided at the connection between the hook plate 71 and the pedal 74. The second cavity 82 extends from the direction close to the main control trolley body to the direction away from the main control trolley body. A movable shaft 79 is provided in the second cavity 82. One end of the pedal 74 close to the main control trolley body is connected to the movable shaft 79. The movable shaft 79 can rotate in the second cavity 82 and move from a position close to the main control trolley body to a position away from the main control trolley body. The middle position of the hook plate 71 is rotatably connected to the left side plate 75 and the right side plate 76 through a shaft. The baffle 72 is connected to the left side plate 75 and the right side plate 76 through a shaft. One end of the hook plate 71 away from the second cavity 82 is a hook-shaped structure. In the storage state, the hook-shaped structure abuts against the baffle 72, and there is a cavity 81 between the baffle 72 and the hook plate 71. The second locator hook 62 is located in the cavity 81 and is blocked by the hook-shaped structure and cannot be separated from the cavity. Furthermore, the locking mechanism 7 also includes a tension spring 78, which is a cylindrical helical tension spring, one end of which is connected to the body of the main control trolley, and the other end is connected to the pedal 74, and gives a certain pulling force to the pedal 74, so that the movable shaft 79 is located on the left side of the second cavity 82 when not affected by other external forces.

[0046] When the navigation positioning device needs to be stored, first drag the handle 65, and the support arm 5 and the protective cover 6 move to the lower part of the workbench 12 of the main control trolley 1 under the action of the handle 65, and rotate the protective cover 6 to make the first locator hook 61 near the first trolley hook 11, and the second locator hook 62 is located near the locking mechanism 7, connecting the first locator hook 61 with the first trolley hook 11, and then place the second locator hook 62 on the hook structure of the hook plate 71 and press downward. The hook structure of the hook plate 71 moves downward and disengages from the baffle 72, placing the second positioning hook 62 in the first cavity 81. At this time, the force on the hook structure of the hook plate 71 is canceled. Under the action of the tension spring 78, the hook structure returns to its original position and continues to rest against the baffle 72, blocking the second positioning hook 62 from leaving the first cavity 81. At the same time, the first elastic pad 63 and the second elastic pad 64 are tightly against the body of the main control trolley, and the protective cover and the locator inside the protective cover are located below the workbench 12 and are pressed against the body of the main control trolley, and the entire device is in a storage state. Through the locking of the locking mechanism 7, the connection between the first locator hook 61 and the first trolley hook 11, and the connection between the first elastic pad 63 and the second elastic pad 64 and the body of the main control trolley, the protective cover is tightly against the body of the main control trolley, and even if it is subjected to external force during transportation, it will not shake or deform, which plays a good protective role for the locator inside the protective cover.

[0047] When it is necessary to release the storage state, install and use it, first step on the pedal 73 to drive the pedal rod 74 to rotate, so that the end of the pedal 74 close to the movable shaft 79 moves upward. At the same time, the movable shaft 79 moves to the upper right in the second cavity 82, driving the hook plate 71 to rotate. The hook-shaped structure of the hook plate 71 moves downward and disengages from the baffle 72, and the second locator hook 62 is taken out of the first cavity 81, that is, the connection of the locking structure second locator hook 62 is released, and then the connection between the first locator hook 61 and the first trolley hook 11 is released. The handle 65 is held to place the protective cover 6 and the locator inside it at the required position, and the installation of the navigation and positioning device can be completed. The installation process is simple and quick.

[0048] 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 navigation and positioning device, characterized in that, It includes a main control trolley, a locator, and a locking mechanism, wherein: The main control trolley is connected to the locator through a support arm; A protective cover is provided outside the locator, and a locator hook is provided on the protective cover; The locking mechanism is installed on the main control trolley. The locking mechanism includes a hook plate, a baffle plate, and a treadle rod. One end of the treadle rod is rotatably connected to one end of the hook plate. The treadle rod is used to drive the hook plate to rotate. In the storage state, there is a first cavity between the baffle plate and the hook plate, and one end of at least one locator hook is located in the first cavity.

2. The navigation and positioning device according to claim 1, wherein The treadle rod is rotatably connected to the main control trolley, and the baffle plate is rotatably connected to the main control trolley, and the axis of rotation of the treadle rod relative to the main control trolley is parallel to the axis of rotation of the baffle plate relative to the main control trolley.

3. The navigation and positioning device according to claim 1, wherein One end of the hook plate is provided with a second cavity, and a movable rotating shaft is provided in the second cavity. At least a part of the movable rotating shaft is located in the second cavity, and the movable rotating shaft is connected to the treadle rod.

4. The navigation and positioning device according to claim 3, wherein The movable rotating shaft moves in the second cavity, and the movement includes rotation and sliding in a plane perpendicular to the axis of rotation.

5. The navigation and positioning device according to claim 3, characterized in that, A pedal is provided on the treadle rod, and the pedal is located at a position away from the movable rotating shaft.

6. The navigation and positioning device according to claim 3, wherein The locking mechanism further includes an elastic member, one end of the elastic member is connected to the treadle rod, and the other end is connected to the main control trolley.

7. The navigation and positioning device according to claim 1, wherein, There are at least two locator hooks, and a first trolley hook is provided on the main control trolley. At least one locator hook is connected to the first trolley hook in the storage state.

8. The navigation and positioning device according to claim 1, wherein An elastic pad is provided on the protective cover. In the storage state, the elastic pad abuts against the main control trolley.

9. The navigation and positioning device according to claim 8, characterized in that, Through holes are provided on the elastic pad.

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