Kirschner wire positioning device, Kirschner wire device and surgical robot

Abstract

The utility model provides a kirschner wire positioning device, a kirschner wire device and a surgical robotic.The kirschner wire positioning device comprises a connecting piece, an optical positioning piece, a supporting piece and a kirschner wire, the connecting piece is used for being connected with a to-be-connected piece, the optical positioning piece is connected to the connecting piece, and the optical positioning piece is used for optical positioning of external optical equipment; therefore, the optical positioning piece can be positioned relative to external optical equipment, the position precision of the optical positioning piece is guaranteed, the positioning effect is achieved, the supporting piece is connected to the connecting piece, and the position of the supporting piece is adjusted relative to the connecting piece; the supporting piece is used for locking or loosening the kirschner wire penetrating through the supporting piece, the locking effect of the kirschner wire is achieved, the kirschner wire can be conveniently positioned, the kirschner wire is prevented from shaking in the using process, and the using stability of the kirschner wire is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, and in particular to a Kirschner wire positioning device, a Kirschner wire device and a surgical robot. Background Art

[0002] With the development of technology, surgical robots assist doctors in performing complex surgical operations, completing intraoperative positioning, cutting, puncture, hemostasis, suturing and other operations.

[0003] In the prior art, the Kirschner wire cannot be locked and is prone to shaking, resulting in poor stability of the Kirschner wire of the existing surgical robot. Utility Model Content

[0004] The purpose of the present utility model is to provide a Kirschner wire positioning device, a Kirschner wire device and a surgical robot, wherein a connecting part is used to connect a part to be connected, an optical positioning part is connected to the connecting part, and the optical positioning part is used for optical positioning by an external optical device; so that the optical positioning part can be positioned relative to the external optical device, thereby ensuring the position accuracy of the optical positioning part and achieving a positioning effect; a supporting part is connected to the connecting part and is adjusted in position relative to the connecting part; the supporting part is used to lock or loosen the Kirschner wire inserted into the supporting part, thereby achieving a Kirschner wire locking effect, so as to facilitate the positioning of the Kirschner wire, avoid the Kirschner wire from shaking during use, and ensure the stability of the Kirschner wire in use.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A Kirschner wire positioning device is applied to a surgical robot; the Kirschner wire positioning device comprises:

[0007] Connecting piece, used to connect the pieces to be connected;

[0008] an optical positioning member connected to the connecting member, the optical positioning member being used for optical positioning of an external optical device;

[0009] a supporting member connected to the connecting member and capable of adjusting its position relative to the connecting member;

[0010] The support member is used to lock or loosen the Kirschner wire inserted into the support member.

[0011] Optionally, the K-wire positioning device further includes a locking member, which is movably connected to the support member and locks or releases the K-wire with the support member.

[0012] Optionally, the support member is provided with an inner cavity and a movable hole; the movable hole is connected to the inner cavity;

[0013] The movable hole is used for passing the Kirschner wire;

[0014] The locking member is located in the inner cavity and is capable of moving within the support member. During the movement, the locking member drives the Kirschner wire to move in the movable hole, and locks or releases the Kirschner wire in conjunction with the support member.

[0015] Optionally, the Kirschner wire positioning device further includes a first locking knob;

[0016] The first locking knob is provided with a connecting end and an operating end, wherein the connecting end is connected to the supporting member and can drive the movement of the locking member;

[0017] The operating end is located outside the operating end and is operated by a surgeon.

[0018] Optionally, the support member is provided with a threaded hole;

[0019] One end of the connecting end is connected to the locking member;

[0020] A threaded portion is provided on the peripheral side wall of the connecting end, and the threaded portion is threadedly connected to the threaded hole.

[0021] Optionally, the K-wire positioning device further includes a swinging member, which is swingably connected to the connecting member and supports the supporting member.

[0022] Optionally, the connecting member is provided with a boss;

[0023] One end of the swinging member away from the supporting member is engaged with the boss and can swing along the swing axis of the boss.

[0024] Optionally, the K-wire positioning device further comprises a position adjustment member, wherein the position adjustment member is movably connected to the swing member and is positionally adjusted relative to the swing member;

[0025] The position adjusting member is arranged on one side of the supporting member and supports the supporting member.

[0026] A Kirschner wire device comprises the Kirschner wire positioning device as described above and a Kirschner wire.

[0027] A surgical robot comprises the above-mentioned Kirschner wire device.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] The utility model provides a Kirschner wire positioning device, a Kirschner wire device and a surgical robot, wherein a connecting piece is used to connect a piece to be connected, an optical positioning piece is connected to the connecting piece, and the optical positioning piece is used for optical positioning by an external optical device; so that the optical positioning piece can be positioned relative to the external optical device, thereby ensuring the position accuracy of the optical positioning piece and achieving a positioning effect; a supporting piece is connected to the connecting piece and is adjusted in position relative to the connecting piece; the supporting piece is used to lock or loosen the Kirschner wire inserted in the supporting piece, thereby achieving a Kirschner wire locking effect, thereby facilitating the positioning of the Kirschner wire and preventing the Kirschner wire from shaking during use, thereby ensuring the stability of the Kirschner wire in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0031] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings. In the following description, the same reference numerals represent the same parts.

[0032] Figure 1 A schematic diagram of a Kirschner wire positioning device according to an embodiment of the present application is shown.

[0033] Figure 2 An exploded view of the K-wire positioning device according to an embodiment of the present application is shown.

[0034] Figure 3 A schematic diagram of the connection between the connector and the optical positioning component of the K-wire positioning device of an embodiment of the present application is shown.

[0035] Figure 4 A schematic diagram of a support member of a K-wire positioning device according to an embodiment of the present application is shown.

[0036] Figure 5 A schematic diagram of a position adjustment component of a K-wire positioning device according to an embodiment of the present application is shown.

[0037] Figure 6 A schematic diagram of the first locking knob of the K-wire positioning device according to an embodiment of the present application is shown.

[0038] Figure 7 A schematic diagram of the connection between the swing member and the boss of the K-wire positioning device in an embodiment of the present application is shown.

[0039] Reference numerals

[0040] 100. Kirschner wire positioning device;

[0041] 10. Connecting member; 10a. Accommodating groove; 11. Boss; 111. First tooth portion;

[0042] 20. Optical positioning parts;

[0043] 30. Support member; 30a. Inner cavity; 30b. Active hole; 30c. Threaded hole; 31. Second engaging portion;

[0044] 40. Kirschner wire;

[0045] 50. Position adjustment member; 51. First engaging portion; 52. Position adjustment body; 53. Adjustment block;

[0046] 60. Locking piece;

[0047] 70. First locking knob; 71. Connecting end; 711. Threaded portion; 72. Operating end;

[0048] 80. Guide column;

[0049] 90. Swinging member; 91. Second meshing portion. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0051] Please refer to the attached Figure 1 An embodiment of the present application provides a Kirschner wire positioning device 100, which is applied to a surgical robot. The Kirschner wire positioning device 100 is used to lock the Kirschner wire 40 and is applied to parts such as the hip joint. At this time, the Kirschner wire 40 serves as a target for hip joint surgery.

[0052] Please refer to the attached Figures 1-2In an embodiment of the present application, a Kirschner wire positioning device 100 includes a connector 10, an optical positioning member 20, a support member 30 and a Kirschner wire 40. The optical positioning member 20 is arranged on the inner side of the connector 10, the support member 30 is arranged on the lower side of the connector 10, and the Kirschner wire 40 is arranged on the outer side of the support member 30. The connector 10 is used to connect the parts to be connected, the optical positioning member 20 is connected to the connector 10, and the optical positioning member 20 is used for optical positioning by an external optical device; so that the optical positioning member 20 can be positioned relative to the external optical device, the position accuracy of the optical positioning member 20 is ensured, and the positioning effect is achieved. The support member 30 is connected to the connector 10 and adjusted relative to the connector 10; the support member 30 is used to lock or loosen the Kirschner wire 40 inserted in the support member 30, achieving a locking effect of the Kirschner wire 40, so as to facilitate the positioning of the Kirschner wire 40, avoid shaking of the Kirschner wire 40 during use, and ensure the stability of the use of the Kirschner wire 40.

[0053] Please refer to the attached Figures 1 to 3 In the embodiment of the present application, the connector 10 serves as a supporting component of the K-wire positioning device 100. The connector 10 is used to support the optical positioning member 20, the support member 30, and the K-wire 40. The connector 10 is used to connect the part to be connected, so that the connector 10 is fixed to the part to be connected, thereby facilitating the K-wire positioning device 100 to be connected to the part to be connected via the connector 10. Optionally, the part to be connected is a robotic arm, which is not limited here.

[0054] Please refer to the attached Figures 1 to 3 In the embodiment of the present application, the optical positioning member 20 is arranged on the inner side of the connecting member 10, and the optical positioning member 20 is connected to the connecting member 10. The optical positioning member 20 is used for external optical equipment to optically position the Kirschner wire positioning device; so that the optical positioning member 20 can be positioned relative to the external optical equipment, thereby ensuring the position accuracy of the optical positioning member 20 and achieving the positioning effect.

[0055] Please refer to the attached Figures 1 to 3 At this time, the connector 10 is provided with a receiving groove 10a, which is recessed from top to bottom by the connector 10, with the notch of the receiving groove 10a facing upward, and the optical positioning member 20 is accommodated in the receiving groove 10a, so that the connector 10 can support the optical positioning member 20 through the receiving groove 10a.

[0056] Please refer to the attached Figures 1-2 And 4. In an embodiment of the present application, the support member 30 is arranged on the other side of the connecting member 10 relative to the optical positioning member 20. The support member 30 is connected to the connecting member 10 and is adjusted in position relative to the connecting member 10 to facilitate adjustment of the position of the support member 30 relative to the connecting member 10.

[0057] Please refer to the attached Figures 1-2And 5. At this time, the K-wire positioning device 100 also includes a position adjustment member 50, which is movably connected to the swing member 90 and is position-adjusted relative to the swing member 90 so that the position adjustment member 50 is at different positions of the swing member 90; the position adjustment member 50 is arranged on one side of the support member 30 and supports the support member 30 so that the position of the support member 30 is adjusted as the position of the position adjustment member 50 is adjusted, thereby facilitating the adjustment of the position of the support member 30 relative to the swing member 90, and further facilitating the adjustment of the height position of the support member 30 relative to the swing member 90. The support member 30 is position-adjusted relative to the connecting member 10 through the position adjustment member 50.

[0058] Please refer to the attached Figures 1-2 And 5, the position adjustment member 50 is provided with a first meshing portion 51; the support member 30 is provided with a second meshing portion 31; the support member 30 is rotatably connected to the position adjustment member 50 and rotates relative to the position adjustment member 50, so as to adjust the rotational position of the support member 30 relative to the position adjustment member 50; the second meshing portion 31 is meshed with the first meshing portion 51, so that the support member 30 can be rotatably connected relative to the position adjustment member 50 through the cooperation of the second meshing portion 31 and the first meshing portion 51, thereby facilitating the support member 30 to achieve relative rotation under the action of external force. Optionally, the first meshing portion 51 is an external thread and the second meshing portion 31 is an internal thread.

[0059] Please refer to the attached Figure 5 The position adjustment member 50 includes two position adjustment bodies 52 and an adjustment block 53. The two position adjustment bodies 52 are movably connected to the swinging member 90 and clamp the swinging member 90. The adjustment block 53 passes through the two position adjustment bodies 52 and locks or releases the two position adjustment bodies 52. The first engaging portion 51 is arranged relative to the adjustment block 53 so that the adjustment block 53 can be connected relative to the support member 30 through the first engaging portion 51. When the adjustment block 53 locks the two position adjustment bodies 52, the two position adjustment bodies 52 are fixed relative to the swinging member 90, thereby facilitating the support member 30 to remain stationary. When the adjustment block 53 releases the two position adjustment bodies 52, the two position adjustment bodies 52 move relative to the swinging member 90 to adjust the positions of the two position adjustment bodies 52 relative to the swinging member 90, thereby facilitating the position adjustment of the support member 30.

[0060] Please refer to the attached Figures 1-2In the embodiment of the present application, the Kirschner wire 40 is arranged on the outside of the support member 30, and the support member 30 is used to lock or loosen the Kirschner wire 40 inserted into the support member 30, thereby achieving a locking effect of the Kirschner wire 40, so as to facilitate the positioning of the Kirschner wire 40, avoid the Kirschner wire 40 from shaking during use, and ensure the stability of the Kirschner wire 40. The Kirschner wire 40 is used to be fixed on the pelvis, ensuring the stability of the Kirschner wire 40 relative to the pelvis. When the Kirschner wire 40 releases the support member 30, it is convenient for the Kirschner wire 40 to adjust its position, thereby facilitating the Kirschner wire 40 to adapt to pelvises of different sizes, thereby improving the versatility of the Kirschner wire 40.

[0061] Please refer to the attached Figures 1-2 The Kirschner wire positioning device 100 also includes a locking member 60, which is arranged on the inner side of the support member 30. The locking member 60 is movably connected to the support member 30 to facilitate adjustment of the position of the locking member 60 relative to the support member 30. The locking member 60 and the support member 30 lock or release the Kirschner wire 40. When the locking member 60 moves downward toward the support member 30, the locking member 60 and the support member 30 lock the Kirschner wire 40, so that the locking member 60 and the support member 30 combine to lock the Kirschner wire 40, thereby achieving the locking effect of the Kirschner wire 40. When the locking member 60 moves upward toward the support member 30, the locking member 60 and the support member 30 release the Kirschner wire 40, thereby achieving position adjustment of the Kirschner wire 40 relative to the support member 30.

[0062] Please refer to the attached Figures 1-2 4, the support member 30 is provided with an inner cavity 30a and an active hole 30b, the inner cavity 30a serves as the internal space of the support member 30, and the active hole 30b is located on the peripheral side of the support member 30; the active hole 30b is connected to the inner cavity 30a; the diameter of the Kirschner wire 40 is smaller than the aperture of the active hole 30b, and the active hole 30b is used for the Kirschner wire 40 to pass through, so that the Kirschner wire 40 passes through the inner cavity 30a and the active hole 30b in sequence to penetrate the support member 30, so that part of the Kirschner wire 40 is located on the inner side of the support member 30, and the rest of the Kirschner wire 40 is located on the inner side of the support member 30. 0 is located on the outside of the support member 30; the locking member 60 is in the inner cavity 30a and can move in the support member 30 to adjust the inner position of the locking member 60 relative to the support member 30; the locking member 60 drives the K-wire 40 to move in the movable hole 30b during the movement, and locks or releases the K-wire 40 in combination with the support member 30, thereby achieving a locking effect of the K-wire 40, so as to facilitate the positioning of the K-wire 40, avoid the K-wire 40 from shaking during use, and ensure the stability of the K-wire 40.

[0063] Please refer to the attached Figures 1-2And 6. The Kirschner wire positioning device 100 also includes a first locking knob 70, which is arranged along the front-to-back direction; the first locking knob 70 is provided with a connecting end 71 and an operating end 72, and the connecting end 71 is connected to the support member 30 so that the first locking knob 70 can be connected relative to the support member 30 through the connecting end 71, and the connecting end 71 can drive the movement of the locking member 60 so that the locking member 60 is close to or away from the Kirschner wire 40 under the drive of the connecting end 71, thereby facilitating the combination of the locking member 60 and the support member 30 to lock or release the Kirschner wire 40; the operating end 72 is on the outside of the operating end 72 so that the operating end 72 is exposed to the external environment, and the operating end 72 is operated by the surgeon so that the surgeon can operate the operating end 72 in the external environment, thereby facilitating the locking member 60 to lock or release the Kirschner wire 40 under the operation of the surgeon.

[0064] Please refer to the attached Figures 1-2 and 6, the support member 30 is provided with a threaded hole 30c; one end of the connecting end 71 is connected to the locking member 60; the peripheral side wall of the connecting end 71 is provided with a threaded portion 711, and the threaded portion 711 is threadedly connected to the threaded hole 30c, so that the connecting end 71 can be connected relative to the support member 30 through the threaded portion 711 and the threaded hole 30c, thereby facilitating the connecting end 71 to be able to extend and retract relative to the support member 30, and further facilitating the connecting end 71 to drive the locking member 60 to lock or release the Kirschner wire 40 during the extension and retraction process.

[0065] Please refer to the attached Figures 1-2 The Kirschner wire positioning device 100 also includes a guide column 80, which is arranged in the front-to-back direction. The guide column 80 is set on the inner side of the support member 30. The guide column 80 is connected to the support member 30 and is passed through the locking member 60 so that the locking member 60 can move under the guidance of the guide column 80, thereby improving the smoothness of the movement of the locking member 60 and ensuring the locking effect or loosening effect of the locking member 60 relative to the loosening of the Kirschner wire 40.

[0066] Please refer to the attached Figures 1-2 And 7, the K-wire positioning device 100 also includes a swinging member 90, which is located between the connecting member 10 and the support member 30. The swinging member 90 is swingably connected to the connecting member 10 to facilitate adjustment of the swinging member 90 relative to the connecting member 10, and supports the support member 30 so that the support member 30 swings with the swinging of the swinging member 90, thereby facilitating adjustment of the position of the support member 30 relative to the connecting member 10.

[0067] Please refer to the attached Figure 7The connecting member 10 is provided with a boss 11; the boss 11 is located on the lower side of the connecting member 10, and the end of the swinging member 90 away from the support member 30 is engaged with the boss 11, so that the boss 11 is connected relative to the swinging member 90 by engagement, thereby facilitating the connection of the connecting member 10 relative to the swinging member 90 through the boss 11, and the swinging member 90 can swing along the swing axis of the boss 11, so as to facilitate the adjustment of the position of the swinging member 90 relative to the boss 11, thereby facilitating the adjustment of the angle of the connecting member 10.

[0068] Please refer to the attached Figure 7 The boss 11 is provided with a first gearing portion 111, and the swinging member 90 is provided with a second gearing portion 91, and the second gearing portion 91 is engaged with the first gearing portion 111, so that the boss 11 is engaged with the swinging member 90 through the cooperation of the second gearing portion 91 and the first gearing portion 111. When the first gearing portion 111 is in different positions relative to the second gearing portion 91, the swinging member 90 can swing along the swing axis of the boss 11, and the second gearing portion 91 is engaged or released relative to the first gearing portion 111 by a bolt. When the second gearing portion 91 is in an engaged state relative to the first gearing portion 111, the swinging member 90 is fixed relative to the boss 11, thereby ensuring the position accuracy of the swinging member 90 relative to the boss 11. When the second gearing portion 91 is in a loose state relative to the first gearing portion 111, the swinging member 90 swings relative to the boss 11, so as to adjust the position of the swinging member 90 relative to the boss 11.

[0069] In another embodiment, a Kirschner wire device includes a Kirschner wire positioning device 100 and a Kirschner wire 40. In addition, a surgical robot includes the Kirschner wire device, and the Kirschner wire positioning device 100 is a part of the surgical robot. The surgical robot assists doctors in performing complex surgical operations in a minimally invasive manner through a clear imaging system and a flexible robotic arm, and completes intraoperative positioning, cutting, puncture, hemostasis, suturing and other operations.

[0070] At this time, the Kirschner wire positioning device 100 includes a connector 10, an optical positioning member 20, and a support member 30. The optical positioning member 20 is arranged on the inner side of the connector 10, the support member 30 is arranged on the lower side of the connector 10, and the Kirschner wire 40 is arranged on the outer side of the support member 30. The connector 10 is used to connect the parts to be connected, the optical positioning member 20 is connected to the connector 10, and the optical positioning member 20 is used for optical positioning by external optical equipment; so that the optical positioning member 20 can be positioned relative to the external optical equipment, the position accuracy of the optical positioning member 20 is ensured, and the positioning effect is achieved. The support member 30 is connected to the connector 10 and adjusted relative to the connector 10; the support member 30 is used to lock or loosen the Kirschner wire 40 inserted into the support member 30, achieving a locking effect of the Kirschner wire 40, so as to facilitate the positioning of the Kirschner wire 40, avoid the Kirschner wire 40 from shaking during use, and ensure the stability of the use of the Kirschner wire 40.

[0071] Among them, the Kirschner wire positioning device 100 also includes a locking member 60, which is arranged on the inner side of the support member 30. The locking member 60 is movably connected to the support member 30 to facilitate adjustment of the position of the locking member 60 relative to the support member 30. The locking member 60 and the support member 30 lock or release the Kirschner wire 40. When the locking member 60 moves downward toward the support member 30, the locking member 60 and the support member 30 lock the Kirschner wire 40, so that the locking member 60 and the support member 30 combine to lock the Kirschner wire 40, thereby achieving the locking effect of the Kirschner wire 40. When the locking member 60 moves upward toward the support member 30, the locking member 60 and the support member 30 release the Kirschner wire 40, thereby achieving position adjustment of the Kirschner wire 40 relative to the support member 30.

[0072] In addition, the Kirschner wire positioning device 100 also includes a first locking knob 70, which is arranged in the front-to-back direction; the first locking knob 70 is provided with a connecting end 71 and an operating end 72, and the connecting end 71 is connected to the support member 30 so that the first locking knob 70 can be connected relative to the support member 30 through the connecting end 71, and the connecting end 71 can drive the movement of the locking member 60 so that the locking member 60 is close to or away from the Kirschner wire 40 under the drive of the connecting end 71, thereby facilitating the combination of the locking member 60 and the support member 30 to lock or release the Kirschner wire 40; the operating end 72 is on the outside of the operating end 72 so that the operating end 72 is exposed to the external environment, and the operating end 72 is operated by the surgeon so that the surgeon can operate the operating end 72 in the external environment, thereby facilitating the locking member 60 to lock or release the Kirschner wire 40 under the operation of the surgeon.

[0073] Compared with the prior art, the beneficial effects of the present invention are:

[0074] The utility model provides a Kirschner wire positioning device, a Kirschner wire device and a surgical robot, wherein a connecting member 10 is used to connect a member to be connected, an optical positioning member 20 is connected to the connecting member 10, and the optical positioning member 20 is used for optical positioning by an external optical device; so that the optical positioning member 20 can be positioned relative to the external optical device, thereby ensuring the position accuracy of the optical positioning member 20 and achieving a positioning effect; a supporting member 30 is connected to the connecting member 10 and is adjusted in position relative to the connecting member 10; the supporting member 30 is used to lock or loosen the Kirschner wire 40 inserted into the supporting member 30, thereby achieving a locking effect of the Kirschner wire 40, thereby facilitating the positioning of the Kirschner wire 40, preventing the Kirschner wire 40 from shaking during use, and ensuring the stability of the Kirschner wire 40.

[0075] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more features.

[0077] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for technical personnel in this field, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A Kirschner wire positioning device, characterized in that: Applied to a surgical robot; the Kirschner wire positioning device comprises: Connecting piece, used to connect the pieces to be connected; an optical positioning member connected to the connecting member, the optical positioning member being used for optical positioning of an external optical device; a supporting member connected to the connecting member and capable of adjusting its position relative to the connecting member; The support member is used to lock or loosen the Kirschner wire inserted into the support member.

2. The Kirschner wire positioning device according to claim 1, characterized in that: The K-wire positioning device further includes a locking member, which is movably connected to the support member and locks or releases the K-wire with the support member.

3. The Kirschner wire positioning device according to claim 2, characterized in that: The support member is provided with an inner cavity and a movable hole; the movable hole is connected to the inner cavity; The movable hole is used for passing the Kirschner wire; The locking member is located in the inner cavity and is capable of moving within the support member. During the movement, the locking member drives the Kirschner wire to move in the movable hole, and locks or releases the Kirschner wire in conjunction with the support member.

4. The Kirschner wire positioning device according to claim 2, characterized in that: The Kirschner wire positioning device also includes a first locking knob; The first locking knob is provided with a connecting end and an operating end, wherein the connecting end is connected to the supporting member and can drive the movement of the locking member; The operating end is located outside the operating end and is operated by a surgeon.

5. The Kirschner wire positioning device according to claim 4, characterized in that: The support member is provided with a threaded hole; One end of the connecting end is connected to the locking member; A threaded portion is provided on the peripheral side wall of the connecting end, and the threaded portion is threadedly connected to the threaded hole.

6. The Kirschner wire positioning device according to any one of claims 1 to 5, characterized in that: The K-wire positioning device further includes a swinging member, which is swingably connected to the connecting member and supports the supporting member.

7. The Kirschner wire positioning device according to claim 6, characterized in that: The connecting piece is provided with a boss; One end of the swinging member away from the supporting member is engaged with the boss and can swing along the swing axis of the boss.

8. The Kirschner wire positioning device according to claim 6, characterized in that: The Kirschner wire positioning device further includes a position adjustment member, which is movably connected to the swing member and is positionally adjusted relative to the swing member; The position adjusting member is arranged on one side of the supporting member and supports the supporting member.

9. A Kirschner wire device, characterized in that: It comprises the Kirschner wire positioning device and the Kirschner wire as described in any one of claims 1 to 8.

10. A surgical robot, characterized in that: Comprising the Kirschner wire device of claim 9.

Images