Guiding device, surgical navigation system and mixed reality surgical navigation system

Abstract

The utility model relates to a guiding device, a surgical navigation system and a mixed reality surgical navigation system. A guide device, the guide device comprising: a tip mechanism having an instrument channel for mounting a surgical instrument; the first moving mechanism is connected to the tail end mechanism and used for driving the tail end mechanism to move in the first direction, and the first direction is perpendicular to the axial direction of the instrument channel; the first rotating mechanism is connected to the first moving mechanism and used for driving the first moving mechanism to rotate around a second direction, and the second direction is perpendicular to the first direction and the axial direction; and the second rotating mechanism is connected to the first rotating mechanism and is used for driving the first rotating mechanism to rotate around the first direction. The guiding device is relatively simple in structure, and the posture of the instrument channel is convenient to adjust.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a guiding device, a surgical navigation system and a mixed reality surgical navigation system. BACKGROUND

[0002] Surgical navigation is a visual image guided surgery technology developed on the basis of medical image data and with the help of computer image processing. It can track surgical instruments in real time by three-dimensional digitalization of patient's lesion tissue, and realize visual and automatic surgery, so as to assist doctors or robots to complete surgery more quickly, accurately and safely. Before surgery, a surgical path is generally preset, and the surgical instrument needs to be adjusted to the preset pose before surgery, so as to complete the surgery along the preset surgical path. In order to adjust the surgical instrument to the preset pose, a guiding device is usually provided, which has an instrument channel for guiding and limiting the surgical instrument. It only needs to adjust the pose of the instrument channel to the right position, and then place the surgical instrument in it. However, the structure of such guiding devices in the related art is relatively complex, and it is relatively inconvenient to adjust the pose of the instrument channel. CONTENT OF THE UTILITY MODEL

[0003] Therefore, it is necessary to provide a guiding device, a surgical navigation system and a mixed reality surgical navigation system, wherein the structure of the guiding device is relatively simple, and the pose of the instrument channel is convenient to adjust.

[0004] A guiding device, comprising:

[0005] A first moving mechanism is used to connect the end mechanism, the end mechanism has an instrument channel for guiding a surgical instrument, and the first moving mechanism is used to drive the end mechanism to move in a first direction, the first direction being perpendicular to an axial direction of the instrument channel;

[0006] A first rotating mechanism is connected to the first moving mechanism and is used to drive the first moving mechanism to rotate in a second direction, the second direction being perpendicular to the first direction and the axial direction;

[0007] A second rotating mechanism is connected to the first rotating mechanism and is used to drive the first rotating mechanism to rotate in the first direction.

[0008] In some embodiments, the first rotating mechanism comprises a first toothed part connected to the second rotating mechanism, and a second toothed part connected to the first moving mechanism, the first toothed part and the second toothed part are engaged by teeth, the first toothed part is configured to rotate in a third direction to drive the second toothed part to rotate in the second direction, and the third direction is the axial direction of the instrument channel.

[0009] In some embodiments, the second rotating mechanism comprises a third toothed member and a fourth toothed member connected to the first rotating mechanism, the third toothed member and the fourth toothed member are engaged by teeth, the third toothed member is configured to rotate around a third direction to drive the fourth toothed member to rotate around the first direction, the third direction is an axial direction of the instrument channel.

[0010] In some embodiments, the first moving mechanism comprises a first screw rod and a first nut member threadedly connected, the first screw rod extends along the first direction, one of the first screw rod and the first nut member is configured to rotate around the first direction to drive the other of the first screw rod and the first nut member to move along the first direction, wherein the other of the first screw rod and the first nut member is used to connect the tip mechanism.

[0011] In some embodiments, the first moving mechanism further comprises a backlash elimination lock, the first nut member has a first threaded segment and a second threaded segment spaced along the first direction, the first threaded segment and the second threaded segment are threadedly connected to different regions of the first screw rod respectively, the backlash elimination lock is connected to the first threaded segment and the second threaded segment.

[0012] In some embodiments, the guide device further comprises a second moving mechanism used to connect the tip mechanism, the first moving mechanism is capable of driving the tip mechanism and the second moving mechanism to move synchronously along the first direction, and the second moving mechanism is capable of driving the tip mechanism and the first moving mechanism to move synchronously along the second direction.

[0013] In some embodiments, the first moving mechanism is slidingly fitted to the first rotating mechanism along the second direction, and the second moving mechanism is slidingly fitted to the first rotating mechanism along the first direction.

[0014] The first moving mechanism comprises a first screw rod and a first nut member threadedly connected, the first screw rod extends along the first direction, the first screw rod is used to connect the tip mechanism, and the first nut member is configured to rotate around the first direction to drive the first screw rod to move along the first direction.

[0015] The second moving mechanism comprises a second screw rod and a second nut member threadedly connected, the second screw rod extends along the second direction, the second screw rod is used to connect the tip mechanism, and the second nut member is configured to rotate around the second direction to drive the second screw rod to move along the second direction.

[0016] In some embodiments, the guide device further comprises a third rotation mechanism, the first rotation mechanism and the first movement mechanism are connected through the third rotation mechanism, the third rotation mechanism is configured to drive the first movement mechanism to rotate around a third direction, the third direction is the axial direction of the instrument channel.

[0017] In some embodiments, the third rotation mechanism comprises a fifth gear connected to the first rotation mechanism, and a sixth gear connected to the first movement mechanism, the fifth gear and the sixth gear are engaged through gears, the fifth gear is configured to rotate around the second direction to drive the sixth gear to rotate around the third direction.

[0018] In some embodiments, the guide device further comprises a coarse adjustment module connected to the second rotation mechanism, the coarse adjustment module is configured to drive the second rotation mechanism to rotate and / or move.

[0019] A guide device, the guide device comprises a fine adjustment module, the fine adjustment module is configured to connect an end mechanism, the end mechanism has an instrument channel for guiding a surgical instrument, the fine adjustment module comprises an angle adjustment structure and a position adjustment structure, the angle adjustment structure is configured to realize angle adjustment of the instrument channel, the position adjustment structure is configured to realize position adjustment of the instrument channel.

[0020] In some embodiments, the fine adjustment module has two rotational degrees of freedom and two translational degrees of freedom, wherein the directions of the rotational axes corresponding to the two rotational degrees of freedom are perpendicular to the axial direction of the instrument channel, and wherein the translational directions corresponding to the two translational degrees of freedom are perpendicular to the axial direction of the instrument channel.

[0021] In some embodiments, the fine adjustment module has three rotational degrees of freedom and one translational degree of freedom, wherein the directions of the rotational axes corresponding to the three rotational degrees of freedom are perpendicular to each other, and wherein the direction of one of the rotational axes is the axial direction of the instrument channel, and wherein the translational direction corresponding to the one translational degree of freedom is perpendicular to the axial direction of the instrument channel.

[0022] In some embodiments, the guide device further comprises a coarse adjustment module connected to the fine adjustment module, the coarse adjustment module is configured to drive the fine adjustment module to rotate and / or move.

[0023] A surgical navigation system, the surgical navigation system comprises a guide device, the guide device comprises:

[0024] A position adjusting structure for connecting an end-effector, the position adjusting structure comprising a first moving mechanism for driving the end-effector to move in a first direction, and a second moving mechanism or a third rotating mechanism for driving the end-effector to move in a second direction or to rotate in a third direction, wherein the third direction is the axial direction of an instrument channel of the end-effector, and any two of the first direction, the second direction and the third direction are perpendicular; and

[0025] An angle adjusting structure comprising a first rotating mechanism connected to the position adjusting structure, and a second rotating mechanism connected to the first rotating mechanism, the first rotating mechanism for driving the end-effector to rotate in the second direction, and the second rotating mechanism for driving the end-effector to rotate in the first direction.

[0026] In some embodiments, the angle adjusting structure is configured to drive the end-effector to move by the first rotating mechanism and the second rotating mechanism, such that the instrument channel is parallel to a preset path;

[0027] The position adjusting structure is configured to drive the end-effector to move by the first moving mechanism, and the second moving mechanism or the third rotating mechanism, such that the instrument channel coincides with the preset path, based on the instrument channel being parallel to the preset path;

[0028] Alternatively, the position adjusting structure is configured to drive the end-effector to move by the first moving mechanism, and the second moving mechanism or the third rotating mechanism, such that the instrument channel intersects with a preset path; and the angle adjusting structure is configured to drive the end-effector to move by the first rotating mechanism and the second rotating mechanism, such that the instrument channel coincides with the preset path, based on the instrument channel intersecting with the preset path.

[0029] In some embodiments, the surgical navigation system further comprises a coarse adjustment module connected to the second rotating mechanism, the coarse adjustment module being configured to drive the end-effector to rotate and / or move, such that the instrument channel is close to the preset path.

[0030] A mixed reality surgical navigation system comprising a mixed reality device, a surgical instrument, and a guide device;

[0031] The mixed reality device is configured to provide adjustment guidance for the guide device.

[0032] The guide device comprises a fine adjustment module, the fine adjustment module comprising an angle adjusting structure and a position adjusting structure; wherein:

[0033] The angle adjusting structure is configured to be operatively adjusted so that the axial direction of the instrument channel in the terminal mechanism is parallel to the preset path of the surgical instrument; and the position adjusting structure is configured to be operatively adjusted so that the instrument channel coincides with the preset path on the basis that the instrument channel is parallel to the preset path.

[0034] Alternatively, the position adjusting structure is configured to be operatively adjusted so that the axial line of the instrument channel in the terminal mechanism intersects the preset path; and the angle adjusting structure is configured to be operatively adjusted so that the instrument channel coincides with the preset path on the basis that the instrument channel intersects the preset path.

[0035] The guiding device described above, the first moving mechanism is capable of driving the terminal mechanism to move along the first direction, so as to make the instrument channel move along the first direction; the first rotating mechanism is capable of driving the first moving mechanism to rotate around the second direction, so as to indirectly drive the terminal mechanism connected to the first moving mechanism to rotate around the second direction, so as to make the instrument channel rotate around the second direction; and the second rotating mechanism is capable of driving the first rotating mechanism to rotate around the first direction, so as to indirectly drive the terminal mechanism connected to the first rotating mechanism to rotate around the first direction through the first rotating mechanism, so as to make the instrument channel rotate around the first direction. Therefore, the instrument channel is capable of rotating around the first direction and the second direction which are perpendicular to the axial direction of the instrument channel, and is also capable of moving along the first direction. In this way, the pose of the instrument channel can be flexibly and conveniently adjusted, and only two sets of rotating mechanisms and one set of moving mechanisms are needed to realize the above-mentioned adjustment, and the overall structure is relatively simple. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 FIG. 1 is a schematic view of a guiding device in an embodiment of the present application.

[0037] Figure 2 FIG. 4 is a top view of a fine adjustment module in an embodiment of the present application.

[0038] Figure 3 FIG. 5 is a sectional view of A-A in FIG. 4. Figure 2

[0039] Figure 4 Figure 2

[0040] Figure 5 FIG. 9 is a schematic view of a third toothed part in an embodiment of the present application.

[0041] Figure 6 FIG. 10 is a schematic view of a first toothed part and a fourth toothed part in an embodiment of the present application.

[0042] Figure 7 FIG. 11 is a schematic view of a first moving mechanism and a second moving mechanism in an embodiment of the present application.​​​

[0043] Figure 8 A schematic view of the first screw rod, the second screw rod and the end mechanism in an embodiment of the present application.

[0044] Figure 9 A top view of the fine adjustment module in another embodiment of the present application.

[0045] Figure 10 A cross-sectional view of the structure shown. Figure 9

[0046] Figure 11 A schematic view of the second tooth member and the fifth tooth member in another embodiment of the present application.

[0047] Figure 12 A schematic view of the sixth tooth member in another embodiment of the present application.

[0048] Figure 13 An exploded view of the first screw rod in another embodiment of the present application.

[0049] Figure 14 A schematic view of the end mechanism and the first nut member in another embodiment of the present application.

[0050] Reference signs:

[0051] 10, coarse adjustment module; 20, fine adjustment module;

[0052] 100, end mechanism;

[0053] 200, first moving mechanism; 210, first screw rod; 211, first light rod part; 212, second light rod part; 213, threaded part; 214, hand wheel; 220, first nut member; 221, threaded hole; 2211, first threaded section; 2212, second threaded section; 222, gap slot; 223, connecting hole; 230, top plate; 240, anti-backlash locking member; 250, gasket; 251, special-shaped hole; 260, fixing member; 270, first base; 271, upper frame; 272, lower frame; 273, first slot; 274, second slot; 275, mounting ring; 2751, third mounting hole;

[0054] 300, first rotating mechanism; 310, first tooth member; 311, first knob; 320, second tooth member; 330, first rotating shaft;

[0055] 400, second rotating mechanism; 410, third tooth member; 411, second knob; 420, fourth tooth member; 430, second rotating shaft; 440, second base; 441, first mounting hole;

[0056] ​500, second moving mechanism; 510, second screw rod; 520, second nut piece;

[0057] 600, third rotating mechanism; 610, fifth toothed piece; 611, third knob; 620, sixth toothed piece; 630, connecting piece; 640, fourth base; 641, first through hole; 642, second through hole;

[0058] 700, third base; 710, second mounting hole;

[0059] 800, translation bracket. DETAILED DESCRIPTION

[0060] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to those skilled in the art that the present application can be practiced in a variety of ways beyond the specific embodiments described herein without departing from the spirit of the present application, and it is intended that the present application be limited only by the claims that follow. It should be noted that the following detailed description is given only by way of example and should not be taken as limiting.

[0061] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0062] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0063] In the present application, unless specifically defined otherwise, if there is an appearance of the terms "installation", "connection", "linkage", "fixation" and the like, these terms should be interpreted in a broad sense. For example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium; it can be internal communication of two elements or interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0064] In the present application, unless specifically defined otherwise, if there is an appearance of the terms "installation", "connection", "linkage", "fixation" and the like, these terms should be interpreted in a broad sense. For example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium; it can be internal communication of two elements or interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element. If an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.

[0066] Referring to Figure 1 , Figure 2 With Figure 9 , an embodiment of the present application provides a guiding device including a first moving mechanism 200, a first rotating mechanism 300 and a second rotating mechanism 400. The first moving mechanism 200 is used to connect an end mechanism 100, and the end mechanism 100 has an instrument channel for guiding a surgical instrument. The first moving mechanism 200 is used to drive the end mechanism 100 to move in a first direction, and the first direction is perpendicular to the axial direction of the instrument channel. The first rotating mechanism 300 is connected to the first moving mechanism 200 and is used to drive the first moving mechanism 200 to rotate around a second direction, and the second direction is perpendicular to the first direction and the axial direction of the instrument channel. The second rotating mechanism 400 is connected to the first rotating mechanism 300 and is used to drive the first rotating mechanism 300 to rotate around the first direction.

[0067] The guide device in the above embodiment, the first moving mechanism 200 is capable of driving the end mechanism 100 to move along the first direction, so as to move the instrument channel along the first direction; the first rotating mechanism 300 is capable of driving the first moving mechanism 200 to rotate around the second direction, so as to indirectly drive the end mechanism 100 connected to the first moving mechanism 200 to rotate around the second direction, so as to move the instrument channel to rotate around the second direction; the second rotating mechanism 400 is capable of driving the first rotating mechanism 300 to rotate around the first direction, so as to indirectly drive the end mechanism 100 connected to the first rotating mechanism 300 to rotate around the first direction through the first rotating mechanism 300, so as to move the instrument channel to rotate around the first direction. Therefore, the instrument channel is capable of rotating around the first direction and the second direction which are perpendicular to the axial direction of the instrument channel, and is also capable of moving along the first direction. In this way, the pose of the instrument channel can be flexibly and conveniently adjusted, and the above adjustment can be realized by only arranging two sets of rotating mechanisms and one set of moving mechanisms, and the overall structure is relatively simple.

[0068] Referring to Figure 2 , Figure 3 , Figure 6 and Figure 7 , in some embodiments, the first rotating mechanism 300 comprises a first tooth member 310 connected to the second rotating mechanism 400, and a second tooth member 320 connected to the first moving mechanism 200, the first tooth member 310 and the second tooth member 320 are engaged through teeth, and the first tooth member 310 is configured to rotate around a third direction to drive the second tooth member 320 to rotate around the second direction, the third direction being the axial direction of the instrument channel.

[0069] Continuing to refer to Figure 2 , Figure 3 , Figure 6 and Figure 7 , in some embodiments, one of the first tooth member 310 and the second tooth member 320 is a worm, and the other is a turbine. The axial direction of the first tooth member 310 is the third direction, and the axial direction of the second tooth member 320 is the second direction. In the embodiment shown in the drawings, the first tooth member 310 is a worm, and the second tooth member 320 is a turbine.

[0070] Continuing to refer to Figure 2 , Figure 3 , Figure 6 and Figure 7 , more specifically, the first moving mechanism 200 further comprises a first base 270 fixedly connected to the second tooth member 320. The second rotating mechanism 400 comprises a second base 440, and the first tooth member 310 is rotatably connected to the second base 440, so that the first tooth member 310 is capable of rotating around the third direction relative to the second base 440.

[0071] Referring to Figure 6In some embodiments, the first rotating mechanism 300 further comprises a first knob 311 fixedly connected to the first toothed member 310. The first toothed member 310 is installed in the second base 440, and the first knob 311 is exposed outside the second base 440. The first toothed member 310 can be driven to rotate around the third direction by rotating the first knob 311, so as to facilitate operation.

[0072] Referring to Figure 6 and Figure 7 In some embodiments, the first rotating mechanism 300 further comprises a first rotating shaft 330 extending along the second direction, and the first base 270 is fixedly connected to the first rotating shaft 330. The second toothed member 320 is sleeved outside the first rotating shaft 330 and fixedly connected thereto. The second base 440 further comprises a first mounting hole 441 extending along the second direction, and the first rotating shaft 330 extends into the first mounting hole 441 and rotationally cooperates with the first mounting hole 441, so as to improve the stability during rotation.

[0073] In the foregoing embodiments, when the first rotating mechanism 300 adopts the worm gear structure, because it has a speed reduction ratio, during specific operation, the user can rotate the first knob 311 by a large amplitude, and the instrument channel of the terminal mechanism 100 can be rotated by a small amplitude. In this way, when the instrument channel is rotated by a small angle, the user can be facilitated to operate, and it is not easy to over-rotate.

[0074] In Figure 9 to Figure 14 the illustrated embodiments, the structure of the first rotating mechanism 300 is basically the same as that of the foregoing embodiments, and will not be described again here.

[0075] Referring to Figure 2 and Figure 4 to Figure 6 In some embodiments, the second rotating mechanism 400 comprises a third toothed member 410 and a fourth toothed member 420 connected to the first rotating mechanism 300. The third toothed member 410 and the fourth toothed member 420 are engaged by teeth, and the third toothed member 410 is configured to rotate around the third direction to drive the fourth toothed member 420 to rotate around the first direction. The third direction is the axial direction of the instrument channel.

[0076] Continuing to refer to Figure 2 and Figure 4 to Figure 6 In some embodiments, one of the third toothed member 410 and the fourth toothed member 420 is a worm, and the other is a worm gear. The axial direction of the third toothed member 410 is the third direction, and the axial direction of the fourth toothed member 420 is the first direction. In the embodiments shown in the drawings, the third toothed member 410 is a worm, and the fourth toothed member 420 is a worm gear.

[0077] Continuing to refer to Figure 2 and Figure 4 to Figure 6More specifically, the guiding device comprises a third base 700, and the third toothed member 410 is rotationally connected to the third base 700, so that the third toothed member 410 can rotate relative to the third base 700 about the third direction. The second base 440 is fixedly connected to the fourth toothed member 420, so that the first rotating mechanism 300, the first moving mechanism 200 and the terminal mechanism 100 can rotate synchronously when the fourth toothed member 420 is rotated by the third toothed member 410.

[0078] Referring to Figure 5 In some embodiments, the second rotating mechanism 400 further comprises a second knob 411 fixedly connected to the third toothed member 410. The third toothed member 410 is installed in the third base 700, and the second knob 411 is exposed outside the third base 700. The third toothed member 410 can be rotated about the third direction by rotating the second knob 411, so as to facilitate operation.

[0079] Referring to Figure 4 to Figure 6 In some embodiments, the second rotating mechanism 400 further comprises a second rotating shaft 430 extending along the first direction, and the second base 440 is fixedly connected to the second rotating shaft 430. The fourth toothed member 420 is sleeved outside the second rotating shaft 430 and is fixedly connected thereto. The third base 700 further comprises a second mounting hole 710 extending along the first direction, and the second rotating shaft 430 extends into the second mounting hole 710 and rotationally cooperates with the second mounting hole 710, so as to improve the stability during rotation.

[0080] In the foregoing embodiments, when the second rotating mechanism 400 adopts the worm gear structure, the second rotating mechanism 400 has a speed reduction ratio, so that in specific operation, the user can rotate the second knob 411 by a large amplitude, and the instrument channel of the terminal mechanism 100 can rotate by a small amplitude. In this way, when the instrument channel is rotated by a small angle, the user can be facilitated to operate, and the situation of over-rotation is less likely to occur.

[0081] In Figure 9 to Figure 14 In the embodiments shown in the drawings, the structure of the second rotating mechanism 400 is basically the same as that of the foregoing embodiments, and will not be described again here.

[0082] Referring to Figure 7 , Figure 8 With Figure 10 In some embodiments, the first moving mechanism 200 comprises a first screw rod 210 and a first nut member 220 in threaded connection, the first screw rod 210 extends along the first direction, and one of the first screw rod 210 and the first nut member 220 is configured to rotate about the first direction to drive the other of the first screw rod 210 and the first nut member 220 to move along the first direction, wherein the other of the first screw rod 210 and the first nut member 220 is used to connect the terminal mechanism 100.

[0083] InFigure 2 to Figure 8 In the embodiment shown, the first moving mechanism 200 includes a first screw rod 210 and a first nut member 220, the first screw rod 210 extends along a first direction, the first screw rod 210 is configured to be connected to the terminal mechanism 100, and the first nut member 220 is configured to rotate around the first direction to drive the first screw rod 210 to move along the first direction. For a more specific connection structure, it will be introduced in subsequent embodiments.

[0084] In Figure 9 to Figure 14 In the embodiment shown, the first moving mechanism 200 includes a first screw rod 210 and a first nut member 220, the first screw rod 210 extends along a first direction, the first screw rod 210 is configured to be connected to the terminal mechanism 100, and the first nut member 220 is configured to rotate around the first direction to drive the first screw rod 210 to move along the first direction. For a more specific connection structure, it will be introduced in subsequent embodiments.

[0085] In both categories of embodiments, the rotational power is converted into moving power by the screw rod transmission to drive the terminal mechanism 100 to move along the first direction, which can make the structure more compact and save space occupied along the first direction.

[0086] In addition, the first moving mechanism 200 in the above-mentioned embodiments selects a screw rod transmission structure, which has a "speed reduction" effect similar to the worm gear structure described above. In specific operation, when the user rotates one of the first screw rod 210 and the first nut member 220 by a large amplitude, the other one of the first screw rod 210 and the first nut member 220 can move a small distance along the first direction. In this way, when the instrument channel needs to move a small distance along the first direction, the user can operate conveniently and it is not easy to move too much.

[0087] Referring to Figure 9 , Figure 10 , Figure 13 and Figure 14 , in some embodiments, the first moving mechanism 200 further includes a backlash locking member 240, the first nut member 220 has a first threaded segment 2211 and a second threaded segment 2212 arranged at intervals along the first direction, the first threaded segment 2211 and the second threaded segment 2212 are respectively threadedly connected to different regions of the first screw rod 210, and the backlash locking member 240 is connected to the first threaded segment 2211 and the second threaded segment 2212.

[0088] Referring to Figure 10 , Figure 13 and Figure 14Specifically, the first nut member 220 is provided with a threaded hole 221 extending along the first direction and a connecting hole 223, and a gap slot 222 is provided through the first nut member 220, which cuts off both the threaded hole 221 and the connecting hole 223 in the first direction. After being cut off, one part of the hole wall of the threaded hole 221 forms a first threaded section 2211, and the other part of the hole wall forms a second threaded section 2212. The first screw rod 210 is screwed into the threaded hole 221, so that the first threaded section 2211 and the second threaded section 2212 are respectively threadedly connected to different regions of the first screw rod 210. The anti-backlash locking member 240 can be a screw, which passes through the connecting hole 223 to fasten the first threaded section 2211 and the second threaded section 2212, so that they have a tendency to approach each other. In this way, the internal thread in the first nut member 220 can be tightly attached to the external thread in the first screw rod 210, so as to eliminate the gap between them as much as possible and improve the smoothness of transmission.

[0089] Referring to Figure 10 , Figure 12 and Figure 13 , in some embodiments, one end of the first screw rod 210 is fixedly connected with a hand wheel 214, and the first nut member 220 and the end mechanism 100 are fixedly connected through a top plate 230. The first screw rod 210 can be driven to rotate around the first direction by rotating the hand wheel 214, and then the end mechanism 100 can be driven to move along the first direction by the first nut member 220.

[0090] In Figure 2 to Figure 8 the illustrated embodiments, an anti-backlash locking member 240 can also be arranged in a similar manner to improve the smoothness of transmission.

[0091] Referring to Figure 2 , Figure 7 and Figure 8 , in some embodiments, the guide device further comprises a second moving mechanism 500 for connecting the end mechanism 100, the first moving mechanism 200 can drive the end mechanism 100 and the second moving mechanism 500 to move synchronously along the first direction, and the second moving mechanism 500 can drive the end mechanism 100 and the first moving mechanism 200 to move synchronously along the second direction.

[0092] Through the structure of the embodiment shown in Figure 2 to Figure 8 , the end mechanism 100 can rotate around the first direction, rotate around the second direction, move along the first direction, and move along the second direction, i.e. the end mechanism 100 has four degrees of freedom, which can facilitate more flexible adjustment of the pose of the end mechanism 100. In other embodiments, driving structures can also be continuously added to further increase the movement freedom of the end mechanism 100.

[0093] It can be understood that, in specific operation, the orientation of the instrument channel can be changed by rotating the end mechanism 100 around the first direction and the second direction first, and then the instrument channel is adjusted to be parallel to the preset path, and then the instrument channel and the preset path are coincided by moving the end mechanism 100 along the first direction and the second direction. In this way, the user can clearly know the effect that can be achieved in each step, that is, the angle adjustment is realized first, and then the position alignment is realized on this basis. For the user, the physical meaning of each operation is more clear, and the user experience will be better.

[0094] Alternatively, in specific operation, the instrument channel and the preset path can be intersected by moving the end mechanism 100 along the first direction and the second direction first, and then the instrument channel and the preset path are coincided by rotating the end mechanism 100 around the first direction and the second direction.

[0095] Referring to Figure 2 , Figure 7 and Figure 8 , in some embodiments, the first moving mechanism 200 is slidingly fitted to the first rotating mechanism 300 along the second direction, and the second moving mechanism 500 is slidingly fitted to the first rotating mechanism 300 along the first direction. The structure of the first moving mechanism 200 is as described above; the second moving mechanism 500 includes a second screw rod 510 and a second nut member 520 connected by threads, the second screw rod 510 extends along the second direction, the second screw rod 510 is used to connect the end mechanism 100, and the second nut member 520 is configured to rotate around the second direction to drive the second screw rod 510 to move along the second direction.

[0096] Continuing to refer to Figure 2 , Figure 7 and Figure 8 , specifically, the end mechanism 100 is fixedly connected with a translation bracket 800, and the first screw rod 210 and the second screw rod 510 are both fixedly connected to the translation bracket 800. The first nut member 220 is slidingly fitted to the aforementioned first base 270 along the second direction, and the second nut member 520 is slidingly fitted to the first base 270 along the first direction.

[0097] When the first nut member 220 is rotated around the first direction, the first screw rod 210 moves along the first direction, and the translation bracket 800 fixedly connected with the first screw rod 210 moves along the first direction synchronously, and then the end effector 100 and the second screw rod 510 fixedly connected with the translation bracket 800 move along the first direction synchronously, and the second nut member 520 will move along the first direction synchronously with the second screw rod 510. Similarly, when the second nut member 520 is rotated around the second direction, the second screw rod 510 moves along the second direction, and the translation bracket 800 fixedly connected with the second screw rod 510 moves along the second direction synchronously, and then the end effector 100 and the first screw rod 210 fixedly connected with the translation bracket 800 move along the second direction synchronously, and the first nut member 220 will move along the second direction synchronously with the first screw rod 210. In this way, the end effector 100 can be driven to move along the first direction and the second direction independently by the first moving mechanism 200 and the second moving mechanism 500.

[0098] Referring to Figure 7 and Figure 8 In some embodiments, the first base 270 has a first slot 273 extending along the second direction, and a second slot 274 extending along the first direction. The first nut member 220 is slidingly fitted in the first slot 273 along the second direction, and the first slot 273 limits the movement of the first nut member 220 in the first direction and the third direction; the second nut member 520 is slidingly fitted in the second slot 274 along the first direction, and the second slot 274 limits the movement of the second nut member 520 in the second direction and the third direction.

[0099] Referring to Figure 7 Further, the first base 270 includes an upper frame 271 and a lower frame 272 fixedly connected. The upper frame 271 and the lower frame 272 can be fixedly connected by threaded fasteners or clamping, etc. The first slot 273 and the second slot 274 are configured between the upper frame 271 and the lower frame 272, and each of them is a waist-shaped slot.

[0100] The second moving mechanism 500 in the above embodiment selects a screw rod transmission structure, which has a "speed reduction" effect similar to the worm gear structure described above. In specific operation, when the user rotates the second nut member 520 by a large amplitude, the second screw rod 510 can move a small distance along the second direction. In this way, when the instrument channel needs to move a small distance along the second direction, the user can operate conveniently, and it is not easy to move too much.

[0101] Referring to Figure 9 to Figure 14 In some embodiments, the guide device further includes a third rotating mechanism 600, the first rotating mechanism 300 and the first moving mechanism 200 are connected through the third rotating mechanism 600, and the third rotating mechanism 600 is used to drive the first moving mechanism 200 to rotate around the third direction, and the third direction is the axial direction of the instrument channel.

[0102] Thus, the first rotating mechanism 300 can drive the third rotating mechanism 600 to rotate around the second direction, and further drive the first moving mechanism 200 and the end mechanism 100 to rotate around the second direction. Meanwhile, the third rotating mechanism 600 can also drive the first moving mechanism 200 to rotate around the third direction, and further drive the end mechanism 100 to rotate around the third direction.

[0103] By means of Figure 9 to Figure 14 With the structure of the embodiment shown in the drawings, the end mechanism 100 can rotate around the first direction, rotate around the second direction, rotate around the third direction, and move along the first direction, i.e., the end mechanism 100 has four degrees of freedom, which can facilitate more flexible adjustment of the pose of the end mechanism 100. In other embodiments, the driving structure can be further increased to further increase the movement freedom of the end mechanism 100.

[0104] It can be understood that, in specific operation, the orientation of the instrument channel can be changed by first rotating the end mechanism 100 around the first direction and the second direction, and then adjusting the instrument channel to be parallel to the preset path, and then cooperating with the rotation of the end mechanism 100 around the third direction and the movement of the end mechanism 100 along the first direction, so that the instrument channel and the preset path coincide. In this way, the user can clearly know the effect that can be achieved in the current step when performing each step, i.e., angle adjustment is first realized, and then position alignment is realized on this basis. For the user, the physical meaning of each operation step is more clear and explicit, and the user experience will be better.

[0105] Alternatively, in specific operation, the end mechanism 100 can be first rotated around the third direction and moved along the first direction to make the instrument channel intersect with the preset path, and then the end mechanism 100 can be rotated around the first direction and the second direction to make the instrument channel coincide with the preset path.

[0106] Referring to Figure 9 to Figure 12 In some embodiments, the third rotating mechanism 600 includes a fifth toothed part 610 connected to the first rotating mechanism 300, and a sixth toothed part 620 connected to the first moving mechanism 200, the fifth toothed part 610 and the sixth toothed part 620 are engaged by teeth, and the fifth toothed part 610 is configured to rotate around the second direction to drive the sixth toothed part 620 to rotate around the third direction.

[0107] Referring to Figure 10 to Figure 12 In some embodiments, one of the fifth toothed part 610 and the sixth toothed part 620 is a worm, and the other is a worm gear. The axial direction of the fifth toothed part 610 is the second direction, and the axial direction of the sixth toothed part 620 is the third direction. In the embodiment shown in the drawings, the fifth toothed part 610 is a worm, and the sixth toothed part 620 is a worm gear.

[0108] Continuing to refer to Figure 10 to Figure 12 In some embodiments, the fifth toothed member 610 is rotationally connected to the first base 270, so that the fifth toothed member 610 can rotate relative to the first base 270 in the second direction. The third rotating mechanism 600 further comprises a fourth base 640, the sixth toothed member 620 is fixedly connected to the fourth base 640, and the first lead screw 210 is rotationally connected to the fourth base 640. In this way, when the fifth toothed member 610 rotates in the second direction, the sixth toothed member 620 can be driven to rotate in the third direction, and the fourth base 640 can be driven to synchronously rotate in the third direction, and the first moving mechanism 200 and the end mechanism 100 can be driven to synchronously rotate in the third direction.

[0109] Referring to Figure 11 With Figure 12 In some embodiments, the third rotating mechanism 600 further comprises a third knob 611 fixedly connected to the fifth toothed member 610. The first base 270 comprises a mounting ring 275 having a third mounting hole 2751, the fifth toothed member 610 is mounted in the third mounting hole 2751 and rotationally connected thereto, and the first knob 311 is exposed outside the first base 270. The fifth toothed member 610 can be driven to rotate in the second direction by rotating the third knob 611, so as to facilitate operation. The sixth toothed member 620 also extends into the third mounting hole 2751. The third rotating mechanism 600 further comprises a connecting member 630, the fourth base 640 and the sixth toothed member 620 are fixedly connected through the connecting member 630.

[0110] Referring to Figure 10 And Figure 12 to Figure 14 In some embodiments, the fourth base 640 is hollow inside, and the fourth base 640 has a first through hole 641 and a second through hole 642 formed at both ends along the first direction respectively. The first lead screw 210 passes through the first through hole 641 and the second through hole 642 in sequence. The first lead screw 210 has a first light rod portion 211, a threaded portion 213 and a second light rod portion 212 arranged in sequence along the first direction. The first light rod portion 211 and the second light rod portion 212 are both light rods, the first light rod portion 211 extends into the first through hole 641 and rotationally cooperates therewith, and the second light rod portion 212 extends into the second through hole 642 and rotationally cooperates therewith. The threaded portion 213 is suspended in the internal space of the fourth base 640, and the first nut member 220 also extends into the internal space of the fourth base 640. The outer peripheral surface of the threaded portion 213 is formed with external threads, which are used to threadedly connect with the first threaded segment 2211 and the second threaded segment 2212.

[0111] Referring to Figure 10 , Figure 12 With Figure 13In some embodiments, the hand wheel 214 is located outside the fourth base 640 at one end of the first direction, and the fourth base 640 is provided with a spacer 250 at the other end of the first direction. The first light rod part 211 is inserted into the spacer 250 to prevent relative rotation of the two around the first direction. The spacer 250 prevents the first light rod part 211 from being pulled out of the first through hole 641 by blocking and limiting, and ensures that the first lead screw 210 can rotate smoothly.

[0112] Specifically, the spacer 250 is provided with a special-shaped hole 251 matching the shape and size of the first light rod part 211, and the first light rod part 211 is inserted into the special-shaped hole 251. The spacer 250 is fixed to the first light rod part 211 by the fixing part 260. The fixing part 260 can be a threaded fastener.

[0113] In the foregoing embodiments, when the third rotating mechanism 600 adopts a worm gear structure, because it has a speed reduction ratio, in specific operation, the user can rotate the third knob 611 by a large amplitude, and the instrument channel of the terminal mechanism 100 rotates by a small amplitude. In this way, when the instrument channel is rotated by a small angle, the user can operate conveniently, and it is not easy to over-rotate.

[0114] Referring to Figure 1 , Figure 2 and Figure 9 In some embodiments, the guide device further comprises a coarse adjustment module 10 connected to the second rotating mechanism 400, for driving the second rotating mechanism 400 to rotate and / or move.

[0115] For example, in some embodiments, the coarse adjustment module 10 has a universal joint structure for driving the second rotating mechanism 400 to rotate.

[0116] Specifically, the structure in the foregoing embodiments is the fine adjustment module 20, and the second rotating mechanism 400 in the fine adjustment module 20 is connected to the coarse adjustment module 10. The coarse adjustment module 10 drives the entire fine adjustment module 20 to rotate by any angle through the universal joint structure therein, so as to coarsely adjust the pose of the terminal mechanism 100. After coarse adjustment is completed, the terminal mechanism 100 is driven to move in a small range by the movement of the four degrees of freedom in the fine adjustment module 20, so as to finely adjust the pose. Through coarse adjustment and fine adjustment, not only the efficiency can be improved, but also the accuracy can be ensured.

[0117] Alternatively, in some embodiments, the coarse adjustment module 10 has a multi-axis movement module (directly selected from the common multi-axis movement module structure in the prior art) for driving the second rotating mechanism 400 to move. Alternatively, in some embodiments, the coarse adjustment module 10 not only has a multi-axis movement module, but also has a universal joint structure, for driving the second rotating mechanism 400 to move and rotate in multiple directions.

[0118] Reference is made to Figure 1 , Figure 2 and Figure 9 , an embodiment of the application provides a guiding device, which comprises a fine adjustment module 20, the fine adjustment module 20 is used for connecting an end mechanism 100, the end mechanism 100 has an instrument channel used for guiding a surgical instrument, the fine adjustment module 20 comprises an angle adjustment structure and a position adjustment structure, the angle adjustment structure is used for realizing angle adjustment of the instrument channel, and the position adjustment structure is used for realizing position adjustment of the instrument channel.

[0119] Specifically, the orientation of the end mechanism 100 can be adjusted through the angle adjustment structure first, so that the instrument channel is parallel to the preset path, and then the position of the end mechanism 100 can be adjusted through the position adjustment structure, so that the instrument channel coincides with the preset path. In this way, the user can clearly know the effect that can be achieved in each step when performing each step, that is, the angle adjustment is realized first, and then the position alignment is realized on this basis. For the user, the physical meaning of each operation is more clear and explicit, and the user experience will be better.

[0120] In some embodiments, the fine adjustment module 20 has two rotational degrees of freedom and two translational degrees of freedom, wherein the rotational axes corresponding to the two rotational degrees of freedom are perpendicular to the axial direction of the instrument channel in any of the following two conditions: the direction of the rotational axes and the axial direction of the instrument channel; the translational directions corresponding to the two translational degrees of freedom are perpendicular to the axial direction of the instrument channel in any of the following two conditions: the translational directions and the axial direction of the instrument channel.

[0121] Specifically, the angle adjustment structure has two rotational degrees of freedom, and the position adjustment structure has two translational degrees of freedom. The two rotational degrees of freedom are rotation around the first direction and the second direction respectively, and the two translational degrees of freedom are movement along the first direction and the second direction respectively.

[0122] Further, the position adjustment structure is used for connecting the end mechanism 100, and the position adjustment structure comprises a first movement mechanism 200 and a second movement mechanism 500, the first movement mechanism 200 is used for driving the end mechanism 100 to move along the first direction, and the second movement mechanism 500 is used for driving the end mechanism 100 to move along the second direction. The angle adjustment structure comprises a first rotation mechanism 300 connected to the position adjustment structure, and a second rotation mechanism 400 connected to the first rotation mechanism 300, the first rotation mechanism 300 is used for driving the end mechanism 100 to rotate around the second direction, and the second rotation mechanism 400 is used for driving the end mechanism 100 to rotate around the first direction. The connection structure of the first movement mechanism 200, the second movement mechanism 500, the first rotation mechanism 300, the second rotation mechanism 400 and the end mechanism 100 can refer to the foregoing multiple embodiments.

[0123] Alternatively, in some embodiments, the fine adjustment module 20 has three rotational degrees of freedom and one translational degree of freedom, wherein the directions of the three rotational axes are perpendicular to each other, and the direction of one of the rotational axes is the axial direction of the instrument channel, and the translational direction of the one translational degree of freedom is perpendicular to the axial direction of the instrument channel.

[0124] Specifically, the angle adjustment structure has two rotational degrees of freedom, and the position adjustment structure has one translational degree of freedom and one rotational degree of freedom. The two rotational degrees of freedom of the angle adjustment structure are rotation around the first direction and rotation around the second direction, respectively, and the one translational degree of freedom and the one rotational degree of freedom of the position adjustment structure are movement along the first direction and rotation around the third direction, respectively.

[0125] Further, the position adjustment structure is used to connect the end mechanism 100. The position adjustment structure comprises a first movement mechanism 200 and a third rotation mechanism 600. The first movement mechanism 200 is used to drive the end mechanism 100 to move along the first direction, and the third rotation mechanism 600 is used to drive the end mechanism 100 to rotate around the third direction. The angle adjustment structure comprises a first rotation mechanism 300 connected to the position adjustment structure, and a second rotation mechanism 400 connected to the first rotation mechanism 300. The first rotation mechanism 300 is used to drive the end mechanism 100 to rotate around the second direction, and the second rotation mechanism 400 is used to drive the end mechanism 100 to rotate around the first direction. The connection structure of the first movement mechanism 200, the first rotation mechanism 300, the second rotation mechanism 400, the third rotation mechanism 600 and the end mechanism 100 can refer to the aforementioned embodiments.

[0126] In some embodiments, the guide device further comprises a coarse adjustment module 10 connected to the fine adjustment module 20, and the coarse adjustment module 10 is used to drive the fine adjustment module 20 to rotate and / or move. The specific structure and arrangement of the coarse adjustment module 10 can refer to the aforementioned embodiments.

[0127] Referring to Figure 1 , Figure 2 and Figure 9In an embodiment of the present application, the surgical navigation system comprises a guiding device, the guiding device comprises a position adjusting structure and an angle adjusting structure, wherein the position adjusting structure is configured to connect the end mechanism 100. The position adjusting structure comprises a first moving mechanism 200, and further comprises a second moving mechanism 500 or a third rotating mechanism 600. The first moving mechanism 200 is configured to drive the end mechanism 100 to move along a first direction. The second moving mechanism 500 is configured to drive the end mechanism 100 to move along a second direction. The third rotating mechanism 600 is configured to drive the end mechanism 100 to rotate around a third direction. The angle adjusting structure comprises a first rotating mechanism 300 connected to the position adjusting structure, and a second rotating mechanism 400 connected to the first rotating mechanism 300. The first rotating mechanism 300 is configured to drive the end mechanism 100 to rotate around the second direction. The second rotating mechanism 400 is configured to drive the end mechanism 100 to rotate around the first direction. The third direction is the axial direction of the instrument channel. Any two of the first direction, the second direction and the third direction are perpendicular.

[0128] In some embodiments, the angle adjusting structure is configured to drive the end mechanism 100 to move by the first rotating mechanism 300 and the second rotating mechanism 400, so that the instrument channel is parallel to the preset path. The position adjusting structure is configured to drive the end mechanism 100 to move by the first moving mechanism 200, and the second moving mechanism 500 or the third rotating mechanism 600, on the basis that the instrument channel is parallel to the preset path, so that the instrument channel coincides with the preset path.

[0129] Specifically, in some embodiments, the first moving mechanism 200 in the position adjusting structure is configured to connect the end mechanism 100, and the first rotating mechanism 300 is connected to the first moving mechanism 200. The first rotating mechanism 300 is capable of driving the first moving mechanism 200 to rotate around the second direction, thereby indirectly driving the end mechanism 100 connected to the first moving mechanism 200 to rotate around the second direction, so that the instrument channel rotates around the second direction. The second rotating mechanism 400 is capable of driving the first rotating mechanism 300 to rotate around the first direction, thereby indirectly driving the end mechanism 100 connected to the first rotating mechanism 300 to rotate around the first direction, so that the instrument channel rotates around the first direction. By driving the end mechanism 100 to rotate around the first direction and around the second direction by the angle adjusting structure, the position of the instrument channel on the end mechanism 100 can be adjusted to be parallel to the preset path.

[0130] When the position adjusting structure comprises the first moving mechanism 200 and the second moving mechanism 500, the second moving mechanism 500 is used to connect the end mechanism 100, the first moving mechanism 200 can drive the end mechanism 100 and the second moving mechanism 500 to move synchronously along the first direction, and the second moving mechanism 500 can drive the end mechanism 100 and the first moving mechanism 200 to move synchronously along the second direction. In this way, on the basis of the parallelism of the instrument channel and the preset path, the position of the instrument channel on the end mechanism 100 can be further adjusted to coincide with the preset path by driving the end mechanism 100 to move along the first direction and along the second direction by the position adjusting structure.

[0131] When the position adjusting structure comprises the first moving mechanism 200 and the third rotating mechanism 600, the first rotating mechanism 300 and the first moving mechanism 200 are connected through the third rotating mechanism 600. The first moving mechanism 200 can drive the end mechanism 100 to move along the first direction, and at the same time, the third rotating mechanism 600 can also drive the first moving mechanism 200 to rotate around the third direction, and further drive the end mechanism 100 to rotate around the third direction. In this way, on the basis of the parallelism of the instrument channel and the preset path, the position of the instrument channel on the end mechanism 100 can be further adjusted to coincide with the preset path by driving the end mechanism 100 to move along the first direction and rotate around the third direction by the position adjusting structure.

[0132] Alternatively, in some embodiments, the position adjusting structure is used to drive the end mechanism 100 to move by the first moving mechanism 200, and the second moving mechanism 500 or the third rotating mechanism 600, so that the instrument channel intersects the preset path; the angle adjusting structure is used to drive the end mechanism 100 to move by the first rotating mechanism 300 and the second rotating mechanism 400 on the basis of the intersection of the instrument channel and the preset path, so that the instrument channel coincides with the preset path.

[0133] That is, in specific operation, the end mechanism 100 can be first driven to move along the first direction by the first moving mechanism 200; and driven to move along the second direction by the second moving mechanism 500, or driven to rotate around the third direction by the third rotating mechanism 600, so as to realize the intersection of the instrument channel and the preset path. On this basis, the end mechanism 100 is driven to rotate around the second direction by the first rotating mechanism 300, and driven to rotate around the first direction by the second rotating mechanism 400, so as to realize the coincidence of the instrument channel and the preset path.

[0134] It should be noted that the "preset path" refers to a pre-set surgical path, when the instrument channel on the end mechanism 100 coincides with the preset path, the surgical instrument placed in the instrument channel can be guided and limited, so that the surgical instrument can reach the surgical area along the instrument channel under the operation of the operator.

[0135] Referring to Figure 1 , Figure 2 and Figure 9 In some embodiments, the surgical navigation system further comprises a coarse adjustment module 10 connected to the second rotating mechanism 400, the coarse adjustment module 10 being configured to drive the end mechanism 100 to rotate and / or move so as to make the instrument channel close to the preset path.

[0136] The specific arrangement position and connection structure of the aforementioned coarse adjustment module 10 and fine adjustment module 20 (first moving mechanism 200, second moving mechanism 500, first rotating mechanism 300, second rotating mechanism 400, third rotating mechanism 600, etc.) are the same as those of the aforementioned embodiments, and the content of the aforementioned embodiments is directly quoted.

[0137] Referring to Figure 1 , Figure 2 and Figure 9 An embodiment of the present application provides a mixed reality surgical navigation system, comprising a mixed reality device, a surgical instrument, and a guide device. The mixed reality device is configured to provide adjustment guidance for the guide device. The guide device comprises a fine adjustment module 20, which comprises an angle adjustment structure and a position adjustment structure. The angle adjustment structure is configured to be operable to adjust so that the axis of the instrument channel in the end mechanism 100 is parallel to the preset path of the surgical instrument. The position adjustment structure is configured to be operable to adjust so that the instrument channel coincides with the preset path on the basis of the parallelism of the instrument channel to the preset path. Alternatively, the position adjustment structure is configured to be operable to adjust so that the axis of the instrument channel in the end mechanism 100 intersects the preset path. The angle adjustment structure is configured to be operable to adjust so that the instrument channel coincides with the preset path on the basis of the intersection of the instrument channel to the preset path.

[0138] In the above embodiments, the structure and operation mode of the guide device are the same as those of the aforementioned embodiments, and the content of the aforementioned embodiments is directly quoted.

[0139] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0140] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A guide device, characterized in that The guiding device comprises: a first moving mechanism (200) connected to a terminal mechanism (100) having an instrument channel for guiding a surgical instrument, the first moving mechanism (200) being configured to drive the terminal mechanism (100) to move along a first direction, the first direction being perpendicular to an axial direction of the instrument channel; a first rotating mechanism (300) connected to the first moving mechanism (200) and configured to drive the first moving mechanism (200) to rotate around a second direction, the second direction being perpendicular to the first direction and the axial direction; a second rotating mechanism (400) connected to the first rotating mechanism (300) and configured to drive the first rotating mechanism (300) to rotate around the first direction.

2. The guide device of claim 1, wherein, The first rotating mechanism (300) comprises a first tooth member (310) connected to the second rotating mechanism (400) and a second tooth member (320) connected to the first moving mechanism (200), the first tooth member (310) and the second tooth member (320) being engaged by teeth, the first tooth member (310) being configured to rotate around a third direction to drive the second tooth member (320) to rotate around the second direction, the third direction being the axial direction of the instrument channel.

3. The guide of claim 1, wherein, The second rotating mechanism (400) comprises a third tooth member (410) and a fourth tooth member (420) connected to the first rotating mechanism (300), the third tooth member (410) and the fourth tooth member (420) being engaged by teeth, the third tooth member (410) being configured to rotate around a third direction to drive the fourth tooth member (420) to rotate around the first direction, the third direction being the axial direction of the instrument channel.

4. The guide of claim 1, wherein, The first moving mechanism (200) comprises a first screw rod (210) and a first nut member (220) connected by threads, the first screw rod (210) extending along the first direction, one of the first screw rod (210) and the first nut member (220) being configured to rotate around the first direction to drive the other of the first screw rod (210) and the first nut member (220) to move along the first direction, wherein the other of the first screw rod (210) and the first nut member (220) is configured to connect the terminal mechanism (100).

5. The guide of claim 4, wherein, The first moving mechanism (200) further comprises an anti-backlash locking member (240), the first nut member (220) having a first threaded section (2211) and a second threaded section (2212) arranged in a spaced manner along the first direction, the first threaded section (2211) and the second threaded section (2212) being threadedly connected to different regions of the first screw rod (210) respectively, the anti-backlash locking member (240) being connected to the first threaded section (2211) and the second threaded section (2212).

6. The guide device of any one of claims 1 to 5, wherein, The guiding device further comprises a second moving mechanism (500) connected to the terminal mechanism (100), the first moving mechanism (200) is capable of driving the terminal mechanism (100) and the second moving mechanism (500) to move synchronously along the first direction, and the second moving mechanism (500) is capable of driving the terminal mechanism (100) and the first moving mechanism (200) to move synchronously along the second direction.

7. The guide device of claim 6, wherein, The first moving mechanism (200) is slidingly fitted to the first rotating mechanism (300) along the second direction, and the second moving mechanism (500) is slidingly fitted to the first rotating mechanism (300) along the first direction. The first moving mechanism (200) comprises a first screw rod (210) and a first nut member (220) in threaded connection, the first screw rod (210) extends along the first direction, the first screw rod (210) is used for connecting the terminal mechanism (100), and the first nut member (220) is configured to rotate around the first direction to drive the first screw rod (210) to move along the first direction. The second moving mechanism (500) comprises a second screw rod (510) and a second nut member (520) in threaded connection, the second screw rod (510) extends along the second direction, the second screw rod (510) is used for connecting the terminal mechanism (100), and the second nut member (520) is configured to rotate around the second direction to drive the second screw rod (510) to move along the second direction.

8. The guide device of any one of claims 1 to 5, wherein, The guiding device further comprises a third rotating mechanism (600), the first rotating mechanism (300) and the first moving mechanism (200) are connected through the third rotating mechanism (600), and the third rotating mechanism (600) is used for driving the first moving mechanism (200) to rotate around a third direction, the third direction being an axial direction of the instrument channel.

9. The guide device of claim 8, wherein, The third rotating mechanism (600) comprises a fifth tooth member (610) connected to the first rotating mechanism (300) and a sixth tooth member (620) connected to the first moving mechanism (200), the fifth tooth member (610) and the sixth tooth member (620) are engaged through teeth, and the fifth tooth member (610) is configured to rotate around the second direction to drive the sixth tooth member (620) to rotate around the third direction.

10. The guide device of any one of claims 1 to 5, wherein, The guiding device further comprises a coarse adjustment module (10) connected to the second rotating mechanism (400), and the coarse adjustment module (10) is used for driving the second rotating mechanism (400) to rotate and / or move.

11. A guide device, characterized in that The guiding device comprises a fine adjustment module (20) used for connecting a terminal mechanism (100), the terminal mechanism (100) has an instrument channel used for guiding a surgical instrument, the fine adjustment module (20) comprises an angle adjustment structure and a position adjustment structure, the angle adjustment structure is used for realizing angle adjustment of the instrument channel, and the position adjustment structure is used for realizing position adjustment of the instrument channel.

12. The guide device of claim 11, wherein, The fine adjustment module (20) has two rotational degrees of freedom and two translational degrees of freedom, wherein the directions of the rotational axes corresponding to the two rotational degrees of freedom are perpendicular to the axial direction of the instrument channel, and the translational directions corresponding to the two translational degrees of freedom are perpendicular to the axial direction of the instrument channel.

13. The guide device of claim 11, wherein, The fine adjustment module (20) has three rotational degrees of freedom and one translational degree of freedom, wherein the directions of the rotational axes corresponding to the three rotational degrees of freedom are perpendicular to each other, and the direction of one of the rotational axes is the axial direction of the instrument channel, and the translational direction corresponding to the one translational degree of freedom is perpendicular to the axial direction of the instrument channel.

14. The guide device of claim 11, wherein, The guiding device further comprises a coarse adjustment module (10) connected to the fine adjustment module (20), and the coarse adjustment module (10) is used to drive the fine adjustment module (20) to rotate and / or move.

15. A surgical navigation system, characterized by The surgical navigation system comprises a guiding device, and the guiding device comprises: a position adjustment structure for connecting the end mechanism (100), the position adjustment structure comprising a first moving mechanism (200) for driving the end mechanism (100) to move in a first direction, and further comprising a second moving mechanism (500) for driving the end mechanism (100) to move in a second direction, or a third rotating mechanism (600) for driving the end mechanism (100) to rotate around a third direction, wherein the third direction is the axial direction of an instrument channel of the end mechanism (100), and any two of the first direction, the second direction and the third direction are perpendicular; and an angle adjustment structure comprising a first rotating mechanism (300) connected to the position adjustment structure, and a second rotating mechanism (400) connected to the first rotating mechanism (300), the first rotating mechanism (300) being used to drive the end mechanism (100) to rotate around the second direction, and the second rotating mechanism (400) being used to drive the end mechanism (100) to rotate around the first direction.

16. The surgical navigation system of claim 15, wherein, The angle adjustment structure is used to drive the end mechanism (100) to move by the first rotating mechanism (300) and the second rotating mechanism (400), so that the instrument channel is parallel to a preset path; The position adjustment structure is used to drive the end mechanism (100) to move by the first moving mechanism (200), and the second moving mechanism (500) or the third rotating mechanism (600) on the basis that the instrument channel is parallel to the preset path, so that the instrument channel coincides with the preset path; The position adjustment structure is used to drive the end mechanism (100) to move by the first moving mechanism (200), and the second moving mechanism (500) or the third rotating mechanism (600) on the basis that the instrument channel is parallel to the preset path, so that the instrument channel coincides with the preset path; Alternatively, the position adjustment structure is configured to drive the end mechanism (100) to move by the first movement mechanism (200) and the second movement mechanism (500) or the third rotation mechanism (600) so that the instrument channel intersects the preset path; the angle adjustment structure is configured to drive the end mechanism (100) to move by the first rotation mechanism (300) and the second rotation mechanism (400) on the basis that the instrument channel intersects the preset path, so that the instrument channel coincides with the preset path.

17. The surgical navigation system of claim 16, wherein, The surgical navigation system further comprises a coarse adjustment module (10) connected to the second rotation mechanism (400), and the coarse adjustment module (10) is configured to drive the end mechanism (100) to rotate and / or move so that the instrument channel approaches the preset path.

18. A mixed reality surgical navigation system, comprising: The mixed reality device, the surgical instrument, and the guide device are included. The mixed reality device is configured to provide adjustment guidance for the guide device. The guide device comprises a fine adjustment module (20), and the fine adjustment module (20) comprises an angle adjustment structure and a position adjustment structure; wherein: The angle adjustment structure is configured to be operatively adjusted so that the axis of the instrument channel in the end mechanism (100) is parallel to the preset path of the surgical instrument; and the position adjustment structure is configured to be operatively adjusted so that the instrument channel coincides with the preset path on the basis that the instrument channel is parallel to the preset path. Alternatively, the position adjustment structure is configured to be operatively adjusted so that the axis of the instrument channel in the end mechanism (100) intersects the preset path; and the angle adjustment structure is configured to be operatively adjusted so that the instrument channel coincides with the preset path on the basis that the instrument channel intersects the preset path.

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