Operation guiding device

Abstract

The embodiment of the utility model provides an operation guiding device which comprises a base, a positioning component and an adjusting component, the base is provided with a supporting face and a clamping component, and the supporting face is used for arranging the clamping component. The clamping component comprises a first clamping part and a second clamping part which are arranged on the supporting face in a spaced mode in the first direction, and a clamping space is defined by the first clamping part and the second clamping part. The adjusting part is connected to the side, away from the first clamping part, of the second clamping part and comprises a first end and a second end which are oppositely arranged in the first direction, and the first end can rotate relative to the second clamping part so that the second end can deflect in the direction close to or away from the supporting face. One end of the positioning part is located in the clamping space, and the other end extends out in the direction away from the first clamping part. The positioning component further comprises a receding hole which is used for receding at least part of the adjusting component. The angle of the surgical instrument can be adjusted through the section component, so that the surgical instrument can be guided in multiple directions to adapt to different surgical scenes.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more particularly to a surgical guidance device. Background Technology

[0002] In current surgical procedures, robots are typically used to assist in the operation. Trackers are placed on the end effector or end effector of the robotic arm to mark its spatial position. Traditional end effectors, when used for guidance, have a fixed orientation and cannot rotate, resulting in poor adjustability and an inability to adapt to multi-angle guidance requirements. Utility Model Content

[0003] This application provides a surgical guide device designed to improve the adjustability of the surgical guide device.

[0004] An embodiment of the first aspect of this application provides a surgical guide device, comprising: a base having a support surface and a clamping member, the clamping member including a first clamping portion and a second clamping portion spaced apart along a first direction on the support surface, the first clamping portion and the second clamping portion enclosing a clamping space; an adjusting member connected to the side of the second clamping portion away from the first clamping portion, the adjusting member including a first end and a second end disposed opposite to each other along the first direction, the first end being rotatably disposed relative to the second clamping portion so that the second end can deflect in a direction closer to or away from the support surface; and a positioning member detachably connected to the clamping member, one end of the positioning member being located in the clamping space, and the other end extending in a direction away from the first clamping portion, the positioning member further including a clearance hole for avoiding at least a portion of the adjusting member.

[0005] According to any of the foregoing embodiments of the first aspect of this application, the surgical guide device further includes: a rotating part, which is fixedly connected to the side of the second clamping part away from the first clamping part, and the rotating part includes a first through hole; a rotating shaft, which is sleeved in the first through hole, and an adjusting component is fixedly connected to the rotating shaft and rotatably disposed relative to the rotating part through the rotating shaft.

[0006] According to any of the foregoing embodiments of the first aspect of this application, the rotating part further includes a through groove and a fixing part disposed in the through groove. The through groove is interconnected with the first through hole, and the fixing part is movably disposed along the extension direction of the through groove so that the rotating shaft can be fixed when the fixing part is close to the rotating shaft.

[0007] According to any of the foregoing embodiments of the first aspect of this application, the through groove includes a first sub-groove and a second sub-groove that are interconnected, the inner diameter of the first sub-groove is smaller than the inner diameter of the second sub-groove, and the first sub-groove is located on the side of the second sub-groove away from the rotating shaft; the fixing part includes a first sub-part and a second sub-part that are interconnected, the cross-sectional area of ​​the end of the second sub-part near the first sub-part is larger than the cross-sectional area of ​​the first sub-part, the second sub-part is located in the second sub-groove, and the fixing part is movably disposed between a first position and a second position. In the first position, at least a portion of the first sub-part is located in the second sub-groove and the second sub-part is engaged with the rotating shaft; in the second position, the first sub-part is located on the side of the second sub-groove away from the rotating shaft.

[0008] According to any of the foregoing embodiments of the first aspect of this application, a plurality of ball sockets are provided circumferentially at intervals on the rotating shaft, and the second sub-part includes an arc surface facing one end of the rotating shaft. In a first position, the arc surface engages with one of the plurality of ball sockets.

[0009] According to any of the foregoing embodiments of the first aspect of this application, the rotating part includes a groove, which is connected to a first through hole, and the groove and the through hole are distributed circumferentially along the rotating shaft. A first reset member is provided in the groove, and the first reset member is extendable along the extension direction of the groove so that the first reset member can provide a clamping force to the rotating shaft.

[0010] According to any of the foregoing embodiments of the first aspect of this application, the first reset member includes a first elastic member and a first ball, the first elastic member extends along the groove and is telescopically disposed, and the first ball engages with one of the remaining ball sockets.

[0011] According to any of the foregoing embodiments of the first aspect of this application, the side of the second clamping part facing the clamping space includes an arcuate convex surface, the arcuate convex surface protrudes towards the first clamping part, and the side of the clearance hole near the first clamping part includes an arcuate inner wall surface, the arcuate inner wall surface and the arcuate convex surface cooperate with each other.

[0012] According to any of the foregoing embodiments of the first aspect of this application, the first clamping portion includes a locking groove extending along a first direction, a second reset member is disposed in the locking groove, and the second reset member is telescopically disposed between a third position and a fourth position along the first direction, wherein, in the third position, at least a portion of the second reset member protrudes from the first clamping portion, and the minimum distance from the second reset member to the second clamping portion in the third position is less than the minimum distance from the second reset member to the second clamping portion in the fourth position; and / or, the second clamping portion includes a locking groove with an opening facing the clamping space, a second reset member is disposed in the locking groove, and the second reset member is telescopically disposed between a third position and a fourth position along the first direction, wherein, in the third position, at least a portion of the second reset member protrudes from the second clamping portion, and the minimum distance from the second reset member to the first clamping portion in the third position is less than the minimum distance from the second reset member to the first clamping portion in the fourth position.

[0013] According to any of the foregoing embodiments of the first aspect of this application, the surgical guide device further includes a positioning component, which includes a mounting portion and a locator. The mounting portion is fixed to the side of the first clamping portion away from the second clamping portion, and a plurality of locators are arranged at intervals around the mounting portion.

[0014] The surgical guide device provided in this application includes a base, a positioning component, and an adjusting component. The base has a supporting surface and a clamping component. The supporting surface is used to arrange the clamping component. The clamping component is used to clamp the positioning component and includes a first clamping portion and a second clamping portion spaced apart along a first direction on the supporting surface. The first clamping portion and the second clamping portion enclose a clamping space to restrict the movement of the positioning component. The adjusting component is used to place surgical instruments. The adjusting component is connected to the side of the second clamping portion away from the first clamping portion. The adjusting component includes a first end and a second end arranged opposite to each other along the first direction. The first end is rotatably arranged relative to the second clamping portion so that the second end can deflect in a direction closer to or away from the supporting surface, thereby adjusting the angle of the surgical instruments. This allows for multi-directional guidance of the surgical instruments during surgery, making the surgery more precise and adaptable to different surgical scenarios. The positioning component is used for positioning and is detachably connected to the clamping component. One end of the positioning component is located in the clamping space, and the other end extends in a direction away from the first clamping portion, allowing the operator to accurately move the adjusting component to the surgical area after obtaining the position of the area to be operated on. The positioning component also includes a clearance hole for accommodating at least a portion of the adjusting component, allowing the adjusting component to rotate on the side of the positioning component facing the support surface. This embodiment of the application allows the second end of the adjusting component to deflect in a direction closer to or further from the support surface, thereby adjusting the angle of the surgical instrument. This enables multi-directional guidance of the surgical instrument during surgery, making the surgery more precise and adaptable to different surgical scenarios. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar features.

[0016] Figure 1 This is a schematic diagram of the structure of a surgical guide device provided in an embodiment of this application;

[0017] Figure 2 This is a structural schematic diagram of a surgical guide device in use according to an embodiment of this application;

[0018] Figure 3 for Figure 2 Sectional view at point AA;

[0019] Figure 4 This is one of the structural schematic diagrams of a rotating part provided in the embodiments of this application;

[0020] Figure 5 This is the second schematic diagram of a rotating part provided in the embodiments of this application.

[0021] Explanation of reference numerals in the attached figures:

[0022] 000-Base; 001-Supporting surface; 002-Surgical instruments; 003-Gift space;

[0023] 100-Clamping component; 110-Clamping space; 120-First clamping part; 130-Second clamping part; 131-Wall part; 132-Arc-shaped convex surface; 140-Second reset component; 141-Second elastic component; 142-Second ball; 150-Locking groove;

[0024] 200 - Adjustment component; 201 - Snap-fit ​​part; 202 - Second through hole; 203 - Scale;

[0025] 300 - Rotating part; 310 - First through hole; 320 - Through groove; 321 - First sub-groove; 322 - Second sub-groove;

[0026] 330 - Fixing part; 331 - First sub-part; 332 - Second sub-part; 333 - Nut; 332a - End;

[0027] 332b - Arc surface; 340 - Groove; 350 - First reset element; 351 - First elastic element; 352 - First

[0028] Ball bearings; 370-mounting through hole;

[0029] 400 - Shaft; 401 - Protrusion; 410 - Ball socket;

[0030] 500 - Tracer component; 510 - Mounting part; 520 - Positioner;

[0031] 600-Connection structure;

[0032] 700 - Positioning component; 710 - Clearance hole; 711 - Arc-shaped inner wall surface; 720 - Stop part;

[0033] M - First end; N - Second end;

[0034] X - First direction; Y - Second direction. Detailed Implementation

[0035] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples. In the accompanying drawings and the following description, at least some well-known structures and techniques are not shown to avoid unnecessarily obscuring the application; and, for clarity, the dimensions of some structures may be exaggerated. Furthermore, the features, structures, or characteristics described below can be combined in any suitable manner in one or more embodiments.

[0036] In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] To better understand this application, the following will be combined with... Figures 1 to 5 The surgical guide device according to the embodiments of this application will be described in detail.

[0039] Figure 1 This is a schematic diagram of the structure of a surgical guide device provided in an embodiment of this application. Figure 2 This is a structural schematic diagram of a surgical guide device in use according to an embodiment of this application.

[0040] Please see Figure 1 and Figure 2An embodiment of the first aspect of this application provides a surgical guide device, which includes a base 000, a positioning component 700, and an adjustment component 200. The base 000 has a support surface 001 and a clamping component 100. The clamping component 100 includes a first clamping portion 120 and a second clamping portion 130 spaced apart along a first direction X on the support surface 001, the first clamping portion 120 and the second clamping portion 130 enclosing a clamping space 110. The adjustment component 200 is connected to the side of the second clamping portion 130 away from the first clamping portion 120. The adjustment component 200 includes a first end M and a second end N disposed opposite to each other along the first direction X. The first end M is rotatably disposed relative to the second clamping portion 130 so that the second end N can deflect in a direction closer to or farther from the support surface 001. The positioning component 700 is detachably connected to the clamping component 100. One end of the positioning component 700 is located in the clamping space 110, and the other end extends in a direction away from the first clamping part 120. The positioning component 700 also includes a clearance hole 710, which is used to avoid at least part of the adjusting component 200.

[0041] In the embodiments provided in this application, the surgical guide device includes a base 000, a positioning component 700, and an adjustment component 200. The base 000 has a support surface 001 and a clamping component 100. The support surface 001 is used to arrange the clamping component 100. The clamping component 100 is used to clamp the positioning component 700 and includes a first clamping portion 120 and a second clamping portion 130 spaced apart along a first direction X on the support surface 001. The first clamping portion 120 and the second clamping portion 130 enclose a clamping space 110 to restrict the movement of the positioning component 700. The adjusting component 200 is used to place the surgical instrument 002. The adjusting component 200 is connected to the side of the second clamping part 130 away from the first clamping part 120. The adjusting component 200 includes a first end M and a second end N disposed opposite to each other along a first direction X. The first end M is rotatably disposed relative to the second clamping part 130, so that the second end N can deflect in a direction closer to or farther from the support surface 001, thereby adjusting the angle of the surgical instrument 002 for multi-directional guidance during surgery. The positioning component 700 is used to position the area to be operated on and is detachably connected to the clamping component 100. One end of the positioning component 700 is located in the clamping space 110, and the other end extends in a direction away from the first clamping part 120, allowing the operator to accurately move the adjusting component 200 to the area to be operated on after obtaining the position of the area to be operated on. The positioning component 700 also includes a clearance hole 710, which is used to avoid at least part of the adjusting component 200, so that the adjusting component 200 can rotate on the side of the positioning component 700 facing the support surface 001, thus limiting the rotation angle of the adjusting component 200. In this embodiment, by deflecting the second end N of the adjusting component 200 in a direction closer to or further away from the support surface 001, the angle of the surgical instrument 002 can be adjusted, allowing for multi-directional guidance of the surgical instrument 002 during surgery, making the surgery more precise and adaptable to different surgical scenarios.

[0042] Optionally, the surgical guide device provided in this application embodiment can be used in spinal surgery, trauma surgery, and other surgeries to assist operators in accurately completing the surgery.

[0043] Optionally, the surgical guide device may also include a connecting structure 600, one end of which may be fixedly connected to the side of the tracer 500 away from the clamping component 100, and the other end of which may be connected to the robotic arm of the surgical robot, thereby driving the surgical guide device to move.

[0044] Optional, such as Figure 2 As shown, the positioning component 700 can be a target plate, which is a positioning and guiding tool in surgery. The target plate has preset markers or channels, which can be clearly displayed in the intraoperative imaging instrument to help the operator accurately locate the specific segment of the spine or the lesion area.

[0045] Optionally, the surgical instrument 002 can be a guide needle or a drill bit. The surgical instrument 002 is fitted inside the adjustment component 200 so that the drug or instrument can be accurately delivered to the predetermined target area.

[0046] Optionally, the adjusting component 200 can be a sleeve, and the surgical instrument 002 is fitted inside the sleeve to achieve precise guidance.

[0047] Optional, such as Figure 1 and Figure 2 As shown, the support surface 001 is spaced apart from the edge of the second direction Y and the second clamping portion 130, so that a clearance space 003 communicating with the clamping space 110 is formed on at least one side of the second clamping portion 130 along the second direction Y. At least a portion of the positioning component 700 near the clamping component 100 contacts and connects with the support surface 001 in the clearance space 003, which increases the contact area between the positioning component 700 and the support surface 001, improves the support effect of the base 000 on the positioning component 700, and further restricts the movement of the positioning component 700, wherein the first direction X intersects with the second direction Y.

[0048] Optionally, the positioning component 700 further includes a stop 720, which is located on the side of the clearance hole 710 opposite to the clamping component 100 and abuts against the second end N of the adjusting component 200, allowing the adjusting component 200 to rotate on the side of the positioning component 700 facing the support surface 001 via the stop 720. During rotation, the side of the adjusting component 200 opposite to the second clamping part 130 will not rotate beyond the side of the support surface 001 opposite to the base 000, thus improving the problem of excessive rotation of the adjusting component 200 during surgery, which affects surgical efficiency.

[0049] Optionally, the positioning component 700 also includes a weight reduction hole located on the side of the stop portion 720 opposite to the clearance hole 710, which can reduce the weight of the positioning component 700.

[0050] In some alternative embodiments, such as Figure 3 and Figure 4 As shown, the surgical guide device also includes a rotating part 300 and a rotating shaft 400. The rotating part 300 is fixedly connected to the side of the second clamping part 130 away from the first clamping part 120, and the rotating part 300 includes a through hole 310. The rotating shaft 400 is sleeved in the first through hole 310, and the adjusting component 200 is fixedly connected to the rotating shaft 400 and rotatably disposed relative to the rotating part 300 via the rotating shaft 400.

[0051] In these optional embodiments, the adjusting component 200 can be rotated via the pivot 400, thereby enabling multi-angle adjustment of the adjusting component 200. The angle of the adjusting component 200 can be adjusted as needed to adapt to different surgical sites and operational requirements. Furthermore, the rotation of the adjusting component 200 can be achieved without complex disassembly and assembly steps, saving surgical time and reducing operational difficulty.

[0052] Optional, such as Figure 4 and Figure 5 As shown, a protrusion 401 is provided on one side of the rotating shaft 400, and a snap-fit ​​part 201 is provided on one side of the adjusting component 200. The snap-fit ​​part 201 includes a through hole 202. The protrusion 401 is fixedly sleeved in the second through hole 202. The rotating shaft 400 and the adjusting component 200 are fixedly connected through the protrusion 401 and the snap-fit ​​part 201, and the connection is stable.

[0053] Optionally, the cross-section of the protrusion 401 can be polygonal, and the shape of the second through hole 202 can be adapted to the protrusion 401, thereby reducing the possibility of relative rotation between the protrusion 401 and the second through hole 202, and further improving the rotation accuracy of the adjustment component 200.

[0054] Optionally, the locking part 201 also includes a scale 203 surrounding the second through hole 202, which can provide a precise positioning reference. Using the scale 203, the operator can more accurately adjust the angle during the adjustment of the adjusting component 200, while also clearly seeing the current adjustment status, ensuring the smooth progress of the surgery.

[0055] In some alternative embodiments, such as Figures 3 to 5 As shown, the rotating part 300 also includes a through groove 320 and a fixing part 330 disposed in the through groove 320. The through groove 320 is connected to the first through hole 310. The fixing part 330 is movably disposed along the extending direction of the through groove 320 so that the fixing part 330 can fix the rotating shaft 400 when it is close to the rotating shaft 400.

[0056] In these optional embodiments, the fixing part 330 is movably disposed along the extension direction of the through groove 320, which can lock the rotating shaft 400 to keep the adjusting member 200 at the required angle and prevent further rotation. This improves the problem of unnecessary injury to the patient due to excessive rotation of the rotating shaft 400 and improves the stability of the entire surgical guide device during the operation. For example, when it is necessary to adjust the angle of the adjusting member 200, the fixing part 330 can be moved away from the rotating shaft 400, thereby loosening the fixing part 330 from the rotating shaft 400 and adjusting the angle of the adjusting member 200. When the adjusting member 200 is adjusted to the appropriate angle, the fixing part 330 is moved closer to the rotating shaft 400 to lock the fixing part 330 from the rotating shaft 400, thereby limiting the further rotation of the adjusting member 200 and facilitating the operation. The locking function of the fixing part 330 from the rotating shaft 400 reduces the possibility of accidental loosening of the adjusting member 200 during the operation, further improving the safety of the operation.

[0057] Optionally, the fixing part 330 can be a bolt, and the through groove 320 is provided with threads that mate with the bolt. By rotating the bolt, the adjusting part 200 can be locked and rotated, and the bolt is also prevented from falling out of the through groove 320 when it is not tightened, thus avoiding interference with the operation. Optionally, a nut 333 can also be provided on the side of the bolt away from the rotating shaft 400. The nut 333 is rotatably connected to the bolt. By rotating the nut 333, the bolt can be moved along the extension direction of the through groove 320, thereby achieving the locking and rotation of the adjusting part 200.

[0058] Optionally, the rotating part 300 also includes a mounting through hole 370 which is disposed opposite to the through groove 320 on both sides of the first through hole 310 and communicates with the first through hole 310. The fixing part 330 is inserted into the through groove 320 through the mounting through hole 370, and at least part of the fixing part 330 extends out of the through groove 320 toward the side away from the rotating shaft 400, so as to facilitate the installation of the fixing part 330 and the nut 333.

[0059] In some optional embodiments, the through groove 320 includes a first sub-groove 321 and a second sub-groove 322 that are interconnected. The inner diameter of the first sub-groove 321 is smaller than the inner diameter of the second sub-groove 322. The first sub-groove 321 is located on the side of the second sub-groove 322 away from the rotating shaft 400. The fixing part 330 includes a first sub-part 331 and a second sub-part 332 that are interconnected. The cross-sectional area of ​​the end 332a of the second sub-part 332 near the first sub-part 331 is larger than the cross-sectional area of ​​the first sub-part 331. The second sub-part 332 is located in the second sub-groove 322. The fixing part 330 is movably disposed between a first position and a second position. In the first position, at least a portion of the first sub-part 331 is located in the second sub-groove 322 and the second sub-part 332 is engaged with the rotating shaft 400. In the second position, the first sub-part 331 is located on the side of the second sub-groove 322 away from the rotating shaft 400.

[0060] In these optional embodiments, the fixing part 330 is movably disposed between a first position and a second position, wherein in the first position the fixing part 330 is engaged with the rotating shaft 400, and in the second position the rotating shaft 400 is rotatable. The inner diameter of the first sub-groove 321 is smaller than the inner diameter of the second sub-groove 322, and the cross-sectional area of ​​the end 332a of the second sub-part 332 near the first sub-part 331 is larger than the cross-sectional area of ​​the first sub-part 331, thereby allowing the second sub-part 332 to be confined within the second sub-groove 322, improving the problem of the fixing part 330 being completely removed from the through groove 320 during surgery, causing the fixing part 330 to fall off and leading to surgical interruption or failure.

[0061] In some alternative embodiments, the pivot 400 is provided with a plurality of ball sockets 410 spaced apart circumferentially, and the second sub-part 332 includes an arc surface 332b at one end facing the pivot 400. In a first position, the arc surface 332b engages with one of the plurality of ball sockets 410.

[0062] In these optional embodiments, since the rotating shaft 400 is provided with multiple ball sockets 410, the arc surface 332b of the second sub-part 332 can engage with any one of the ball sockets 410, thereby achieving precise fixation at multiple angles. Simultaneously, the multiple ball sockets 410 design provides more fixing points, increasing the flexibility of the adjusting component 200. The snap-fit ​​design between the arc surface 332b and the ball sockets 410 allows the fixing part 330 to be more securely fixed and engaged with the rotating shaft 400 in the first position, improving the problem of the fixing part 330 loosening due to vibration or other external forces during surgery, and enhancing the stability of the surgery.

[0063] In some optional embodiments, the rotating part 300 includes a groove 340, which is connected to the first through hole 310. The groove 340 and the through groove 320 are distributed circumferentially along the rotating shaft 400. A first reset member 350 is provided in the groove 340. The first reset member 350 is telescopically arranged along the extending direction of the groove 340 so that the first reset member 350 can provide a clamping force to the rotating shaft 400.

[0064] In these optional embodiments, the first reset member 350 is telescopically extendable along the extension direction of the groove 340. The rotating shaft 400 can abut against the first reset member 350 and compress the first reset member 350. The first reset member 350 then provides a clamping force to the rotating shaft 400, limiting the rotating shaft 400 and improving the stability of the operation. At the same time, during the adjustment process, before the fixing part 330 is locked with the rotating shaft 400, the first reset member 350 can initially lock and limit the rotating shaft 400, making the rotating shaft 400 rotate more slowly.

[0065] In some alternative embodiments, the first reset member 350 includes a first elastic member 351 and a first ball 352. The first elastic member 351 is telescopically oriented along the extension direction of the groove 340, and the first ball 352 engages with one of the remaining ball sockets 410.

[0066] In these optional embodiments, the first elastic element 351 is telescopically oriented along the extension direction of the groove 340. During the adjustment process, before the fixing part 330 is locked with the rotating shaft 400, the first ball 352 can flexibly engage with the ball socket 410 on the rotating shaft 400 to initially limit the rotating shaft 400, so that the fixing part 330 can be more accurately aligned with the position of the other ball sockets 410, thereby ensuring the reliability of locking.

[0067] Optionally, the rotating part 300 also includes mounting through holes 370 disposed opposite to the groove 340 and extending through both sides of the first through hole 310, to facilitate the installation of the first elastic member 351 and the first ball 352.

[0068] In some alternative embodiments, such as Figure 1 and Figure 2 As shown, the second clamping part 130 includes an arc-shaped convex surface 132 on the side facing the clamping space 110. The arc-shaped convex surface 132 protrudes towards the first clamping part 120, and the clearance hole 710 includes an arc-shaped inner wall surface 711 on the side near the first clamping part 120. The arc-shaped inner wall surface 711 and the arc-shaped convex surface 132 cooperate with each other.

[0069] In these alternative embodiments, the arcuate convex surface 132 is adapted to the shape of the arcuate inner wall surface 711, and the arcuate convex surface 132 and the first clamping part 120 contact the arcuate inner wall surface 711 to form a multi-point positioning structure for fixing, so that the positioning part 700 is stably clamped in the clamping space 110.

[0070] Optionally, there can be two arc-shaped convex surfaces 132 and two arc-shaped inner wall surfaces 711. The second clamping part 130 includes a wall part 131 on the side facing the clamping space 110. The two arc-shaped convex surfaces 132 are spaced apart on both sides of the wall part 131. The shapes of the two arc-shaped convex surfaces 132 and the two arc-shaped inner wall surfaces 711 are adapted to each other, so that there are more contact points and the positioning part 700 is clamped more stably in the clamping space 110.

[0071] In some alternative embodiments, such as Figures 1 to 3As shown, the first clamping part 120 includes a locking groove 150 with an opening facing the clamping space 110. A second reset member 140 is disposed in the locking groove 150. The second reset member 140 is telescopically disposed between a third position and a fourth position along the first direction X. In the third position, at least a portion of the second reset member 140 protrudes from the first clamping part 120, and the minimum distance between the second reset member 140 and the second clamping part 130 in the third position is less than the minimum distance between the second reset member 140 and the second clamping part 130 in the fourth position.

[0072] And / or, the second clamping part 130 includes a locking groove 150 with an opening facing the clamping space 110, and a second reset member 140 is disposed in the locking groove 150. The second reset member 140 is telescopically disposed between a third position and a fourth position along a first direction X. In the third position, at least a portion of the second reset member 140 protrudes from the second clamping part 130, and the minimum distance from the second reset member 140 to the first clamping part 120 in the third position is less than the minimum distance from the second reset member 140 to the first clamping part 120 in the fourth position.

[0073] In these optional embodiments, the locking groove 150 can be disposed on the first clamping part 120, the second clamping part 130, or both the first clamping part 120 and the second clamping part 130. The position of the locking groove is not limited and depends on the specific situation. For ease of understanding, the embodiments in this application are described with the locking groove 150 disposed on the first clamping part 120.

[0074] When the second reset member 140 is in the third position, at least a portion of the second reset member 140 protrudes from the first clamping portion 120, and the second reset member 140 is in a relaxed state. The minimum distance between the second reset member 140 and the second clamping portion 130 is less than the minimum distance between the second reset member 140 and the second clamping portion 130 in the fourth position, so that the second reset member 140 is compressed when changing from the third position to the fourth position. In the fourth position, the second reset member 140 abuts against the positioning member 700 and is at least partially pressed into the locking groove 150. The positioning member 700 squeezes the second reset member 140 and generates a rebound force, further locking the positioning member 700. This facilitates the positioning and placement of the positioning member 700, and makes adjustment and operation convenient.

[0075] Optionally, the second reset member 140 includes a second elastic member 141 and a second ball bearing 142, with the second ball bearing 142 located on the side of the second elastic member 141 near the second clamping portion 130. In the third position, at least a portion of the second ball bearing 142 is located in the clamping space 110, at which point the second elastic member 141 is in a relaxed state. At least a portion of the positioning member 700 is clamped in the clamping space 110, and the second ball bearing 142 abuts against the positioning member 700 and is at least partially pressed into the locking groove 150. The positioning member 700 compresses the second ball bearing 142 and generates a rebound force, further locking the positioning member 700. The contact between the second ball bearing 142 and the positioning member 700 is a point contact. Due to the very small contact area, the rebound force per unit area increases, further improving the clamping stability.

[0076] Optionally, the first clamping part 120 and the second clamping part 130 that does not have a locking groove 150 may have a groove, which can reduce the weight of the surgical guide device.

[0077] In some alternative embodiments, such as Figure 1 and Figure 2 As shown, the surgical guide device also includes a tracer component 500, which includes a mounting part 510 and a locator 520. The mounting part 510 is fixed to the side of the first clamping part 120 away from the second clamping part 130, and a plurality of locators 520 are arranged at intervals around the mounting part 510.

[0078] In these optional embodiments, the locator 520 is used to identify the spatial position of the end effector in different surgical scenarios. Multiple locators 520 are arranged at intervals around the mounting part 510, which can perform tracking and positioning at different angles, making the positioning more accurate and reliable and improving the success rate of surgery.

[0079] Optionally, the tracer component 500 also includes multiple mounting surfaces spaced apart around the mounting portion 510, and multiple locators 520 spaced apart on the mounting surfaces to achieve multi-directional positioning of the surgical guide device.

[0080] Optionally, the locator 520 can be a tracer, which provides the device's location information (e.g., captured by infrared navigation). When taking an X-ray, subsequent image registration can be performed based on the positions marked on the X-ray and the location information of the tracer captured by the navigator.

[0081] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A surgical guide device, characterized in that, The surgical guide device includes: The base has a support surface and a clamping component. The clamping component includes a first clamping portion and a second clamping portion that are spaced apart on the support surface along a first direction. The first clamping portion and the second clamping portion enclose a clamping space. An adjustment component is connected to the side of the second clamping portion away from the first clamping portion. The adjustment component includes a first end and a second end that are disposed opposite to each other along the first direction. The first end is rotatably disposed relative to the second clamping portion so that the second end can deflect in a direction close to or away from the support surface. A positioning component is detachably connected to the clamping component. One end of the positioning component is located in the clamping space, and the other end extends in a direction away from the first clamping part. The positioning component also includes a clearance hole for avoiding at least part of the adjusting component.

2. The surgical guide device according to claim 1, characterized in that, The surgical guide device also includes: A rotating part is fixedly connected to the side of the second clamping part away from the first clamping part, and the rotating part includes a through hole; A rotating shaft is fitted into the first through hole, and the adjusting component is fixedly connected to the rotating shaft and rotatably disposed relative to the rotating part through the rotating shaft.

3. The surgical guide device according to claim 2, characterized in that, The rotating part further includes a through groove and a fixing part disposed in the through groove. The through groove is in communication with the first through hole. The fixing part is movably disposed along the extension direction of the through groove so that the fixing part can fix the rotating shaft when it is close to the rotating shaft.

4. The surgical guide device according to claim 3, characterized in that, The through groove includes a first sub-groove and a second sub-groove that are interconnected. The inner diameter of the first sub-groove is smaller than the inner diameter of the second sub-groove. The first sub-groove is located on the side of the second sub-groove that is away from the rotating shaft. The fixing part includes a first sub-part and a second sub-part connected to each other. The cross-sectional area of ​​the end of the second sub-part near the first sub-part is larger than the cross-sectional area of ​​the first sub-part. The second sub-part is located in the second sub-groove. The fixing part is movably disposed between a first position and a second position. In the first position, at least a portion of the first sub-part is located in the second sub-groove and the second sub-part is engaged with the rotating shaft; in the second position, the first sub-part is located on the side of the second sub-groove opposite to the rotating shaft.

5. The surgical guide device according to claim 4, characterized in that, The rotating shaft is provided with a plurality of ball sockets spaced apart around its circumference. The second sub-part has an arc surface facing one end of the rotating shaft. At the first position, the arc surface engages with one of the plurality of ball sockets.

6. The surgical guide device according to claim 5, characterized in that, The rotating part includes a groove that communicates with the first through hole, and the groove and the through hole are spaced apart along the circumference of the rotating shaft. A first reset member is provided in the groove, and the first reset member is extendable along the extension direction of the groove so that the first reset member can provide a clamping force to the rotating shaft.

7. The surgical guide device according to claim 6, characterized in that, The first reset member includes a first elastic member and a first ball. The first elastic member is telescopically extendable along the extension direction of the groove, and the first ball engages with one of the other ball sockets.

8. The surgical guide device according to claim 1, characterized in that, The second clamping part has an arc-shaped convex surface on the side facing the clamping space. The arc-shaped convex surface protrudes towards the first clamping part, and the clearance hole has an arc-shaped inner wall surface on the side near the first clamping part. The arc-shaped inner wall surface cooperates with the arc-shaped convex surface.

9. The surgical guide device according to claim 1, characterized in that, The first clamping portion includes a locking groove with an opening facing the clamping space. A second reset member is disposed within the locking groove. The second reset member is retractable between a third position and a fourth position along the first direction. In the third position, at least a portion of the second reset member protrudes from the first clamping portion, and the minimum distance from the second reset member to the second clamping portion in the third position is less than the minimum distance from the second reset member to the second clamping portion in the fourth position. And / or, the second clamping portion includes a locking groove with an opening facing the clamping space, and a second reset member is disposed in the locking groove. The second reset member is telescopically disposed between a third position and a fourth position along the first direction, wherein, in the third position, at least a portion of the second reset member protrudes from the second clamping portion, and the minimum distance from the second reset member to the first clamping portion in the third position is less than the minimum distance from the second reset member to the first clamping portion in the fourth position.

10. The surgical guide device according to claim 1, characterized in that, The surgical guide device further includes a tracer component, and the positioning component includes a mounting part and a locator. The mounting part is fixed to the side of the first clamping part away from the second clamping part, and a plurality of the locators are arranged at intervals around the mounting part.

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