A positioning device for a surgical robot

Abstract

The utility model provides a kind of positioning device for surgical robot, comprising: for installing the top positioning mechanism (1) of tracking ball in surgical robot system, the top positioning mechanism (1) bottom and middle connecting mechanism (2) top rotation connection, the bottom locking mechanism (3) for locking positioning needle (4) is slidably installed in the bottom of the middle connecting mechanism (2). The device is convenient to use, reduces the operation difficulty, improves the applicability and stability, so as to ensure the stability of tracking ball, improves the precision of surgical navigation.

Description

Technical Field

[0001] This utility model relates to a positioning device, and more particularly to a positioning device for a surgical robot. Background Technology

[0002] This section provides only background information relevant to this disclosure and is not necessarily prior art.

[0003] As orthopedic surgeons become more aware of the risks of X-ray radiation exposure, they are increasingly using navigation robots to assist in surgical procedures.

[0004] It is becoming increasingly common. Navigation robots need to acquire patient images before and during surgery. After image registration, the surgery can be navigated using images. However, the navigation matching relationship between the patient image and the patient's bones needs to be achieved through a tracker as a medium, and the tracker needs to be fixed to the bone structure near the affected bone.

[0005] In existing technologies, such as the fixation device described in publication number CN221130031U, in practical applications, orthopedic surgeons need to adjust the position of the two fixation pins twice during operation, and the adjustment range of the tracker is small. Furthermore, the two fixation pins can only be set in parallel, limiting the fixation area.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0007] Purpose of the invention: The technical problem to be solved by this utility model is to provide a positioning device for surgical robots, which addresses the shortcomings of the existing technology.

[0008] To address the aforementioned technical problems, this utility model discloses a positioning device for a surgical robot, comprising:

[0009] A top positioning mechanism for installing a tracking ball in a surgical robot system, the bottom of which is rotatably connected to the top of a middle connecting mechanism, and a bottom locking mechanism for locking the positioning pin is slidably installed at the bottom of the middle connecting mechanism.

[0010] Furthermore, the top positioning mechanism includes:

[0011] A tracking ball bracket for mounting the tracking ball is fixedly connected to the top of a connecting rod by fastening bolts. A toothed fixing seat is fixed to the bottom of the connecting rod, and the toothed fixing seat is connected to the middle connecting mechanism.

[0012] Furthermore, the central connecting mechanism includes:

[0013] A toothed locking seat is connected to the toothed fixing seat by a locking bolt. The bottom of the toothed locking seat is fixedly provided with a hollow upper ball socket rod, and the bottom of the upper ball socket rod is fixedly connected to a hollow lower ball socket. A ball head rod is slidably provided inside the upper ball socket rod. The bottom of the ball head rod is a concave spherical surface, which, together with the lower inner side wall of the upper ball socket rod and the upper inner side wall of the lower ball socket, forms a spherical cavity. The top of the ball head is spherical and is slidably installed in the spherical cavity. The bottom of the ball head is columnar and extends through the bottom of the lower ball socket and is fixedly connected to the top of the ball head seat. The ball head seat is slidably installed on the bottom locking mechanism.

[0014] Furthermore, the toothed fixing seat and the toothed locking seat are provided with meshing teeth, one end of the locking bolt is provided with an external thread, the toothed locking seat is provided with a through hole, the toothed fixing seat is provided with an internal thread, and one end of the locking bolt passes through the through hole of the toothed locking seat and is threadedly connected to the toothed fixing seat.

[0015] Furthermore, the top of the ball head is an inclined surface, and the middle sidewall of the locking bolt is a conical surface. When the locking bolt is screwed in and locked, the conical surface presses down on the inclined surface to abut and press the ball head.

[0016] Furthermore, the bottom locking mechanism includes:

[0017] The base has a ball joint groove on its top and a protrusion on the outer ring of its bottom, which is slidably installed in the ball joint groove.

[0018] Furthermore, the bottom of the ball head seat is also provided with a downward elastically retractable ball head plunger, and the corresponding position of the ball head seat groove is provided with several notches for abutting the ball head plunger.

[0019] Furthermore, the bottom locking mechanism also includes:

[0020] The base has an opening on one side at the bottom and a sliding clamping seat is slidably provided therein; the other side has an opening and a base threaded sleeve is fixed inside the opening.

[0021] A sliding groove is provided on the side of the sliding clamping seat away from the base threaded sleeve, and a base knob retaining ring is rotatably provided in the sliding groove at a position corresponding to the base threaded sleeve; a through hole is provided on the other side of the sliding clamping seat at a position corresponding to the base threaded sleeve.

[0022] The base locking knob passes through the through hole on the base threaded sleeve, the base, and the sliding clamping seat, and is connected to the base knob retaining ring;

[0023] The base locking knob includes:

[0024] The nut, threaded section, and connecting section are provided. The outer side of the threaded section is threaded and engages with the inner thread of the threaded sleeve of the base. The outer side of the connecting section is a smooth cylindrical surface, and its top end is connected to the knob retaining ring of the base.

[0025] A positioning pin mounting device for mounting the positioning pin is slidably provided in the groove of the sliding clamping seat;

[0026] A U-shaped positioning strip is also fixed outside the bottom opening on the side of the base to limit the sliding position of the sliding clamping seat and the positioning pin mounting device.

[0027] Furthermore, the positioning pin mounting device includes:

[0028] Positioning pin clamping column and positioning pin rotating seat; wherein...

[0029] The positioning pin clamping column includes: a prism, one end of which is a slider that is slidably installed in the groove of the sliding clamping seat, and the other end is a front end groove for abutting against the side of the positioning pin;

[0030] The positioning pin rotating seat includes: a hollow prism groove whose inner sidewall fits into the outer sidewall of the prism, and the prism is slidably inserted into the prism groove; one end of the prism groove is provided with a positioning pin through hole for inserting the positioning pin.

[0031] Furthermore, the size of the positioning pin hole is adapted to the positioning pin, and the number is set to one or more sets;

[0032] The number of positioning pin mounting devices is set to two or more.

[0033] Beneficial effects:

[0034] 1. This device can control the opening and closing of two positioning needles simultaneously with a single knob, making it easy for doctors to use and reducing the difficulty of operation.

[0035] 2. The two positioning pins of this device can be easily adjusted in angle and length, making it easy to fix to bone tissue, improving applicability and stability, thereby ensuring the stability of the tracking ball and improving the accuracy of surgical navigation.

[0036] 3. This device can greatly increase the adjustment range of the tracking ball by adjusting the connection between the middle connecting mechanism and the bottom locking mechanism, making it easier for the optical tracking system to receive its signals. Attached Figure Description

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0038] Figure 1 This is a schematic diagram of the overall structure.

[0039] Figure 2 This is a schematic diagram of the top positioning mechanism.

[0040] Figure 3 This is a sectional view of the central connecting mechanism.

[0041] Figure 4 This is a schematic diagram showing the connection between the middle connecting mechanism and the bottom locking mechanism.

[0042] Figure 5 This is a schematic diagram of the explosion of the bottom locking mechanism.

[0043] Figure 6 This is a schematic diagram of the positioning pin clamping column assembly.

[0044] Figure 7 This is a schematic diagram of the front groove structure.

[0045] In the picture:

[0046] 1 is the top positioning mechanism, 11 is the tracking ball bracket, 12 is the connecting rod, 13 is the fastening bolt, and 14 is the toothed fixing seat; 2 is the middle connecting mechanism, 21 is the toothed locking seat, 22 is the locking bolt, 23 is the ball head seat, 24 is the ball head plunger, 25 is the ball head, 26 is the lower ball socket, 27 is the upper ball socket rod, and 28 is the ball head push rod;

[0047] 3 is the bottom locking mechanism, 31 is the base, 32 is the sliding pressing seat, 33 is the base knob retaining ring, 34 is the positioning pin pressing column, 35 is the positioning pin rotating seat, 36 is the positioning strip, 37 is the base threaded sleeve, 38 is the base locking knob, and 39 is the ball head seat groove.

[0048] 341 is a prism, 342 is a groove at the front end, and 343 is a slider;

[0049] 351 is the groove, and 352 is the positioning pin hole;

[0050] 4 is the positioning pin. Detailed Implementation

[0051] This device is as follows Figure 1 As shown, it includes: a top positioning mechanism 1, a middle connecting mechanism 2, and a bottom locking mechanism 3. The top positioning mechanism 1 is used to install the tracking ball in the surgical robot system, and its bottom is detachably connected to the top of the middle connecting mechanism 2; the bottom of the middle connecting mechanism 2 is mounted on the bottom locking mechanism 3, which is used to lock the positioning pin 4.

[0052] like Figure 2As shown, the top positioning mechanism 1 includes: a tracking ball bracket 11, a connecting rod 12, and a fastening bolt 13; wherein, the tracking ball bracket 11 is used to install the tracking ball, the fastening bolt 13 fixes the tracking ball bracket 11 to the top of the connecting rod 12, and the bottom of the connecting rod 12 is fixed with a toothed fixing seat 14 for installation on the middle connecting mechanism 2.

[0053] like Figure 3 As shown, the middle connecting mechanism 2 includes: ball head seat 23, ball head 25, lower ball socket 26, upper ball socket rod 27, ball head push rod 28, ball head plunger 24, toothed locking seat 21, and locking bolt 22; wherein, the toothed locking seat 21 is fixed to the top of the upper ball socket rod 27, and the locking bolt 22 passes through the central through hole of the toothed locking seat 21 and is threadedly connected to the central through hole of the toothed fixing seat 14. The teeth on the toothed locking seat 21 and the toothed fixing seat 14 mesh to lock the two together.

[0054] The upper ball socket rod 27 has a hollow structure, and its lower part is fixedly connected to the hollow lower ball socket 26. The ball head rod 28 is slidably provided inside the upper ball socket rod 27.

[0055] The bottom of the ball head rod 28 is concave spherical, and its bottom surface, together with the lower inner wall of the upper ball socket rod 27 and the upper inner wall of the lower ball socket 26, forms a spherical cavity; the top of the ball head 25 is spherical and is slidably installed in the spherical cavity, and the bottom is columnar, which passes through the bottom of the lower ball socket 26 and is fixedly connected to the top of the ball head seat 23.

[0056] The top of the ball head push rod 28 is an inclined surface, and the side wall of the locking bolt 22 is a conical surface that fits it. When the locking bolt 22 is screwed in to lock, the inclined surface of the ball head push rod 28 is squeezed and slides downward, thereby locking the ball head 25.

[0057] The ball head seat 23 has a protruding part on the outer ring at the bottom for sliding connection with the bottom locking mechanism 3.

[0058] like Figure 4 As shown, the bottom locking structure 3 includes: a base 31, with a ball head seat groove 39 provided on the top of the base 31, which engages with the protrusion of the outer ring of the ball head seat 23, so that the bottom of the middle connecting mechanism 2 is slidably mounted on the bottom locking structure 3.

[0059] The bottom of the ball head seat 23 is also provided with a downward elastically telescopic ball head plunger 24. The ball head seat groove 39 is provided with a notch for abutting the ball head plunger 24, thereby limiting the position of the middle connecting mechanism 2 sliding on the bottom locking structure 3.

[0060] like Figure 5 As shown, the bottom locking structure 3 also includes: a sliding clamping seat 32 that is slidably installed in the bottom opening on the side of the base 31; and a corresponding hole on the other side of the base 31, in which a base threaded sleeve 37 is fixedly installed.

[0061] A sliding groove is provided on the side of the sliding clamping seat 32 away from the base threaded sleeve 37, and a base knob retaining ring 33 is provided on the sliding groove at a position corresponding to the base threaded sleeve 37; a through hole is provided on the other side of the sliding clamping seat 32 at a position corresponding to the base threaded sleeve 37.

[0062] After the base locking knob 38 passes through the through holes on the base threaded sleeve 37, the base 31 and the sliding clamping seat 32, it connects to the base knob retaining ring 33; wherein, the base locking knob 38 includes: a nut, a threaded section and a connecting section, the outer side of the threaded section is threaded and meshes with the inner thread of the base threaded sleeve 37, the outer side of the connecting section is a smooth cylindrical surface, and the top end is connected to the base knob retaining ring 33;

[0063] When in use, the nut drives the base locking knob 38 to rotate, and the base locking knob 38 extends and retracts, causing the base knob retaining ring 33 and the sliding pressure seat 32 to extend and retract.

[0064] A positioning pin mounting device is also slidably provided in the groove of the sliding clamping seat 32 for mounting the positioning pin 4.

[0065] A U-shaped positioning strip 36 is also fixed outside the bottom opening on the side of the base 31 to limit the sliding position of the sliding clamping seat 32 and the positioning pin mounting device.

[0066] The positioning pin mounting device includes a positioning pin clamping column 34 and a positioning pin rotating seat 35.

[0067] like Figure 6 As shown, the positioning pin clamping column 34 includes: a prism 341, one end of which is a slider 343 for slidingly mounted in the groove of the sliding clamping seat 32, and the other end is a front groove 342 for abutting against the side of the positioning pin 4, thereby fixing the positioning pin 4.

[0068] The positioning pin rotating seat 35 includes: a rib groove 351, the inner side wall of which fits with the outer side wall of the prism 341, and the prism 341 is slidably inserted into the rib groove 351; one end of the rib groove 351 is provided with one or more sets of positioning pin through holes 352 for inserting positioning pins 4.

[0069] In some embodiments, the prism 341 may be a regular square prism, and the groove 351 may be a regular square groove 351 with the same cross-sectional size.

[0070] like Figure 7 As shown, the front groove 342 is adapted to the positioning pin hole 352. After the positioning pin 4 is inserted into the positioning pin hole 352, the front groove 342 abuts against and fixes the positioning pin 4 from the side. The angle and size of the concave surface of each set of front grooves 342 are consistent with the angle and size of the inner wall of the corresponding positioning pin hole 352, ensuring that the front groove 342 can hold positioning pins 4 of different diameters.

[0071] In some embodiments, the positioning pin through hole 352 and the front groove 342 are provided as needed. For example, there may be more than three sets of positioning pin through holes 352 with diameters of 2.7mm, 2.2mm, 1.7mm, etc., to adapt to positioning pins of different specifications and enhance the stability and locking effect.

[0072] This utility model provides a concept and method for a positioning device for a surgical robot. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. All components not explicitly stated in this embodiment can be implemented using existing technology.

Claims

1. A positioning device for a surgical robot, characterized in that, include: A top positioning mechanism (1) for installing a tracking ball in a surgical robot system, the bottom of the top positioning mechanism (1) is rotatably connected to the top of a middle connecting mechanism (2), and a bottom locking mechanism (3) for locking a positioning pin (4) is slidably installed on the bottom of the middle connecting mechanism (2).

2. The positioning device for a surgical robot according to claim 1, wherein The top positioning mechanism (1) includes: The tracking ball bracket (11) for mounting the tracking ball is fixedly connected to the top of the connecting rod (12) by fastening bolts (13). The bottom of the connecting rod (12) is fixedly provided with a toothed fixing seat (14), which is connected to the middle connecting mechanism (2).

3. The positioning device for a surgical robot according to claim 2, wherein, The central connecting mechanism (2) includes: A toothed locking seat (21) is connected to the toothed fixing seat (14) by a locking bolt (22). The toothed locking seat (21) has a hollow upper ball socket rod (27) fixed at the bottom. The bottom of the upper ball socket rod (27) is fixedly connected to the hollow lower ball socket (26). A ball head rod (28) is slidably provided inside the upper ball socket rod (27). The bottom of the ball head rod (28) is a concave spherical surface, which forms a spherical cavity with the lower inner side wall of the upper ball socket rod (27) and the upper inner side wall of the lower ball socket (26). The top of the ball head (25) is spherical and is slidably installed in the spherical cavity. The bottom of the ball head (25) is columnar and passes through the bottom of the lower ball socket (26) and is fixedly connected to the top of the ball head seat (23). The ball head seat (23) is slidably installed on the bottom locking mechanism (3).

4. The positioning device for a surgical robot according to claim 3, wherein The toothed fixing seat (14) and the toothed locking seat (21) are provided with meshing teeth. One end of the locking bolt (22) is provided with an external thread. The toothed locking seat (21) is provided with a through hole. The toothed fixing seat (14) is provided with an internal thread. One end of the locking bolt (22) passes through the through hole of the toothed locking seat (21) and is threadedly connected to the toothed fixing seat (14).

5. The positioning device for a surgical robot according to claim 4, wherein, The top of the ball head rod (28) is an inclined surface, and the middle side wall of the locking bolt (22) is a conical surface. When the locking bolt (22) is screwed in and locked, the conical surface presses down on the inclined surface to abut and press the ball head (25).

6. The positioning device for a surgical robot according to claim 5, wherein, The bottom locking mechanism (3) includes: The base (31) has a ball head seat groove (39) on its top and a protrusion on the outer ring of the bottom of the ball head seat (23), which is slidably installed in the ball head seat groove (39).

7. The positioning device for a surgical robot according to claim 6, wherein The bottom of the ball head seat (23) is also provided with a downward elastically extending ball head plunger (24), and a number of notches are provided in the corresponding position in the ball head seat groove (39) for abutting the ball head plunger (24).

8. The positioning device for a surgical robot according to claim 7, wherein, The bottom locking mechanism (3) further includes: The base (31) has an opening on one side and a sliding pressing seat (32) is slidably provided therein, and an opening on the other side, in which a base threaded sleeve (37) is fixedly provided; The sliding clamping seat (32) has a groove on the side away from the base threaded sleeve (37), and a base knob retaining ring (33) is rotatably provided in the groove at a position corresponding to the base threaded sleeve (37); a through hole is provided on the other side of the sliding clamping seat (32) at a position corresponding to the base threaded sleeve (37); The base locking knob (38) passes through the through holes on the base threaded sleeve (37), the base (31) and the sliding clamping seat (32) and is connected to the base knob retaining ring (33); The base locking knob (38) includes: The nut, threaded section and connecting section, the outer side of the threaded section is threaded and meshes with the inner thread of the base threaded sleeve (37), the outer side of the connecting section is a smooth cylindrical surface and the top end is connected to the base knob retaining ring (33); The sliding groove of the sliding pressing seat (32) is slidably provided with a positioning pin mounting device for mounting the positioning pin (4); A U-shaped positioning strip (36) is also fixed outside the bottom opening on the side of the base (31) to limit the sliding position of the sliding pressing seat (32) and the positioning pin mounting device.

9. The positioning device for a surgical robot according to claim 8, wherein, The positioning pin mounting device includes: Positioning pin clamping column (34) and positioning pin rotating seat (35); wherein, The positioning pin clamping column (34) includes: a prism (341), one end of which is a slider (343) slidably installed in the groove of the sliding clamping seat (32), and the other end is a front end groove (342) for abutting against the side of the positioning pin (4). The positioning pin rotating seat (35) includes: a hollow prism groove (351) whose inner sidewall fits with the outer sidewall of the prism (341), and the prism (341) is slidably inserted into the prism groove (351); one end of the prism groove (351) is provided with a positioning pin through hole (352) for inserting the positioning pin (4).

10. The positioning device for a surgical robot according to claim 9, wherein, The size of the positioning pin hole (352) and the positioning pin hole (352) are adapted to the positioning pin (4), and the number is set to one or more sets; The number of positioning pin mounting devices is set to two or more.

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