An optical positioning device for orthopedic surgery

Abstract

This utility model discloses an optical positioning device for orthopedic surgery, relating to the field of orthopedic surgical technology. It includes: a connecting rod, one end of which is connected to a robotic arm; a main structure, rotatably connected to the other end of the connecting rod via a rotating shaft, the main structure comprising a sleeve and a slider, the top of the slider being connected to the rotating shaft, the bottom of the slider being disposed within the sleeve, a sliding shaft passing through the sleeve wall, one end of the sliding shaft inside the sleeve abutting against the bottom of the slider, a spring being disposed between the bottom of the slider and the sleeve wall, and an operating part being disposed at the other end of the sliding shaft outside the sleeve; a tracer fixedly connected to the main structure; and a sleeve fixedly connected to a oscillating saw. This positioning device provides tracking, identification, and positioning capabilities, ensuring visibility during osteotomy. It is simple to operate, highly stable, flexible, and cost-effective, facilitating intraoperative implementation, saving surgical time, and improving surgical precision.

Description

Technical Field

[0001] This utility model belongs to the field of orthopedic surgery technology, and more specifically, relates to an optical positioning device for orthopedic surgery. Background Technology

[0002] In traditional knee replacement surgery, osteotomy is required to create the shape suitable for placing the joint prosthesis. During this osteotomy, the soft tissues surrounding the knee joint are crucial and require protection. The medial and lateral collateral ligaments are traditionally protected using retractors, as this provides ample exposure and facilitates the procedure. For the anterior and posterior cruciate ligaments, one approach is to leave them unretained, while the other is to preserve the posterior cruciate ligament. The latter generally results in better stability after joint replacement than the former. However, because the posterior cruciate ligament is located at the back of the knee joint, the surgical field is limited, making it difficult to directly visualize. Therefore, osteotomy is usually performed based on the surgeon's experience, a procedure that often demands a high level of skill and is quite challenging. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an optical positioning device for orthopedic surgery. This device enables tracking, identification, and positioning, ensuring visibility during osteotomy. It is also simple in structure and operation, highly stable, flexible, and low in cost, facilitating intraoperative implementation, saving surgical time, and improving surgical precision.

[0004] To achieve the above objectives, this utility model provides an optical positioning device for orthopedic surgery, comprising:

[0005] A connecting rod, one end of which is used to connect to the robotic arm;

[0006] The main structure is rotatably connected to the other end of the connecting rod via a rotating shaft. The main structure includes a sleeve and a slider. The top of the slider is connected to the rotating shaft, and the bottom of the slider is disposed in the sleeve. A sliding shaft is passed through the sleeve wall. One end of the sliding shaft inside the sleeve abuts against the bottom of the slider. A spring is disposed between the bottom of the slider and the sleeve wall. An operating part is disposed at the other end of the sliding shaft outside the sleeve.

[0007] The tracer is fixedly connected to the main structure;

[0008] The sleeve is used for fixed connection with the oscillating saw.

[0009] Optionally, the sliding shaft is screwed to the wall of the sleeve, one spring is provided on each side of the sliding shaft, and guide wheels are evenly provided on the bottom outer periphery of the slider, with the guide wheels rolling against the inner wall of the sleeve.

[0010] Optionally, a positioning pin is provided at the bottom of the slider, and the spring is sleeved on the positioning pin.

[0011] Optionally, the operating part is a nut, and the nut is fixedly connected to the sliding shaft.

[0012] Optionally, one end of the connecting rod is provided with a round cover, the round cover having multiple connecting holes circumferentially, and the connecting rod being perpendicularly connected to the center of the end face of the round cover.

[0013] Optionally, the other end of the connecting rod is provided with an upper cover flange, and a pad is provided between the upper cover flange and the slider. The pad is sleeved on the rotating shaft through a bushing.

[0014] Optionally, the upper cover flange and the gasket are connected by screws.

[0015] Optionally, the pad has a central hole corresponding to the bushing, the two sides of the bushing are respectively in contact with the pad and the slider, and a retaining spring is provided on the side of the pad away from the bushing. The retaining spring is engaged with the rotating shaft and cooperates with the hole wall of the central hole.

[0016] Optionally, one tracer is provided on each side of the sleeve, and at least three reflective balls are provided on the tracer.

[0017] Optionally, the oscillating saw is also screwed with a quick-connect front cover.

[0018] This invention provides an optical positioning device for orthopedic surgery, with the following advantages: The device can be used in two modes. When not connected to the robotic arm via the upper flange and connecting rod, it can operate in a traditional handheld mode. This allows for direct handheld osteotomy under the NDI (Neural Dissection Indicator) field of view, providing direct observation of the relative position of the osteotomy cut and the patient's actual osteotomy, thus protecting the posterior cruciate ligament (PCL) of the knee joint. Furthermore, this design eliminates the need for a robotic arm, significantly reducing overall costs. Alternatively, by connecting and fixing the device to the robotic arm (not limited to fixing it to the robotic arm), the initial position is calculated before osteotomy, and the optical positioning device's own movement trajectory limits the osteotomy depth, effectively protecting the PCL. Additionally, the device includes tracers on both sides of the sleeve, greatly improving the NDI's recognition effect, increasing the recognition angle, and avoiding recognition failures caused by environmental factors such as patient position during surgery.

[0019] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0020] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0021] Figure 1 A schematic diagram showing the connection between an optical positioning device for orthopedic surgery and a oscillating saw and a quick-connect front cover according to an embodiment of the present invention is shown.

[0022] Figure 2 The diagram shows a schematic of an optical positioning device for orthopedic surgery according to an embodiment of the present invention after it has been separated from the oscillating saw.

[0023] Figure 3 An exploded view of the components of an optical positioning device for orthopedic surgery according to an embodiment of the present invention is shown.

[0024] Figure 4 A schematic diagram is shown of the upper cover flange and the rotating shaft after they are separated according to an embodiment of the present invention.

[0025] Figure 5 It shows Figure 4 Enlarged view of point A.

[0026] Figure 6 A schematic diagram of the main structure according to an embodiment of the present invention is shown.

[0027] Figure 7 A schematic diagram of an optical positioning device for orthopedic surgery connected in knee joint surgery according to an embodiment of the present invention is shown.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Oscillating saw; 2. Optical positioning device; 3. Quick-connect front cover; 4. Screw; 5. Top cover flange; 6. Snap ring; 7. Pad; 8. Bushing; 9. Washer; 10. Rotating shaft; 11. Guide wheel; 12. Spring; 13. First tracer; 14. Second tracer; 15. Main structure; 16. Sleeve; 17. Nut; 18. Sliding shaft; 19. Robotic arm; 20. Knee joint; 21. Connecting rod; 22. Round cover. Detailed Implementation

[0030] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0031] This utility model provides an optical positioning device for orthopedic surgery, comprising:

[0032] A connecting rod, one end of which is used to connect to the robotic arm;

[0033] The main structure is rotatably set by the other end of the connecting rod via a rotating shaft. The main structure includes a sleeve and a slider. The top of the slider is connected to the rotating shaft, and the bottom of the slider is set in the sleeve. A sliding shaft is passed through the sleeve wall. One end of the sliding shaft inside the sleeve abuts against the bottom of the slider. A spring is set between the bottom of the slider and the sleeve wall. An operating part is set at the other end of the sliding shaft outside the sleeve.

[0034] The tracer is fixedly connected to the main structure;

[0035] The sleeve is used for fixed connection with the oscillating saw.

[0036] Specifically, this positioning device connects the main structure to the robotic arm via a connecting rod. A sleeve and a slider that moves axially along the sleeve are incorporated into the main structure. The slider is rotatably connected to the other end of the connecting rod via a pivot. The slider can move axially along the sleeve under the action of the pivot and a spring, allowing the main structure to perform both rotational and translational movements. A tracer and a oscillating saw are also mounted on the sleeve for convenient positioning. The length of movement of the slider within the sleeve limits the osteotomy depth of the oscillating saw, effectively protecting the posterior cruciate ligament. The pivot connects the connecting rod and the slider, enabling the oscillating saw to rotate left and right for osteotomy, preventing incomplete osteotomy on both sides of the knee joint. Furthermore, the tracer, mounted on the main structure, can quickly and accurately identify the movement position and swing angle of the oscillating saw, facilitating intelligent control.

[0037] Optionally, the slide shaft is screwed to the sleeve wall, and a spring is provided on each side of the slide shaft. Guide wheels are evenly provided on the bottom outer periphery of the slider, and the guide wheels roll and fit against the inner wall of the sleeve.

[0038] Specifically, the sliding shaft is screwed onto the sleeve. When the sliding shaft is screwed into the sleeve, it pushes the slider forward, and the oscillating saw moves towards the knee joint. When the sliding shaft is screwed out of the sleeve, it separates from the slider, and the spring can then drive the slider to move backward, and the oscillating saw moves away from the knee joint.

[0039] Optionally, a locating pin is provided at the bottom of the slider, and a spring is sleeved on the locating pin.

[0040] Optionally, the operating part is a nut, which is fixedly connected to the sliding shaft.

[0041] Specifically, a locating pin is provided on the slider to facilitate a secure connection between the spring and the locating pin. When the sliding shaft is not in contact with the slider, the spring can pull the slider back to its original position, keeping the oscillating saw away from the knee joint. A nut is provided on the sliding shaft, and rotating the nut can enable the sliding shaft to screw in and out of the sleeve, driving the slider to move along the axial direction of the sleeve.

[0042] Optionally, a round cap is provided at one end of the connecting rod, and the round cap has multiple connecting holes arranged circumferentially, with the connecting rod perpendicularly connected to the center of the end face of the round cap.

[0043] Optionally, the other end of the connecting rod is provided with an upper cover flange, and a pad is provided between the upper cover flange and the slider. The pad is sleeved on the rotating shaft through a bushing.

[0044] Optionally, the top flange and the gasket are connected by screws.

[0045] Optionally, the pad has a central hole corresponding to the bushing, the two sides of the bushing are respectively in contact with the pad and the slider, and a retaining spring is provided on the side of the pad away from the bushing. The retaining spring is engaged with the rotating shaft and cooperates with the hole wall of the central hole.

[0046] Specifically, one end of the connecting rod is connected to the robotic arm via a round cap, and the other end is connected to the slider. The top of the slider is fixedly connected to the rotating shaft. A bushing and a pad are then sequentially fitted onto the rotating shaft. Finally, a retaining spring secures the bushing and the pad to the rotating shaft, allowing the pad to rotate relative to the shaft. The pad is then connected and fixed to the upper cover flange with screws. Based on this connection structure, the slider can rotate relative to the other end of the connecting rod, enabling the oscillating saw to perform left and right rotational bone cutting.

[0047] Optionally, one tracer is provided on each side of the sleeve, and at least three reflective balls are provided on the tracer.

[0048] Specifically, tracers are set on both sides of the sleeve, using traditional lens reflectors, which can be used for NDI identification. Optical positioning is achieved through algorithm conversion, so that the entire oscillating saw can be visualized and optically positioned to track bone cutting under the NDI field of view.

[0049] Optionally, the oscillating saw is also screwed with a quick-connect front cover.

[0050] Example

[0051] like Figures 1 to 7 As shown, this utility model provides an optical positioning device for orthopedic surgery, comprising:

[0052] Connecting rod 21, one end of which is used to connect to robotic arm 19;

[0053] The main structure 15 is rotatably connected to the other end of the connecting rod 21 via the rotating shaft 10. The main structure 15 includes a sleeve 16 and a slider. The top of the slider is connected to the rotating shaft 10, and the bottom of the slider is located in the sleeve 16. A sliding shaft 18 is passed through the cylindrical wall of the sleeve 16. One end of the sliding shaft 18 located inside the sleeve 16 abuts against the bottom of the slider. A spring 12 is provided between the bottom of the slider and the cylindrical wall of the sleeve 16. A nut 17 is provided at the other end of the sliding shaft 18 located outside the sleeve.

[0054] A first tracer 13 and a second tracer 14 are respectively provided on two sides of the sleeve;

[0055] Sleeve 16 is used for fixed connection with oscillating saw 1.

[0056] In this embodiment, the sliding shaft 18 is screwed to the wall of the sleeve 16, and one spring 12 is provided on each side of the sliding shaft 18. Guide wheels 11 are evenly provided on the bottom outer periphery of the slider, and the guide wheels 11 roll and fit against the inner wall of the sleeve 16.

[0057] In this embodiment, a positioning pin is provided at the bottom of the slider, and the spring 12 is sleeved on the positioning pin.

[0058] In this embodiment, a round cover 22 is provided at one end of the connecting rod 21. The round cover 22 has multiple connecting holes arranged in the circumferential direction. The connecting rod 21 is perpendicularly connected to the center of the end face of the round cover 22.

[0059] In this embodiment, the other end of the connecting rod 21 is provided with an upper cover flange 5, and a pad 7 is provided between the upper cover flange 5 and the slider. The pad 7 is sleeved on the rotating shaft 10 through a bushing 8.

[0060] In this embodiment, the upper cover flange 5 and the pad block 7 are connected by screws 4.

[0061] In this embodiment, the pad 7 has a central hole corresponding to the bushing 8. The two sides of the bushing 8 are respectively attached to the pad 7 and the slider. The bushing 8 can also be provided with shims 9 on both sides to adjust the gap. A retaining spring 6 is provided on the side of the pad 7 away from the bushing 8. The retaining spring 6 is connected to the rotating shaft 10 and cooperates with the hole wall of the central hole.

[0062] In this embodiment, at least three reflective balls are provided on the two tracers.

[0063] In this embodiment, the oscillating saw 1 is also screwed with a quick-connect front cover 3.

[0064] In summary, this optical positioning device, when used in knee surgery, provides visualization, positioning, and tracking capabilities. First, a connecting rod 21 connects the optical positioning device to the robotic arm 19. During knee surgery, the first tracer 13 and the second tracer 14 can be identified by the NDI (Network Detection and Identification) system. Then, through algorithm calculation, the positions of the robotic arm 19 and the optical positioning device 2 can be tracked. Similarly, an NDI-identified tracer is also installed on the knee joint 20. Using CT scans of patient data, an algorithm can be used to calculate and track the position of the knee joint 20. Through this method, the positional relationship between the robotic arm 19, the optical positioning device 2, and the knee joint 20 can be established. Furthermore, the anteroposterior diameter of the knee osteotomy can be calculated using 3D reconstruction based on CT scans of patient data. The distance the rotating shaft 10 in the optical positioning device 2 slides back and forth in the groove of the sleeve 16 is known, thus the forward and backward distance of the oscillating saw 1 can be calculated. Based on the above information, the initial position of the robotic arm 19 relative to the knee joint 20 can be calculated, thus enabling osteotomy. During the osteotomy, neither the robotic arm 19 nor the knee joint 20 moves. The osteotomy is performed by the sliding shaft 10 in the optical positioning device 2 within the groove of the sleeve 16. Since the sliding distance, the relative position of the robotic arm 19, the relative position of the knee joint 20, and the distance to be osteotomized are all known, the osteotomy is completed precisely when the sliding distance of the rotating shaft 10 in the optical positioning device 2 within the groove of the sleeve 16 is at its maximum. This ensures safe and effective osteotomy while protecting the posterior cruciate ligament.

[0065] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An optical positioning device for use in orthopedic surgery, characterized in that, The utility model relates to a mechanical arm connecting device, including: Connecting rod, one end is used for connecting with mechanical arm; Main body structure, the other end of connecting rod is rotatably arranged through pivot, the main body structure includes sleeve and sliding block, the top of sliding block is connected with pivot, the bottom of sliding block is arranged in sleeve, the sleeve wall is equipped with slide axle, one end of slide axle in sleeve abuts against the bottom of sliding block, spring is arranged between the bottom of sliding block and the sleeve wall of sleeve, the other end of slide axle outside sleeve is provided with operating part; Tracer, fixedly connected with main body structure; The sleeve is used for fixedly connecting with swing saw.

2. The optical positioning device for orthopedic surgery of claim 1, wherein, The slide axle is connected with the sleeve wall of sleeve by screwing, the spring is arranged on both sides of slide axle respectively, the bottom of sliding block is uniformly provided with guide wheel, and the guide wheel is rolled and attached to the inner wall of sleeve.

3. The optical positioning device for orthopedic surgery of claim 2, wherein, The bottom of sliding block is provided with positioning pin, and the spring is sleeved on the positioning pin.

4. The optical positioning device for orthopedic surgery of claim 1, wherein, The operating part is nut, and the nut is fixedly connected with the slide axle.

5. The optical positioning device for orthopedic surgery of claim 1, wherein, One end of connecting rod is provided with round cover, a plurality of connecting holes are formed in the round cover along the circumferential direction, and the end face center of connecting rod is vertically connected with the round cover.

6. The optical positioning device for orthopedic surgery of claim 1, wherein, The other end of connecting rod is provided with upper cover flange, and the pad is arranged between the upper cover flange and the sliding block, and the pad is sleeved on the pivot through the shaft sleeve.

7. The optical positioning device for orthopedic surgery of claim 6, wherein, The upper cover flange and the pad are connected by screws.

8. The optical positioning device for orthopedic surgery of claim 6, wherein, The pad is provided with a center hole corresponding to the shaft sleeve, the shaft sleeve is attached to the pad and the sliding block on both sides, the side of the pad away from the shaft sleeve is provided with a snap spring, the snap spring is connected with the pivot, and the snap spring is matched with the hole wall of the center hole.

9. The optical positioning device for orthopedic surgery of claim 1, wherein, The tracer is arranged on both sides of the sleeve respectively, and the tracer is provided with at least three reflective balls.

10. The optical positioning device for orthopedic surgery of claim 1, wherein, The swing saw is also provided with a quick-connection front cover.

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