Tracker Fixation Device and Surgical Robot System

Abstract

This invention provides a tracker fixing device and a surgical robot system. The tracker fixing device includes: a fixing base with a first set of bone pin holes, a second set of bone pin holes, and a positioning hole. The first set of bone pin holes includes multiple first bone pin holes corresponding to first vertebral bodies, and the second set of bone pin holes includes multiple second bone pin holes corresponding to second vertebral bodies. The positioning hole is used for positioning in conjunction with a test probe. A locking structure is provided on the fixing base to lock the bone pins inserted into the first and second bone pin holes. A tracker fixing structure is provided on the fixing base to fix the tracker. The first and second sets of bone pin holes enable universal adaptation for single and double spinous process scenarios. The cooperation between the positioning hole and the test probe enables real-time detection of tracker displacement, allowing for timely detection and correction of displacement deviations, effectively reducing the risk of surgical navigation deviations, and ensuring surgical accuracy and safety.

Description

Technical Field

[0001] This utility model relates to the technical field of surgical robot systems, and more specifically, to a tracer fixing device and a surgical robot system. Background Technology

[0002] During spinal surgery, the tracker needs to be fixed to a bony structure near the surgical site (such as the spinous process). The navigation system captures its coordinates to calculate the surgical site's location, and the stability of the fixation directly affects the navigation accuracy. Currently, the mainstream fixation methods are spinous process clamp fixation and bone pin fixation. Bone pin fixation is more widely used in minimally invasive surgery due to its ease of operation and minimal trauma; however, most existing bone pin fixations are single-spinous-process designs, which have significant drawbacks. Poor displacement synchronization: The adjacent spinous processes of the spine are flexibly connected. During surgery, the patient's breathing, changes in body position, or traction of instruments can easily cause the vertebra to be operated on to shift. However, the bone pin that fixes a single spinous process is only connected to a single vertebra and cannot shift synchronously, which can lead to the navigation system misjudging the position and cause surgical deviation risk. Narrow applicability: The spinous process morphology varies greatly among different spinal segments, making single spinous process fixation structures incompatible. Multiple specifications of components are required, increasing operational complexity and equipment costs. Lack of real-time monitoring: Existing solutions can only achieve initial fixation of the tracer. During surgery, factors such as loosening of bone pins and damage to the spinous process bone may cause the tracer to shift, but there is a lack of real-time inspection methods to correct deviations in a timely manner, thus amplifying surgical risks. Utility Model Content

[0003] The purpose of this invention is to provide a tracer fixation device and a surgical robot system to solve the technical problems of narrow applicability and poor real-time monitoring capability of existing tracer fixation devices.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: In a first aspect, a tracer fixing device is provided, comprising: The fixing base has a first set of bone needle holes, a second set of bone needle holes and a positioning hole. The first set of bone needle holes includes multiple first bone needle holes for corresponding to the first vertebral body, the second set of bone needle holes includes multiple second bone needle holes for corresponding to the second vertebral body, and the positioning hole is used to cooperate with the test probe for positioning. A locking structure is provided on the fixing base, and the locking structure is used to lock the bone needles inserted into the first bone needle hole and the second bone needle hole; A tracer fixing structure is provided on the fixing base, and the tracer fixing structure is used to fix the tracer.

[0005] By adopting the above technical solution, the technical effect of this device is that the setting of the first and second sets of bone pin holes achieves universal adaptation for single and double spinous process scenarios, without the need to replace different specifications of fixation components, thus broadening the scope of application and reducing operational complexity and equipment costs. In the double spinous process scenario, fixing two vertebrae simultaneously can improve the connection stability between the fixation seat and the vertebrae at the surgical site, reducing the problem of asynchronous displacement between the tracer and the vertebrae to be operated on due to flexible connections between vertebrae, patient breathing or changes in body position. The locking structure further avoids the risk of displacement caused by loosening of bone pins. At the same time, the cooperation between the positioning hole and the test probe enables real-time detection of tracer displacement, which can promptly detect and correct displacement deviations, effectively reducing the risk of surgical navigation deviation and ensuring surgical accuracy and safety.

[0006] In one embodiment, the fixing base is further provided with a sliding groove, the sliding groove communicating with the first bone needle hole and the second bone needle hole, the locking structure being slidably disposed in the sliding groove, and the locking structure being able to move along a direction close to the first bone needle hole and the second bone needle hole to lock the bone needle.

[0007] In one embodiment, the locking structure moves along the depth direction of the slide groove, the depth direction of the slide groove is parallel to the direction of the locking structure near the first bone pin hole and the second bone pin hole, the depth directions of the first bone pin hole and the second bone pin hole are parallel to each other, and the depth direction of the slide groove forms an inclined angle with the depth directions of the first bone pin hole and the second bone pin hole, the inclined angle being less than 90°, so that the locking structure is arranged at an inclination relative to the fixing seat.

[0008] In one embodiment, the side of the fixing seat is further provided with a guide groove, the length direction of the guide groove is parallel to the depth direction of the slide groove, and the locking structure is provided with a guide protrusion that slides in the guide groove.

[0009] In one embodiment, the tracer fixing device further includes a locking screw, one end of which is threaded to the fixing seat, and the other end of which is used to push the locking structure to move along a direction close to the first bone needle hole and the second bone needle hole.

[0010] In one embodiment, the locking screw has a locking knob at the end opposite to the fixing seat.

[0011] In one embodiment, the tracer fixing device further includes an elastic element connecting the fixing base and the locking structure, the elastic element being used to drive the locking structure to move in a direction away from the first bone pin hole and the second bone pin hole to release the bone pin.

[0012] In one embodiment, the tracer fixing structure includes a fixing post connected to the fixing base, a fixing claw detachably disposed on the fixing post, and a fixing knob for tightening or loosening the fixing claw.

[0013] In one embodiment, the fixing post is provided with meshing teeth that cooperate with the fixing claw; and / or, the fixing claw is provided with a clamping elastic element for clamping itself.

[0014] Secondly, a surgical robot system is provided, including a tracker and the aforementioned tracker fixing device, wherein the tracker is disposed on the tracker fixing device.

[0015] By adopting the above technical solution, based on the advantages of the tracer fixation device in the above embodiments, the surgical robot system of this embodiment also has the ability to check whether the tracer has been displaced at any time, thereby reducing surgical risks. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the tracer fixing device provided in an embodiment of the present utility model.

[0018] Figure 2 This is an exploded view of the tracer fixing device provided in an embodiment of this utility model.

[0019] Figure 3 This is a cross-sectional view of the tracer fixing device provided in this embodiment of the utility model. Figure 1 .

[0020] Figure 4 This is a cross-sectional view of the tracer fixing device provided in this embodiment of the utility model. Figure 2 .

[0021] The labels for the attached figures are as follows: 1. Mounting base; 2. Locking structure; 3. Tracker mounting structure; 4. Locking screw; 5. Elastic element; 11. First set of bone pin holes; 12. Second set of bone pin holes; 13. Positioning hole; 14. Slide groove; 15. Guide groove; 21. Guide protrusion; 41. Locking knob; 31. Fixing post; 32. Fixing claw; 33. Fixing knob; 111, First bone pinhole; 121, Second bone pinhole; 311, Meshing teeth. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0024] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments: like Figure 1 and Figure 2 As shown, an embodiment of this utility model provides a tracer fixing device, comprising: The fixing base 1 has a first set of bone needle holes 11, a second set of bone needle holes 12 and a positioning hole 13. The first set of bone needle holes 11 includes a plurality of first bone needle holes 111 for corresponding to the first vertebral body, the second set of bone needle holes 12 includes a plurality of second bone needle holes 121 for corresponding to the second vertebral body, and the positioning hole 13 is used to cooperate with the test probe for positioning. Locking structure 2 is provided on the fixing base 1. Locking structure 2 is used to lock the bone needles inserted into the first bone needle hole 111 and the second bone needle hole 121. The tracer fixing structure 3 is mounted on the fixing base 1 and is used to fix the tracer 6.

[0026] Specifically, the structure of this tracer fixing device includes a fixing base 1 with a first set of bone needle holes 11, a second set of bone needle holes 12, and a positioning hole 13. The first set of bone needle holes 11 includes multiple first bone needle holes 111 for corresponding to the first vertebral body, the second set of bone needle holes 12 includes multiple second bone needle holes 121 for corresponding to the second vertebral body, and the positioning hole 13 is used to cooperate with the test probe to achieve positioning. At the same time, the fixing base 1 is also provided with a locking structure 2 for locking the bone needles inserted in the first bone needle holes 111 and the second bone needle holes 121, and a tracer fixing structure 3 for fixing the tracer 6.

[0027] Its working principle is as follows: In spinal surgery, depending on the type of vertebral body at the surgical site (single spinous process or double spinous process), the first group of bone needle holes 11 or the first and second groups of bone needle holes 12 can be used simultaneously. The bone needles are inserted into the corresponding bone needle holes and fixed to the target vertebral body (fixed to a single vertebral body in the case of a single spinous process, and fixed to the first and second vertebral bodies respectively in the case of double spinous processes). Then, the bone needles are locked and fixed to the fixation seat 1 through the locking structure 2 to prevent the bone needles from loosening. Then, the tracer 6 is installed and fixed on the fixation seat 1 through the tracer fixing structure 3, so that the tracer 6, the fixation seat 1, and the target vertebral body form a rigid connection. Before the operation, the test probe can be matched with the positioning hole 13 to record the initial position information of the positioning hole 13 relative to the tracer 6. During the operation, the test probe can be matched with the positioning hole 13 again at any time to obtain real-time position information and compare it with the initial position information to determine whether the tracer 6 has been displaced.

[0028] By adopting the above technical solution, the technical effect of this device is that the first and second sets of bone pin holes 12 enable universal adaptation for single and double spinous process scenarios, eliminating the need to replace different specifications of fixing components, thus broadening the scope of application and reducing operational complexity and equipment costs. In the double spinous process scenario, simultaneously fixing two vertebrae can improve the connection stability between the fixing seat 1 and the vertebrae at the surgical site, reducing the problem of asynchronous displacement between the tracer 6 and the vertebrae to be operated on due to flexible connections between vertebrae, patient breathing, or changes in body position. In conjunction with the locking structure 2, the risk of displacement caused by loosening of bone pins is further avoided. At the same time, the cooperation between the positioning hole 13 and the test probe enables real-time detection of the displacement of the tracer 6, allowing for timely detection and correction of displacement deviations, effectively reducing the risk of surgical navigation deviations, and ensuring surgical accuracy and safety.

[0029] In one embodiment, the fixing base 1 is further provided with a sliding groove 14, which communicates with the first bone needle hole 111 and the second bone needle hole 121. The locking structure 2 is slidably disposed in the sliding groove 14, and the locking structure 2 can move along the direction close to the first bone needle hole 111 and the second bone needle hole 121 to lock the bone needle.

[0030] Specifically, the tracer fixing device corresponding to this technical solution comprises a fixing base 1, a locking structure 2, and a tracer fixing structure 3. The fixing base 1 has a first set of bone needle holes 11, a second set of bone needle holes 12, a positioning hole 13, and a sliding groove 14. The first set of bone needle holes 11 has multiple holes and is used to correspond to the first vertebral body. The second set of bone needle holes 12 has multiple holes and is used to correspond to the second vertebral body. The positioning hole 13 is used to cooperate with the test probe for positioning. The sliding groove 14 is connected to the first bone needle hole 111 and the second bone needle hole 121 respectively. The locking structure 2 is slidably disposed in the sliding groove 14 and can move in the direction close to the first bone needle hole 111 and the second bone needle hole 121 to lock the bone needles inserted in the two bone needle holes. The tracer fixing structure 3 is disposed on the fixing base 1 and is used to fix the tracer 6.

[0031] Its working principle is as follows: During spinal surgery, depending on whether the vertebral body at the surgical site has a single or double spinous process, the bone needle is inserted into the first set of bone needle holes 11 (single spinous process scenario) or simultaneously into the first set of bone needle holes 11 and the second set of bone needle holes 12 (double spinous process scenario), so that the bone needle is fixed to the first vertebral body or the first and second vertebral bodies. Then, the locking structure 2 in the slide groove 14 is pushed, so that it moves along the slide groove 14 towards the first bone needle hole 111 and the second bone needle hole 121, until the locking structure 2 is tightly fitted with the bone needle. The bone pin is locked inside the bone pin hole to prevent it from loosening. The tracer 6 is then installed and fixed on the fixation base 1 through the tracer fixing structure 3, so that the tracer 6 forms a rigid connection with the fixation base 1, the bone pin and the target vertebral body. Before the operation, the test probe is matched with the positioning hole 13 to record the initial position information of the positioning hole 13 relative to the tracer 6. During the operation, the test probe can be matched with the positioning hole 13 again at any time to obtain real-time position information. By comparing the real-time position information with the initial position information, it is determined whether the tracer 6 has been displaced.

[0032] By adopting the above technical solution, the technical effect is that the cooperative design of the groove 14 and the sliding locking structure 2 makes the locking operation more convenient and flexible. By adjusting the position of the locking structure 2 in the groove 14, reliable locking of bone needles in different bone needle holes can be achieved, avoiding loosening and displacement of bone needles due to vibration, instrument traction and other factors during surgery. This further improves the stability of the connection between the fixation seat 1 and the target vertebral body. Combined with the setting of the first and second groups of bone needle holes 12, universal adaptation for single spinous process and double spinous process scenarios can be achieved without replacing fixation components of different specifications, reducing the complexity of clinical operation and the procurement cost of medical equipment. At the same time, the cooperation between the positioning hole 13 and the test probe can check the displacement status of the tracer 6 in real time, detect and correct displacement deviation in a timely manner, effectively reduce the risk of navigation deviation in spinal surgery, and ensure surgical accuracy and safety.

[0033] In one embodiment, the locking structure 2 moves along the groove depth direction X of the slide groove 14. The groove depth direction X of the slide groove 14 is parallel to the direction of the locking structure 2 near the first bone pin hole 111 and the second bone pin hole 121. The hole depth directions Y of the first bone pin hole 111 and the second bone pin hole 121 are parallel to each other. The groove depth direction X of the slide groove 14 forms an inclined angle with the hole depth direction Y of the first bone pin hole 111 and the second bone pin hole 121. The inclined angle is less than 90°, so that the locking structure 2 is arranged at an inclination relative to the fixed seat 1.

[0034] Specifically, the working principle of the above embodiment is that the locking structure 2 moves along the groove depth direction X of the slide groove 14. The groove depth direction X of the slide groove 14 is parallel to the direction of the locking structure 2 near the first bone needle hole 111 and the second bone needle hole 121. The hole depth directions Y of the first bone needle hole 111 and the second bone needle hole 121 are parallel to each other, and the groove depth direction X of the slide groove 14 forms an angle of less than 90° with the hole depth directions Y of the two bone needle holes. The inclined angle makes the locking structure 2 inclined relative to the fixing seat 1. During spinal surgery, after the bone needle is inserted into the corresponding bone needle hole and fixed to the target vertebra, the locking structure 2 is pushed to move along the groove depth direction X of the slide groove 14. The inclined locking structure 2 will gradually approach the bone needle in the first bone needle hole 111 and the second bone needle hole 121 as it moves, and then apply a locking force in the inclined direction to the bone needle, and firmly lock the bone needle in the bone needle hole. At the same time, the tracer 6 forms a rigid connection with the fixing seat 1 through the tracer fixing structure 3, and the real-time detection of the displacement of the tracer 6 is realized in conjunction with the positioning hole 13 and the test probe.

[0035] By adopting the above technical solution, the technical effect is that the inclined angle design allows the locking force to be decomposed into components along the axial and radial directions of the bone needle. This not only restricts the axial movement of the bone needle along the depth direction Y, but also constrains the radial rotation of the bone needle, forming a dual fixation effect. This significantly improves the reliability of the connection between the bone needle and the fixation seat 1, effectively preventing the bone needle from loosening or shifting due to instrument traction, patient position changes, or vibration during surgery. The inclined locking structure 2 and the matching design of the slide groove 14 and bone needle hole make the locking operation more labor-saving and the locking state more stable. This further strengthens the rigid connection between the fixation seat 1 and the target vertebra, reduces the phenomenon of asynchronous displacement between the tracer 6 and the vertebra to be operated on. Combined with the bone needle hole setting that is applicable to both single and double spinous processes and the real-time displacement monitoring function, it comprehensively reduces the risk of surgical navigation deviation and ensures surgical accuracy and safety. At the same time, the structural design is simple and compact, without increasing the size of the device or the complexity of operation, taking into account both clinical practicality and ease of use.

[0036] In one embodiment, the side of the fixed base 1 is also provided with a guide groove 15, the length direction of the guide groove 15 is parallel to the depth direction X of the slide groove 14, and the locking structure 2 is provided with a guide protrusion 21 that slides in the guide groove 15.

[0037] Specifically, its working principle is as follows: During spinal surgery, depending on whether the vertebra at the surgical site has a single or double spinous process, the bone needle is inserted into the first set of bone needle holes 11 (single spinous process scenario) or simultaneously inserted into the first set of bone needle holes 11 and the second set of bone needle holes 12 (double spinous process scenario) and fixed to the corresponding target vertebra. Subsequently, when the locking structure 2 is pushed, the guide protrusion 21 of the locking structure 2 slides along the groove length direction of the guide groove 15 on the side of the fixation seat 1. Since the groove length of the guide groove 15 is parallel to the groove depth of the slide groove 14, the cooperation between the guide protrusion 21 and the guide groove 15 can provide precise guidance for the locking structure 2, ensuring that the locking structure 2 moves stably along the groove depth direction X of the slide groove 14 without deviation, until the locking structure 2 approaches and locks the bone needle. Then, the tracer 6 is installed on the fixation seat 1 through the tracer fixing structure 3 to form a rigid connection. Before the operation, the initial position information is recorded by the test probe and the positioning hole 13. During the operation, the real-time position information can be obtained again and compared to determine whether the tracer 6 has shifted.

[0038] By adopting the above technical solution, the technical effect is that the cooperative design of the guide groove 15 and the guide protrusion 21 can effectively limit the movement direction of the locking structure 2, avoid the locking structure 2 from deflection or jamming during movement, and ensure that the locking structure 2 always moves along the X direction of the preset groove 14, thereby accurately acting on the bone needle to achieve reliable locking. This prevents uneven locking force or failure to lock the bone needle due to the deviation of the locking structure 2, further improving the stability of the connection between the bone needle and the fixation seat 1, reducing the risk of loosening and displacement of the bone needle during surgery. At the same time, the guide structure design is simple, requiring no additional complex parts, and does not increase the size of the device or the difficulty of operation. It works synergistically with the groove 14, the inclined locking structure 2, and the bone needle hole design that is applicable to both single and double spinous processes, ensuring both the accuracy and convenience of the locking operation and strengthening the overall device's fixation reliability. Combined with the real-time displacement monitoring function, it comprehensively reduces surgical navigation deviation and ensures the precision and safety of spinal surgery.

[0039] Please refer to the following: Figure 3 and Figure 4 In one embodiment, the tracer fixing device further includes a locking screw 4, one end of which is threaded to the fixing seat 1, and the other end of which is used to push the locking structure 2 to move along the direction close to the first bone needle hole 111 and the second bone needle hole 121.

[0040] Specifically, the working principle is as follows: During spinal surgery, depending on the type of single or double spinous process of the vertebral body at the surgical site, bone pins are inserted into the first group of bone pin holes 11, or simultaneously into the first group of bone pin holes 11 and the second group of bone pin holes 12, and fixed to the corresponding target vertebral body. Since the locking position of the locking screw 4 is obliquely upward, the locking wrench can be smoothly extended into the reserved operating space during operation. The locking screw 4 is rotated to smoothly advance along the threaded connection with the fixing seat 1, thereby continuously pushing against the locking structure 2. Under the constraint of the guide protrusion 21 and the guide groove 15, the locking structure 2 slides along the groove 14 parallel to the length direction of the guide groove 15. The device moves steadily in the X direction to avoid deviation or jamming, and eventually approaches and locks the bone needles in the first bone needle hole 111 and the second bone needle hole 121. The tracer 6 is installed through the tracer fixing structure 3 on the fixing base 1, which is close to the surgical area and close to the skin surface, forming a rigid connection with the fixing base 1, the bone needle and the target vertebral body. Before the operation, the test probe is used with the positioning hole 13 to record the initial position information of the positioning hole 13 relative to the tracer 6. During the operation, the test probe can be used with the positioning hole 13 again to obtain the real-time position information at any time. By comparing the initial and real-time position information, it is determined whether the tracer 6 has been displaced.

[0041] By adopting the above technical solution, the technical effects are as follows: the threaded connection design between the locking screw 4 and the fixing seat 1 makes the application of locking force more precise and controllable; the threaded transmission enables the smooth advancement of the locking structure 2, ensuring that the locking force on the bone needle is uniform and reliable, effectively avoiding the problems of insufficient or excessive locking; the optimized design of the locking position of the locking screw 4 being angled upwards successfully solves the operational pain point of the previous horizontal locking position, which made it difficult for the locking wrench to be inserted; it provides sufficient operating space, significantly improving the ease of operation in clinical surgery, reducing the difficulty of operation and time cost; and the installation design of the tracer fixing structure 3 being close to the surgical area and close to the skin surface shortens the time required for operation. The spatial distance between the tracer 6 and the surgical site reduces the error in the navigation system's calculation of the surgical site's location, further improving positioning accuracy. At the same time, the cooperation between the guide groove 15 and the guide protrusion 21, the inclined slide groove 14 and the locking structure 2, the bone pin hole design that is applicable to both single and double spinous processes, and the locking screw 4 and the upwardly angled locking position design of this solution work together to enhance the stability of bone pin fixation, effectively avoiding bone pin loosening and displacement caused by instrument traction, patient position changes or vibrations during surgery. It also takes into account the versatility and ease of operation of the device. Combined with the real-time displacement monitoring function, it comprehensively reduces the risk of surgical navigation deviation and ensures the accuracy and safety of spinal surgery.

[0042] In one embodiment, a locking knob 41 is provided at the end of the locking screw 4 that is away from the fixing base 1.

[0043] Specifically, its working principle is as follows: During spinal surgery, depending on the type of single or double spinous process of the vertebral body at the surgical site, the bone needle is inserted into the first group of bone needle holes 11 or simultaneously into the first group of bone needle holes 11 and the second group of bone needle holes 12 and fixed to the corresponding target vertebral body. Since the locking position of the locking screw 4 is obliquely upward and the end is provided with a locking knob 41, during operation, the locking wrench can be smoothly extended into the reserved operating space or the locking knob 41 can be directly grasped. Rotating the locking knob 41 can drive the locking screw 4 to smoothly advance along the threaded connection with the fixing seat 1, thereby continuously pushing against the locking structure 2. Under the cooperation and constraint of the guide protrusion 21 and the guide groove 15, the locking structure 2 moves along the parallel to the guide... The slide 14 moves stably in the X direction of the groove depth along the length of the groove 15 to avoid deviation or jamming, and finally gradually approaches and locks the bone needles in the first bone needle hole 111 and the second bone needle hole 121. The tracer 6 is installed through the tracer fixing structure 3 on the fixing seat 1 that is close to the surgical area and close to the skin surface, forming a rigid connection with the fixing seat 1, the bone needle and the target vertebral body. Before the operation, the test probe is used with the positioning hole 13 to record the initial position information of the positioning hole 13 relative to the tracer 6. During the operation, the test probe can be used with the positioning hole 13 again to obtain the real-time position information at any time. By comparing the initial and real-time position information, it is determined whether the tracer 6 has been displaced.

[0044] By adopting the above technical solution, the technical effect is that the locking knob 41 provides a convenient force application component for the rotation of the locking screw 4. It can be operated directly by hand or with a suitable tool, without the need to find an additional force application point, further reducing the difficulty of operation and improving the efficiency of operation. Combined with the upward angled design of the locking position of the locking screw 4, it not only solves the problem of insufficient operating space in the previous horizontal locking position, but also optimizes the operating feel through the knob structure, making the application of locking force more stable and controllable. The threaded connection design between the locking screw 4 and the fixing seat 1 ensures that the locking structure 2 is accurately pushed in and the bone pin locking force is uniform and reliable, avoiding the problems of insufficient or excessive locking. The installation design of the tracer fixing structure 3, which is close to the surgical area and skin surface, shortens the spatial distance between the tracer 6 and the surgical site, reducing navigation calculation errors. The cooperation between the guide groove 15 and the guide protrusion 21, the inclined slide groove 14 and the locking structure 2, the bone pin hole design that is applicable to both single and double spinous processes, and the locking screw 4, locking knob 41 and the upward locking position design of this solution work together to enhance the stability of bone pin fixation, effectively avoid bone pin loosening and displacement during surgery, and take into account the versatility and ease of operation of the device. Combined with the real-time displacement monitoring function, it comprehensively reduces the risk of surgical navigation deviation and ensures the accuracy and safety of spinal surgery.

[0045] In one embodiment, the tracer fixing device further includes an elastic element 5 connecting the fixing base 1 and the locking structure 2. The elastic element 5 is used to drive the locking structure 2 to move in a direction away from the first bone needle hole 111 and the second bone needle hole 121 to release the bone needle.

[0046] Specifically, its working principle is as follows: During spinal surgery, depending on whether the vertebral body at the surgical site has a single or double spinous process, the bone needle is inserted into the first set of bone needle holes 11 or simultaneously into the first set of bone needle holes 11 and the second set of bone needle holes 12 and fixed to the corresponding target vertebral body. At this time, rotating the locking knob 41 drives the locking screw 4 to advance along the thread. The screw pushes against the locking structure 2, overcoming the elastic force of the elastic element 5. Under the constraint of the guide protrusion 21 and the guide groove 15, it moves along the groove depth X of the slide groove 14 towards the first bone needle hole 111 and the second bone needle hole 121 until it locks. The locking structure 2 locks the bone pin. The tracer 6 is installed on the fixation base 1 through the tracer fixing structure 3 to form a rigid connection. Before the operation, the initial position information is recorded by the test probe in conjunction with the positioning hole 13. The displacement is judged by retesting and comparison during the operation. When it is necessary to loosen the bone pin, the locking knob 41 is rotated in the opposite direction to retract the locking screw 4. After the elastic element 5 loses the pushing force of the screw, it recovers its deformation and drives the locking structure 2 away from the first bone pin hole 111 and the second bone pin hole 121 along the groove depth X of the slide groove 14, automatically releasing the locking state of the bone pin, which is convenient for bone pin disassembly.

[0047] By adopting the above technical solution, the technical effect is that the setting of the elastic element 5 realizes the automatic reset and unlocking of the locking structure 2 without the need for manual pulling or prying of the locking structure 2, which simplifies the unlocking operation steps, improves surgical efficiency, and avoids the problems of locking structure 2 displacement, bone pin damage, or fixation seat 1 deformation that may be caused by manual unlocking, thus ensuring the service life of the device. The elastic element 5 always applies a pre-tightening force to the locking structure 2 away from the bone pin hole, which can prevent the locking structure 2 from accidentally approaching the bone pin and causing mis-locking when the locking screw 4 is not fully tightened, thus improving the safety of operation. Moreover, the design of this elastic structure is simple, does not occupy additional device space, and does not increase the complexity of operation. In conjunction with the upward-sloping locking screw 4, locking knob 41, guide groove 15, and the design of universal bone pin holes for single and double spinous processes, it not only enhances the reliability of bone pin fixation and the convenience of unlocking, but also further improves the overall functionality of the device. Combined with the real-time displacement monitoring function, it comprehensively reduces the surgical operation risk and navigation deviation, ensuring the precision and safety of spinal surgery.

[0048] In one embodiment, the tracer fixing structure 3 includes a fixing post 31 connected to the fixing base 1, a fixing claw 32 detachably disposed on the fixing post 31, and a fixing knob 33 for tightening or loosening the fixing claw 32.

[0049] Specifically, when the tracer 6 needs to be fixed during surgery, the tracer 6 is first placed in the semi-encircling structure of the fixing claw 32, so that the outer shell of the tracer 6 fits against the anti-slip texture of the inner wall of the fixing claw 32. Then, the fixing knob 33 is rotated, and the knob moves downward along the thread of the fixing post 31. The bottom limiting flange gradually presses against the top of the fixing claw 32, forcing the fixing claw 32 to slide downward along the axis of the fixing post 31. Its semi-encircling structure clamps the tracer 6 due to the force contraction. When it is necessary to disassemble or adjust the position of the tracer 6, the fixing knob 33 is rotated in the opposite direction. The fixing claw 32 slides upward along the axis of the fixing post 31 under its own elasticity or the action of the return spring, releasing the clamping state of the tracer 6.

[0050] In one embodiment, the fixing post 31 is provided with meshing teeth 311 that cooperate with the fixing claw 32; and / or, the fixing claw 32 is provided with a clamping elastic element for clamping itself.

[0051] Specifically, the working principle of this technical solution is as follows: In the tracer fixing structure 3, the fixing post 31 is connected to the fixing base 1. The fixing post 31 is provided with meshing teeth 311 that cooperate with the fixing claw 32. The fixing claw 32 is provided with a clamping elastic element for clamping itself. The fixing claw 32 is detachably assembled onto the fixing post 31. When installing the tracer 6, the fixing claw 32 is first adjusted along the fixing post 31 to match the installation height and angle of the tracer 6. If the fixing post 31 is provided with meshing teeth 311, the fixing claw 32 achieves circumferential positioning by meshing with the meshing teeth 311, avoiding rotation relative to the fixing post 31. If the fixing claw 32 is provided with a clamping elastic element, the elastic element 5 can be pre-lifted. The clamping preload causes the fixing claw 32 to initially engage with the tracer 6. Then, the fixing knob 33 is rotated, and axial pressure is generated through the threaded engagement between the fixing knob 33 and the fixing post 31, pushing the fixing claw 32 to further tighten and firmly clamp the tracer 6, so that the tracer 6 forms a rigid connection with the fixing claw 32, the fixing post 31 and the fixing base 1. When it is necessary to adjust the position of the tracer 6 or disassemble it, the fixing knob 33 is rotated in the opposite direction to release the axial pressure. If there is a clamping elastic element, its deformation will cause the fixing claw 32 to loosen. If there is a meshing tooth 311, the meshing state between the fixing claw 32 and the meshing tooth 311 can be released, thereby moving or disassembling the fixing claw 32 and the tracer 6.

[0052] By adopting the above technical solution, the technical effect is that the meshing teeth 311 of the fixing post 31 and the fixing claw 32 are designed to effectively limit the circumferential movement of the fixing claw 32 relative to the fixing post 31, ensuring that the installation angle of the tracer 6 is accurate and stable, avoiding the deflection of the tracer 6 due to vibration, instrument traction and other factors during surgery, and improving the angular accuracy of navigation and positioning. The clamping elastic element of the fixing claw 32 can provide continuous pre-tightening force, which not only enhances the clamping reliability of the tracer 6 and prevents the axial loosening of the tracer 6, but also adapts to tracers 6 of different sizes and specifications, expanding the compatibility range of the device. At the same time, the detachable fixing claw 32 and the tightness adjustment design of the fixing knob 33 make the installation, adjustment and disassembly of the tracer 6 convenient and efficient, reducing the complexity of intraoperative operation. Combined with the single and double spinous process universal design of the fixing seat 1, the reliable fixation of the locking structure 2 and the real-time displacement monitoring function, the overall stability and flexibility of the tracer 6 fixation are further enhanced, effectively reducing navigation errors caused by the installation deviation or loosening of the tracer 6, and ensuring the accuracy and safety of spinal surgery.

[0053] Secondly, a surgical robot system is provided, including a tracer 6 and the aforementioned tracer fixing device, wherein the tracer 6 is disposed on the tracer fixing device.

[0054] By adopting the above technical solution, based on the advantages of the tracer fixation device in the above embodiment, the surgical robot system of this embodiment also has the ability to check at any time whether the tracer 6 has been displaced, thereby reducing surgical risks.

[0055] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tracer fixing device, characterized in that, include: The fixing base has a first set of bone needle holes, a second set of bone needle holes and a positioning hole. The first set of bone needle holes includes multiple first bone needle holes for corresponding to the first vertebral body, the second set of bone needle holes includes multiple second bone needle holes for corresponding to the second vertebral body, and the positioning hole is used to cooperate with the test probe for positioning. A locking structure is provided on the fixing base, and the locking structure is used to lock the bone needles inserted into the first bone needle hole and the second bone needle hole; A tracer fixing structure is provided on the fixing base, and the tracer fixing structure is used to fix the tracer.

2. The tracer fixing device as described in claim 1, characterized in that, The fixing base is also provided with a sliding groove, which communicates with the first bone needle hole and the second bone needle hole. The locking structure is slidably disposed in the sliding groove and can move along the direction close to the first bone needle hole and the second bone needle hole to lock the bone needle.

3. The tracer fixing device as described in claim 2, characterized in that, The locking structure moves along the depth direction of the slide groove, the depth direction of the slide groove is parallel to the direction of the locking structure near the first bone pin hole and the second bone pin hole, the depth directions of the first bone pin hole and the second bone pin hole are parallel to each other, the depth direction of the slide groove forms an inclined angle with the depth directions of the first bone pin hole and the second bone pin hole, the inclined angle is less than 90°, so that the locking structure is arranged at an inclination relative to the fixed seat.

4. The tracer fixing device as described in claim 3, characterized in that, The side of the fixed base is also provided with a guide groove, the length direction of the guide groove is parallel to the depth direction of the slide groove, and the locking structure is provided with a guide protrusion that slides in the guide groove.

5. The tracer fixing device as described in claim 2, characterized in that, The tracer fixing device also includes a locking screw, one end of which is threaded to the fixing seat, and the other end of which is used to push the locking structure to move along the direction close to the first bone needle hole and the second bone needle hole.

6. The tracer fixing device as described in claim 5, characterized in that, The locking screw has a locking knob at the end opposite to the fixing seat.

7. The tracer fixing device as described in claim 2, characterized in that, The tracer fixing device further includes an elastic element connecting the fixing base and the locking structure, the elastic element being used to drive the locking structure to move in a direction away from the first bone needle hole and the second bone needle hole to release the bone needle.

8. The tracer fixing device according to any one of claims 1 to 7, characterized in that, The tracer fixing structure includes a fixing post connected to the fixing base, a fixing claw detachably disposed on the fixing post, and a fixing knob for tightening or loosening the fixing claw.

9. The tracer fixing device as described in claim 8, characterized in that, The fixing post is provided with meshing teeth that cooperate with the fixing claw; and / or, the fixing claw is provided with a clamping elastic element for clamping itself.

10. A surgical robot system, characterized in that, It includes a tracer and a tracer fixing device as described in any one of claims 1 to 9, wherein the tracer is disposed on the tracer fixing device.

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