Surgical instrument navigation system and clamping device

Abstract

The present invention provides a surgical instrument navigation system comprising a robotic arm, a gripping device, and a navigation mark element. [Solution] The clamping device comprises a main body, a storage section, a sleeve body, a first pressing body, and a multi-connection mechanism. One end of the main body is connected to a robot arm. The storage section is connected to the other end of the main body and has a storage hole. The sleeve body is detachably installed in the storage hole and has a through hole for inserting surgical instruments. A notch is provided on one side of the sleeve body along the axial direction of the through hole, and the notch communicates with the through hole. The sleeve body is further provided with a position regulating section at the edge of the notch. The first pressing body is installed in the main body. The multi-connection mechanism is installed in the main body and the storage section and is connected to the first pressing body and the sleeve body. When the first pressing body is pressed, it drives the multi-connection mechanism, which presses against the position regulating section and narrows the notch, thereby deforming the sleeve body and clamping and fixing the surgical instrument.

Claims

1. The main body, one end of which is connected to a robot arm, A storage section having a storage hole is connected to the other end of the main body, A sleeve body is detachably installed in the aforementioned storage hole, has a through hole for inserting surgical instruments, has a notch on one side along the axial direction of the through hole, the notch communicates with the through hole, and a position regulating portion is further provided on the edge of the notch, The first pressing body installed on the main body, A multi-connecting mechanism is installed in the main body and the storage section and is connected to the first pressing body and the sleeve body, Equipped with, The first pressing body, when pressed, drives the multi-connection mechanism, which in turn presses against the position-regulating portion, narrowing the notch and thereby deforming the sleeve body to clamp and fix the surgical instrument. A clamping device characterized by the following features.

2. The multi-connection mechanism comprises connecting rods and slide blocks that are connected to each other, the connecting rods being installed in the main body, the slide blocks being installed in the storage section, the first pressing body having a boss, the boss contacting the connecting rod, and the slide block contacting the position regulating section. The clamping device according to claim 1.

3. The first pressing body further comprises a second pressing body installed on the main body, the second pressing body having at least one locking portion, and the first pressing body further comprises at least one locking groove. When the first pressing body is pressed, the at least one locking portion is locked into the at least one locking groove, restricting the first pressing body, the boss is driven to push the connecting rod forward, the slide block is driven to push the position restricting portion, and the sleeve body is deformed to clamp and fix the surgical instrument. The clamping device according to claim 2.

4. When the second pressing body is pressed, the first pressing body returns to its original position as the at least one locking portion disengages from the at least one locking groove, and the multi-connection mechanism releases the pressure on the sleeve body in conjunction with the return of the first pressing body, allowing the sleeve body to recover from deformation and loosen its grip on the surgical instrument. The clamping device according to claim 3.

5. The storage section comprises a lid and an outer ring, the outer ring being movably installed below the lid, the lid having a first notch and two opposing position-regulating grooves at the edge of the storage hole, and the outer ring having a second notch at the edge of the storage hole. The clamping device according to claim 2.

6. The outer ring portion has a slide groove, the slide block is movably installed in the slide groove and positioned at the edge of the second notch, and the outer ring portion is further provided with a recessed groove on the inside at a position corresponding to the second notch. When the sleeve body is installed in the storage hole, the position regulating portion is installed corresponding to the groove. The clamping device according to claim 5.

7. The sleeve body is cylindrical and comprises a head and a body, the diameter of the head being larger than the diameter of the body, the position regulating portion being installed on the body, the notch extending from the head to the body along the axial direction of the through hole, and the body having a position regulating projection on the opposite side of the notch. The clamping device according to claim 5.

8. When the sleeve body is installed in the storage hole, the position regulating portion and the position regulating projection align themselves and pass through the two position regulating grooves, and the notch aligns with the second notch. After the sleeve body is installed in the storage hole, the sleeve body is rotated so that the notch and the second notch are aligned with the first notch, the outer ring is driven to rotate in the first direction relative to the lid, and the axial movement of the sleeve body is restricted as the position restricting portion and the position restricting projection become misaligned with the two position restricting grooves. The clamping device according to claim 7.

9. The case further comprises covering the outer ring portion and having a third notch that is aligned with the first and second notches. The clamping device according to claim 8.

10. The main body further comprises a third pressing body installed on the main body, When the sleeve body is fixed in the storage hole, the protrusion of the third pressing body extends to the storage portion and engages with the recess of the outer ring portion, thereby restricting the rotation of the outer ring portion. The clamping device according to claim 8.

11. When the third pressing body is pressed, the protrusion is moved away from the recess, the sleeve body is rotated, and the outer ring is driven to rotate in a second direction opposite to the first direction relative to the lid, thereby aligning the position restricting portion and the position restricting projection with the two position restricting grooves, and releasing the axial position restriction of the sleeve body. The clamping device according to claim 10.

12. A robotic arm and A clamping device according to any one of claims 1 to 11, which is connected to the robot arm and used for clamping surgical instruments, A navigation mark element installed on the surgical instrument, Equipped with, A surgical instrument navigation system characterized by the following features.

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