CN109938838B

CN109938838B - Mark positioning device

Info

Publication number: CN109938838B
Application number: CN201910157195.3A
Authority: CN
Inventors: 李攀; 张长青; 朱振中
Original assignee: Shanghai Electric Group Corp
Current assignee: Shanghai Electric Group Corp
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2022-01-28
Anticipated expiration: 2039-03-01
Also published as: CN109938838A

Abstract

The invention discloses a mark positioning device, which comprises a tracking assembly and a positioning assembly, wherein the tracking assembly comprises a reference frame and a tracking bracket, one end of the tracking bracket is connected with the reference frame, the other end of the tracking bracket is provided with a first tooth part, the positioning assembly is provided with a second tooth part, the first tooth part is meshed with the second tooth part, and the positioning assembly is connected with the tracking bracket. According to the marking and positioning device, the first tooth part is meshed with the second tooth part, so that the tracking assembly and the positioning assembly are not easy to loosen after being connected, the motion detection precision of the marking and positioning device is greatly improved, the operation difficulty is reduced, and the operation precision is improved. Meanwhile, the mounting height, the direction and the pitching angle of the tracking assembly can be quickly adjusted, and the use requirement under the complex environment can be met.

Description

Mark positioning device

Technical Field

The invention relates to a mark positioning device.

Background

At present, surgical robots are applied to joint replacement surgery in China, and particularly, a surgical positioning device and method and a robotic surgery system are disclosed in the patent publication No. CN104083217A, wherein the device comprises a patient tracer and a mechanical arm tracer. Since the challenge of joint replacement surgery is to determine the relative position between the prosthesis and the bone, precisely osteotomy to better fit the prosthesis to the bone; the fit degree of the prosthesis and the bone and the implantation position of the prosthesis directly influence the joint performance and the life cycle of the prosthesis; the motion of the patient's limbs or external influences (e.g., movement of the operating table, unpredictable external disturbances, etc.) during joint replacement surgery can have a major impact on the osteotomy precision and prosthesis placement precision. The positioning device in the prior art has poor precision in the assembling process, and the mechanical arm tracer and the positioner are easy to loosen, so that the joint replacement operation is greatly influenced.

Disclosure of Invention

The invention aims to overcome the defect that a mechanical arm tracer and a positioner in the prior art are easy to loosen, so that a joint replacement operation is greatly influenced, and provides a marking and positioning device.

The invention solves the technical problems through the following technical scheme:

a mark positioning device is characterized by comprising a tracking assembly and a positioning assembly, wherein the tracking assembly comprises a reference frame and a tracking support, one end of the tracking support is connected to the reference frame, a first tooth part is arranged at the other end of the tracking support, a second tooth part is arranged on the positioning assembly, the first tooth part is meshed with the second tooth part, and the positioning assembly is connected with the tracking support.

In this scheme, adopt above-mentioned structural style, through pursuit the leg joint in locating component, and first tooth portion meshes with second tooth portion for it is difficult for producing after connecting between pursuit subassembly and the locating component not hard up, has improved mark positioner's motion detection precision greatly, reduces the operation degree of difficulty, improves the operation precision.

In addition, the first tooth part and the second tooth part can be rotationally adjusted before being meshed, so that the mounting height, the direction and the pitching angle of the tracking assembly can be quickly adjusted, and the use requirement under a complex environment can be met. Meanwhile, the structure is simple, the operation is convenient, the whole weight is light, and the reliability is higher.

Preferably, the positioning assembly includes a first locking shaft and a positioning mechanism, the second tooth portion is disposed on the positioning mechanism, the first locking shaft passes through and is screwed to the first tooth portion, and the first locking shaft is screwed to the second tooth portion.

In this scheme, adopt above-mentioned structural style, it is more convenient through first locking axle assembly and disassembly, and simple structure, it is quick and convenient to adjust.

Preferably, the positioning assembly comprises a first locking shaft, a connector and a positioning mechanism, one end of the connector is connected to the positioning mechanism, the second tooth portion is arranged at the other end of the connector, the first locking shaft penetrates through and is in threaded connection with the first tooth portion, and the first locking shaft is in threaded connection with the second tooth portion.

Preferably, the connector is provided with a third tooth portion, the positioning mechanism is provided with a fourth tooth portion, the positioning assembly further comprises a second locking shaft, the second locking shaft penetrates through the third tooth portion and is in threaded connection with the third tooth portion, the second locking shaft is in threaded connection with the fourth tooth portion, and the third tooth portion is meshed with the fourth tooth portion.

In this scheme, adopt above-mentioned structural style, be equipped with second tooth portion and third tooth portion respectively and be connected with pursuit support and positioning mechanism at the both ends of connector for connect stably and difficult not hard up, improved mark positioner's motion detection precision greatly. Simultaneously, can be more convenient and adjust the angle of pursuing the subassembly fast through the connector.

Preferably, the positioning mechanism includes a clamp, a support shaft, a pressing block and a plurality of fixing pins, the clamp has a plurality of through holes, the through holes correspond to the fixing pins one by one, the fixing pins pass through the through holes, a clamping cavity is provided in the clamp, the pressing block is located in the clamping cavity and can move in the clamping cavity, the support shaft is connected to the clamp, and the support shaft is used for supporting the pressing block, so that two sides of the pressing block are supported against the fixing pins and the support shaft respectively.

In this scheme, adopt above-mentioned structural style, through leaning on axle and compact heap with fixed needle and anchor clamps between tight centre gripping together for positioning mechanism has very big clamping-force, and the location centre gripping is firm reliable.

Preferably, at least one through hole in the through holes on the clamp is in a kidney-shaped hole.

In this scheme, adopt above-mentioned structural style, through the shape design waist shape hole with the through-hole wherein, even not on a straight line between a plurality of fixed needle, also can guarantee that a plurality of fixed needle corresponds and passes a plurality of through-hole and can lock, improved mark positioner's adaptability greatly.

Preferably, the clamp is provided with a threaded hole, the threaded hole is communicated with the clamping cavity, and the abutting shaft is in threaded connection with the threaded hole and abuts against the pressing block.

In this scheme, adopt above-mentioned structural style, simple structure, convenient to use.

Preferably, the positioning mechanism further includes at least one guide rod, the pressing block is provided with at least one guide hole extending along the moving direction of the pressing block, the guide holes correspond to the guide rods one to one, and the guide rod penetrates through the guide hole and is connected to the inside of the fixture.

In this scheme, adopt above-mentioned structural style, the guide bar plays the guide effect, has avoided the compact heap to produce the phenomenon of dislocation partially at the in-process that slides, has improved positioning mechanism's stability.

Preferably, the positioning mechanism further comprises at least one spring, two sides of the pressing block are respectively provided with a leaning shaft and the spring, the springs correspond to the guide rods one to one, the spring is sleeved on the guide rods, and two ends of the spring respectively lean against the pressing block and the inner wall surface of the clamp.

Preferably, the tracking assembly further comprises a plurality of ball caps and a plurality of positioning balls, the plurality of positioning balls are all connected to one side of the reference frame, the plurality of ball caps correspond to the plurality of positioning balls one by one, and the ball caps are connected to the reference frame and cover the positioning balls.

In the scheme, the ball cap has a covering and protecting effect on the positioning ball by adopting the structural form, and blood is prevented from splashing to the positioning ball when the positioning ball is used; meanwhile, the exposed visual field of the positioning ball can be increased through the ball cap, and the capability of recognizing the positioning ball by external optical positioning equipment is improved.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

according to the marking and positioning device, the first tooth part is meshed with the second tooth part, so that the tracking assembly and the positioning assembly are not easy to loosen after being connected, the motion detection precision of the marking and positioning device is greatly improved, the operation difficulty is reduced, and the operation precision is improved. Meanwhile, the mounting height, the direction and the pitching angle of the tracking assembly can be quickly adjusted, and the use requirement under the complex environment can be met.

Drawings

Fig. 1 is a schematic structural diagram of a marker positioning device according to embodiment 1 of the present invention.

Fig. 2 is an exploded view of a positioning assembly of the marker positioning device according to embodiment 1 of the present invention, in which a fixing pin is omitted.

Description of reference numerals:

tracking assembly 1

Reference frame 11

Tracking support 12

First tooth 121

Positioning ball 13

Ball cap 14

Positioning assembly 2

Second tooth portion 21

Positioning mechanism 22

Fourth tooth 221

Clamp 222

Clamping cavity 2221

Through hole 2222

Threaded hole 2223

Compact block 223

Guide holes 2231

Holding groove 2232

Fixing needle 224

Against the shaft 225

Guide rod 226

Spring 227

Connecting head 23

Third tooth 231

First locking shaft 24

Second locking shaft 25

Detailed Description

The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings, but the present invention is not limited thereto.

Example 1

As shown in fig. 1 and 2, the marker positioning device according to embodiment 1 of the present invention includes a tracking assembly 1 and a positioning assembly 2, the tracking assembly 1 includes a reference frame 11 and a tracking frame 12, one end of the tracking frame 12 is connected to the reference frame 11, the other end of the tracking frame 12 is provided with a first tooth portion 121, the positioning assembly 2 is provided with a second tooth portion 21, the first tooth portion 121 is engaged with the second tooth portion 21, and the positioning assembly 2 is connected to the tracking frame 12. When the tracking assembly 1 is connected with the positioning assembly 2, the tracking assembly 1 is connected to the positioning assembly 2 through the tracking support 12, and the first tooth portion 121 is meshed with the second tooth portion 21, so that the tracking assembly 1 and the positioning assembly 2 are not easy to loosen after connection, the tracking assembly 1 can detect the movement of a target bone in real time, the movement detection precision of the marking positioning device is greatly improved, the operation difficulty is reduced, and the operation precision is improved. The first tooth part 121 and the second tooth part 21 can be rotationally adjusted before being meshed, so that the installation height, the direction and the pitch angle of the tracking assembly 1 can be quickly adjusted, and the use requirement under a complex environment can be met. Meanwhile, the structure is simple, the operation is convenient, the whole weight is light, and the reliability is higher.

In this embodiment, the positioning assembly 2 includes a first locking shaft 24, a connecting head 23 and a positioning mechanism 22, one end of the connecting head 23 is connected to the positioning mechanism 22, the second tooth portion 21 is disposed at the other end of the connecting head 23, the first locking shaft 24 passes through and is screwed to the first tooth portion 121, and the first locking shaft 24 is screwed to the second tooth portion 21. In the assembly connection, the first locking shaft 24 is first rotated and screwed to the first tooth portion 121, and the first locking shaft 24 is threaded through the first tooth portion 121 and screwed to the second tooth portion 21, otherwise, the first locking shaft is disassembled. Through first locking shaft 24 assembly and disassembly more convenient, and simple structure, it is quick and convenient to adjust. Wherein, the outer surface of the first locking shaft 24 may be provided with anti-slip threads to facilitate the rotational use of the first locking shaft 24. Of course, the front end of the first locking shaft 24 has external threads, the rear end of the first locking shaft 24 can be provided with a knurled handle for screwing by hand, and the rear end of the first locking shaft 24 can also be provided with a tool joint, the cross section of which can be triangular, quadrangular, cross-shaped groove, straight groove and the like, so that common tools can be conveniently used for screwing.

The connecting head 23 is provided with a third tooth 231, the positioning mechanism 22 is provided with a fourth tooth 221, the positioning assembly 2 further comprises a second locking shaft 25, the second locking shaft 25 penetrates through and is in threaded connection with the third tooth 231, the second locking shaft 25 is in threaded connection with the fourth tooth 221, and the third tooth 231 is meshed with the fourth tooth 221. The two ends of the connector 23 are respectively provided with a second tooth part 21 and a third tooth part 231 which are connected with the tracking bracket 12 and the positioning mechanism 22, so that the connection is stable and is not easy to loosen, and the motion detection precision of the marking and positioning device is greatly improved; meanwhile, the design directions of the second tooth portion 21 and the third tooth portion 231 are different, so that the angle of the tracking assembly 1 can be adjusted more conveniently and quickly by the connection head 23. Wherein the cross section of the second tooth portion 21 and the cross section of the third tooth portion 231 are perpendicular to each other; the second locking shaft 25 may have the same structure as the first locking shaft 24.

The positioning mechanism 22 includes a fixture 222, an abutting shaft 225, a pressing block 223 and a plurality of fixing pins 224, the fixture 222 has a plurality of through holes 2222, the plurality of through holes 2222 correspond to the plurality of fixing pins 224 one by one, the fixing pins 224 pass through the through holes 2222, a clamping cavity 2221 is provided in the fixture 222, the pressing block 223 is located in the clamping cavity 2221 and can move in the clamping cavity 2221, the abutting shaft 225 is connected to the fixture 222, and the abutting shaft 225 is used for abutting against the pressing block 223, so that two sides of the pressing block 223 abut against the fixing pins 224 and the abutting shaft 225 respectively. A plurality of fixing needles 224 are directly driven into bones by an electric tool, the fixing needles 224 pass through holes 2222 in the fixture 222, when the fixing needles 224 need to be clamped, the pressing block 223 tightly abuts against the pressing block 223 through the abutting shaft 225, so that the pressing block 223 tightly abuts against the fixing needles 224, and the fixing needles 224 and the fixture 222 are tightly clamped together through the abutting shaft 225 and the pressing block 223, so that the positioning mechanism 22 has a large clamping force, and the positioning and clamping are firm and reliable. When it is not necessary to clamp the fixation needle 224, the compression block 223 is no longer provided with an abutting clamping force by the abutment shaft 225, so that the compression block 223 can move within the clamping cavity 2221 and no longer clamps the fixation needle 224. The fourth tooth 221 is disposed at the end of the clamp 222 and connected to the connecting head 23.

The fixture 222 has a threaded hole 2223, the threaded hole 2223 is communicated with the clamping cavity 2221, and the abutting shaft 225 is screwed into the threaded hole 2223 and abuts against the pressing block 223. The abutting shaft 225 is screwed in the threaded hole 2223 and inserted into the clamping cavity 2221 through the threaded hole 2223, so that the clamping acting force can be applied to the pressing block 223, the structure is simple, and the use is convenient. Wherein the abutment shaft 225 may have the same shape as the first locking shaft 24. The threaded aperture 2223 extends outwardly from the outer surface of the clamp 222 to extend the length of the threaded aperture 2223, which improves the stability of the positioning mechanism 22.

At least one through hole 2222 of the through holes 2222 of the jig 222 has a kidney-shaped hole. After the fixing needles 224 are directly driven into the bone by an electric tool, the fixing needles 224 cannot be guaranteed to be in a straight line under normal conditions, and even if the fixing needles 224 are not in a straight line, the fixing needles 224 can be guaranteed to correspondingly penetrate through the through holes 2222 and can be locked by designing the through holes 2222 in the fixing needles into the waist-shaped holes, so that the adaptability of the marking and positioning device is greatly improved. In this embodiment, the number of the through holes 2222 is three, wherein the middle through hole 2222 has a kidney-shaped hole, and the left and right through holes 2222 have circular holes.

The positioning mechanism 22 further includes at least one guide rod 226, the pressing block 223 has at least one guide hole 2231 extending along the moving direction of the pressing block 223, the guide holes 2231 correspond to the guide rods 226 one by one, and the guide rod 226 passes through the guide hole 2231 and is connected to the inside of the fixture 222. The guide rod 226 plays a guiding role, so that the pressing block 223 moves along a given direction, the phenomenon that the pressing block 223 is offset and dislocated in the sliding process is avoided, and the stability of the positioning mechanism 22 is improved. Wherein, be equipped with a plurality of centre gripping groove 2232 towards one side of fixed needle 224 in the compact heap 223, a plurality of centre gripping groove 2232 and a plurality of fixed needle 224 one-to-one, when the centre gripping, fixed needle 224 will insert and closely laminate in the internal wall face of centre gripping groove 2232, has further improved positioning mechanism 22's stability.

The positioning mechanism 22 further includes at least one spring 227, two sides of the pressing block 223 are respectively provided with an abutting shaft 225 and the spring 227, the springs 227 correspond to the guide rods 226 one by one, the guide rods 226 are sleeved with the springs 227, and two ends of the springs 227 abut against inner wall surfaces of the pressing block 223 and the clamp 222 respectively. When the pressing block 223 is not required to press the clamping fixing pin 224, a force can be exerted on the pressing block 223 through the spring 227 and pushes the pressing block 223 to move in the clamping cavity 2221, so that the pressing block 223 is separated from the fixing pin 224 and does not contact with the fixing pin 224.

The tracking assembly 1 further comprises a plurality of ball caps 14 and a plurality of positioning balls 13, wherein the plurality of positioning balls 13 are all connected to one side of the reference frame 11, the plurality of ball caps 14 correspond to the plurality of positioning balls 13 one by one, and the ball caps 14 are connected to the reference frame 11 and cover the positioning balls 13. The ball cap 14 has a covering and protecting function on the positioning ball 13, and prevents blood from splashing on the positioning ball 13 when in use; meanwhile, the exposed view of the positioning ball 13 can be increased through the ball cap 14, and the capability of recognizing the positioning ball 13 by an external optical positioning device is improved. Wherein the ball cap 14 is conical in shape.

Example 2

The same parts of the mark positioning device structure of the present embodiment as those of embodiment 1 will not be repeated, and only the differences will be described. The positioning assembly in embodiment 2 is different from the positioning assembly in embodiment 1, and the positioning assembly includes a first locking shaft and a positioning mechanism, the second tooth portion is disposed on the positioning mechanism, the first locking shaft passes through and is screwed to the first tooth portion, and the first locking shaft is screwed to the second tooth portion. The locating component in the embodiment 2 omits a connector and a second locking shaft, the second tooth part is directly arranged at the end part of the clamp, the tracking support and the clamp are directly meshed and connected with the first tooth part and the second tooth part, and the locating component is simple in structure and convenient to operate.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A mark positioning device is characterized by comprising a tracking assembly and a positioning assembly, wherein the tracking assembly comprises a reference frame and a tracking bracket, one end of the tracking bracket is connected to the reference frame, the other end of the tracking bracket is provided with a first tooth part, the positioning assembly is provided with a second tooth part, the first tooth part is meshed with the second tooth part, and the positioning assembly is connected with the tracking bracket;

the positioning assembly comprises a first locking shaft and a positioning mechanism, the second tooth part is arranged on the positioning mechanism, the first locking shaft penetrates through and is in threaded connection with the first tooth part, and the first locking shaft is in threaded connection with the second tooth part;

the positioning mechanism comprises a clamp, a propping shaft, a pressing block and a plurality of fixing needles, wherein the clamp is provided with a plurality of through holes, the through holes correspond to the fixing needles one by one, the fixing needles penetrate through the through holes, a clamping cavity is arranged in the clamp, the pressing block is positioned in the clamping cavity and can move in the clamping cavity, the propping shaft is connected to the clamp, and the propping shaft is used for propping against the pressing block so as to enable two sides of the pressing block to prop against the fixing needles and the propping shaft respectively;

a plurality of clamping grooves are formed in one side, facing the fixing pins, of the pressing block, the clamping grooves correspond to the fixing pins one by one, and the fixing pins are inserted into and tightly attached to the inner wall surfaces of the clamping grooves;

the positioning mechanism further comprises at least one guide rod, at least one guide hole extending along the moving direction of the pressing block is formed in the pressing block, the guide holes correspond to the guide rods in a one-to-one mode, and the guide rods penetrate through the guide holes and are connected into the clamp.

2. The marking and positioning device of claim 1, wherein the positioning assembly comprises a first locking shaft, a connector and a positioning mechanism, one end of the connector is connected to the positioning mechanism, the second tooth portion is disposed at the other end of the connector, the first locking shaft penetrates through and is in threaded connection with the first tooth portion, and the first locking shaft is in threaded connection with the second tooth portion.

3. The marking and positioning device of claim 2, wherein the connecting head has a third tooth portion, the positioning mechanism has a fourth tooth portion, and the positioning assembly further comprises a second locking shaft passing through and threadedly coupled to the third tooth portion, the second locking shaft threadedly coupled to the fourth tooth portion, and the third tooth portion being engaged with the fourth tooth portion.

4. The mark locating device of claim 1, wherein at least one of said plurality of through-holes in said fixture is shaped as a kidney-shaped hole.

5. The marking and positioning device of claim 1, wherein said clamp has a threaded bore therein, said threaded bore communicating with said clamping cavity, said abutment shaft being threadably connected to said threaded bore and abutting said clamping block.

6. The mark positioning device according to claim 1, wherein the positioning mechanism further comprises at least one spring, two sides of the pressing block are respectively provided with a support shaft and the spring, the springs correspond to the guide rods one by one, the spring is sleeved on the guide rods, and two ends of the spring are respectively supported against the pressing block and the inner wall surface of the clamp.

7. The marker locating device of claim 1, wherein the tracking assembly further comprises a plurality of ball caps and a plurality of locating balls, the plurality of locating balls are connected to one side of the reference frame, the plurality of ball caps correspond to the plurality of locating balls one to one, and the ball caps are connected to the reference frame and cover the locating balls.