CN109953827A

CN109953827A - A kind of positioning device

Info

Publication number: CN109953827A
Application number: CN201711410727.7A
Authority: CN
Inventors: 钱碧春
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-23
Filing date: 2017-12-23
Publication date: 2019-07-02

Abstract

The present invention provides a kind of positioning devices, belong to the field of medical instrument technology；It solves larger, inconvenient to use, service life the is shorter technical problem of existing positioning device volume；The technical solution of the present invention is as follows: a kind of positioning device, including mobile box, the first movable device and the second movable device and control mechanism are provided on mobile box, optronic tracker and the first display are movably installed on first movable device, second display is movably installed on second movable device, the optronic tracker can automatically reset with second display；The invention has the benefit that real-time imaging and surgical procedure are combined closely, comprehensive, full angle carry out real-time tracing and operation, so that surgical procedure more easily and quickly, be conducive to doctor more rapidly, more smoothly complete operation, it is even closer in conjunction with the bone surgery of modernization.

Description

A kind of positioning device

Technical field

The invention belongs to the field of medical instrument technology, are related to a kind of positioning device.

Background technique

In recent years, with the fast development of orthopaedic technique, while the difficulty and risk of operation increase, Image-aided and micro- Wound technology becomes the Main way of orthopaedics development.In this case, some medical instruments similar to orthopedic navigation system It comes into being, this system can greatly reduce the risk of complicated bone surgery, and bring a kind of new behaviour for bone surgery technology Operation mode-visualization surgical technic.

Bone surgery is formulated in the preoperative using navigation system and is navigated in surgical planning and art, can be tracked in the course of surgery Surgical instrument, and by the position of surgical instrument patient is preoperative or art in image on real-time update show, allow operation to cure Raw relationship of the position with sufferer anatomical structure for knowing surgical instrument at any time, while but also with complete navigation feature, it can be with mould Quasi- surgical instrument moves forward and backward, so that the process of operation is more accurate, rather than solves by the clinical experience of doctor Certainly problem, for example, a kind of robot orthopedic navigation operation device of disclosure of the invention that Authorization Notice No. is CN1263433C, including Computer and Medical Image Processing software, C-arm x-ray machine, the operation table mechanism being stored in computer, by C-arm x-ray machine Image is acquired, acquired card is defeated to perform the operation to progress medical image software processing, this orthopedic navigation operation device in computer It can accurately position in the process, using computer disposal image, determine the position of the surgical object and surgical instrument in image space It sets and state, increases the precision of operation, but since this orthopedic navigation operation device uses X-ray equipment, a large amount of X-ray lines Radiation has greatly injured the health of doctor and patient, and this equipment volume is larger, compares and takes up space, and movement is not Just, using also quite not flexible.

Therefore, on the basis of these technical problems, people have invented a kind of positioning device of small volume again, for example, A kind of long bone fracture traction reduction navigation apparatus of the disclosure of the invention of Publication No. CN101332137A, it includes active mechanical Arm, passive mechanical arm, photoelectric tracer, end effector, locomotive, tracking mark component, spatial point collector, tracking mark Component is mounted at long bone fracture, and spatial point collector is held in doctor's hand, and active mechanical arm and passive mechanical arm are pacified respectively On locomotive, photoelectric tracer is mounted on active mechanical arm, and end effector is mounted on passive mechanical arm, locomotive On computer is installed, the device volume is smaller, and locomotive is removable, mobile when convenient to use or put in position, Put and also do not take up space, even so, but its using when still there are some problems, for example, the device overall structure more zero It is scattered, backward, not perfect, defective tightness is contacted with the bone surgery of modernization, so that the device is in use by many Limitation, although in addition the active mechanical arm of the device can rotate up and down with passive mechanical arm, its structure is complex, Components are more, are easily damaged in use process, and the photoelectric tracer of the device is moved to fixation in use Behind position, is usually accidentally touched or hit by doctor since doctor has forgotten to be moved into original position or other vacant places It arrives, and leverages the operative process of doctor, if carrying out hand to photoelectric tracer using after preceding and use every time Dynamic movement, not only process is relatively complicated, wastes operating time, and frequently exert a force to it, can make photoelectric tracer and active It is damaged between mechanical arm or each junction of active mechanical arm, so that the service life of active mechanical arm is shorter.

Summary of the invention

It is a kind of using more convenient, whole knot the purpose of the present invention is in view of the above-mentioned problems existing in the prior art, proposing Structure is compact, perfect and modernization bone surgery contacts the positioning device closer, the service life is longer.

Object of the invention can be realized by the following technical scheme: a kind of positioning device, including mobile box, the shifting Dynamic cabinet top is provided with the first movable device, and body side is provided with the second movable device, and mobile box front end face is provided with Control mechanism is provided with optronic tracker and the first display on the first movable device, is provided with second on the second movable device Display, first movable device include the first support bar being successively flexibly connected, the first lever arm, the first rotating bracket with And first installation pedestal, the optronic tracker are connect with the first installation pedestal, the first display and first support bar activity connect It connects, second movable device includes the second support bar being successively flexibly connected, the second rotating bracket, the second lever arm and Two installation pedestals, the second display are connect with the second base runner, and first lever arm and the second lever arm can be with It automatically resets.

In a kind of above-mentioned positioning device, the first rotation base is provided between the first support bar and the first lever arm Seat, the first rotating basis and first support bar vertical articulation are provided with the between first rotating bracket and the first lever arm One connection pedestal, the first connection pedestal and the first rotating bracket vertical articulation, first installation pedestal and the first rotating bracket Between be provided with connecting shaft, the connecting shaft and the first rotating bracket vertical articulation, connecting shaft and the first installation pedestal are horizontally hinged.

In a kind of above-mentioned positioning device, the first lever arm includes linking arm on first, the first lower linking arm, and described first Upper linking arm connect pedestal by connecting axis connection on first with first, and linking arm and the first rotating basis pass through second on first Upper connection axis connection, the described first lower linking arm connect pedestal with first and pass through the first lower connection axis connection, connect under described first Arm and the first rotating basis are connect by the second lower connection axis connection, is equipped between linking arm under linking arm and first on first Pneumatic extension bar, one end of the Pneumatic extension bar connect down axis connection with first, connect axis connection on the other end and second.

In a kind of above-mentioned positioning device, the center bottom of the optronic tracker is provided with adjusting rod.

In a kind of above-mentioned positioning device, the first support bar is connect with the first display by rotating fixing machine, The rotating fixing machine includes the mobile guide sleeve being sheathed in first support bar, is horizontally arranged with adjusting screw rod on mobile guide sleeve And adjusting screw rod one end passes through mobile guide sleeve and is resisted against in first support bar, mobile guide sleeve side extends radially outward interconnecting piece, Vertical articulation has the second rotating basis on the interconnecting piece, and the first display rear end face is provided with the second installation pedestal, the Two installation pedestals and the second rotating basis vertical articulation.

In a kind of above-mentioned positioning device, fixing sleeve is equipped with stop collar, end cap under the second rotating bracket in second support bar In second support bar and it is resisted against stop collar upper end, second rotating bracket upper end vertical articulation has third to rotate base Seat, the second lever arm lower end are fixedly connected with third rotating basis, and the second lever arm upper end is provided with third installation pedestal, described Third installation pedestal and second display are horizontally hinged.

In a kind of above-mentioned positioning device, the control mechanism is keyboard, and the front end face of the cabinet is provided with an installation Platform is tiltedly installed with station on mounting platform, and the keyboard is installed on station.

In a kind of above-mentioned positioning device, first control section is provided on the station, the box back is provided with The second control section being connect with cabinet.

Compared with prior art, the invention has the following advantages:

1, the present apparatus combines closely real-time imaging and surgical procedure, comprehensive, full angle carry out real-time tracing and hand Art so that surgical procedure more easily and quickly, be conducive to doctor more rapidly, more smoothly complete operation, the bone with modernization Section's operation combines even closer；

2, the lever arm overall structure of the present apparatus is relatively simple and has auto-reset function, is moved easily in use process While do not need the operating time that doctor is saved to its hand-reset, shorten surgical procedure, be also prevented from doctor and performing the operation When accidentally touch or bump against and influence surgical quality.

Detailed description of the invention

Fig. 1 is a kind of schematic diagram of front three-dimensional structure of positioning device of the present invention.

Fig. 2 is a kind of the back side dimensional structure diagram of positioning device of the present invention.

Fig. 3 is the stereoscopic schematic diagram of the first lever arm in a kind of positioning device of the present invention.

Fig. 4 is the drawing of rotating fixing machine in a kind of positioning device of the present invention.

In figure, 100, mobile box；110, mounting platform；120, first control section；130, pulley；200, the first support Bar；210, the first rotating basis；211, connecting shaft on second；212, the second lower connecting shaft；220, the first lever arm；221, first Upper linking arm；222, the first lower linking arm；230, the first connection pedestal；231, connecting shaft on first；232, the first lower connecting shaft； 240, the first rotating bracket；250, connecting shaft；260, the first installation pedestal；270, optronic tracker；271, adjusting rod；280, One display；290, mobile guide sleeve；291, interconnecting piece；292, adjusting screw rod；293, the second rotating basis；294, the second installation base Seat；300, second support bar；310, stop collar；320, the second rotating bracket；330, third rotating basis；340, the second activity Arm；350, third installation pedestal；360, second display；400, station；410, support base；420, keyboard；430, second Hold portion.

Specific embodiment

Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described, However, the present invention is not limited to these examples.

As depicted in figs. 1 and 2, a kind of positioning device of the present invention, including mobile box 100,100 bottom face of mobile box It is provided with the pulley 130 that mobile box 100 can be made mobile, is moved easily the movement of cabinet 100,100 top of mobile box is provided with First movable device, body side are provided with the second movable device, and optronic tracker 270 and are provided on the first movable device One display 280 is provided with second display 360 on second movable device, and cabinet front end face is provided with control mechanism and first Handle part 120, box back face are provided with second control section 430, are equipped with computer inside mobile box 100.

Further, which includes that the first support bar 200, first being successively flexibly connected from lower to upper is lived Swing arm 220, the first rotating bracket 240 and the first installation pedestal 260, the first support bar 200 are vertically fixed on mobile box On 100 side, which is used to support the first lever arm 220, and the first lever arm 220 is used to support first turn Dynamic bracket 240, the first rotating bracket 240 are used to support the first installation pedestal 260, the optronic tracker 270 and the first installation Pedestal 260 connects, which is flexibly connected with first support bar 200, which includes from bottom to top Second support bar 300, the second rotating bracket 320, the second lever arm 340 and the third installation pedestal 350 being successively flexibly connected, The second support bar 300 is perpendicularly fixed on the top end face of mobile box 100, which is used to support second turn Dynamic bracket 320, second rotating bracket 320 are used to support the second lever arm 340, which is used to support third Installation pedestal 350, the second display 360 are flexibly connected with the second installation pedestal 294.

It is connect by two displays with mobile box 100, so that real-time imaging is combined closely with surgical procedure, and is shown Device and optronic tracker 270 are flexibly connected with support rod so that the present apparatus can comprehensive, full angle carry out real-time tracing with Operation, surgical procedure more easily and quickly, be conducive to doctor more rapidly, more smoothly complete operation, the orthopaedics with modernization Operation combines even closer.

As shown in Figure 1 and Figure 2, the first rotating basis 210 is provided between first support bar 200 and the first lever arm 220, First rotating basis 210 and 200 vertical articulation of first support bar, between first rotating bracket 240 and the first lever arm 220 It is provided with the first connection pedestal 230, the first connection pedestal 230 and 240 vertical articulation of the first rotating bracket, the first installation pedestal 260 and first are provided with connecting shaft 250, the connecting shaft 250 hinge vertical with the first rotating bracket 240 between rotating bracket 240 It connects, connecting shaft 250 and the first installation pedestal 260 are horizontally hinged.

First support bar 200 is fixed on mobile box 100, and the first lever arm 220 is by the first rotating basis 210 with the One support rod 200 is that basic point level circumferentially rotates, and the first rotating bracket 240, can also be horizontal circumferential relative to the first lever arm 220 Rotation, and optronic tracker 270 by connecting shaft 250 can level circumferentially rotate, can also front and back overturning so that first support It keeps adequately being flexibly connected between bar 200, the first lever arm 220, the first rotating bracket 240 and optronic tracker 270, make The present apparatus uses more flexible and comprehensive in the course of surgery, operating time is greatly saved.

As shown in figure 3, the first lever arm 220 includes the lower linking arm 222 of linking arm 221, first on first, on described first Linking arm 221 connect pedestal 230 with first and passes through the connection of connecting shaft 231 on first, linking arm 221 and the first rotation base on first Seat 210 passes through connecting shaft 211 on second and connects, and the described first lower linking arm 222 is connect under pedestal 230 passes through first with first to be connected Spindle 232 connects, the described first lower linking arm 222 and the first rotating basis 210 by second down connecting shaft 212 connect, the Pneumatic extension bar is installed between linking arm 221 and the first lower linking arm 222 on one, under one end of the Pneumatic extension bar and first Connecting shaft 232 connects, and the other end is connect with connecting shaft 211 on second, when the elongation of Pneumatic extension bar, entire first lever arm 220 can move downward, and when Pneumatic extension bar retraction, entire first lever arm 220 is moved upwards, since Pneumatic extension bar has Automatic telescopic function, carried out after optronic tracker 270 is moved down using, after use, only optronic tracker 270 need to be put It opens, under the automatic telescopic function of Pneumatic extension bar, entire first lever arm 220 can recover to origin-location automatically, make to go smoothly More conveniently and quickly, and the second lever arm 340 is identical as the structure of the first lever arm 220, therefore second display for art process 360 also can reach effect identical with optronic tracker 270 when in use.

As shown in figure 4, first support bar 200 is connect with the first display 280 by rotating fixing machine, the rotation is solid Determining mechanism includes the mobile guide sleeve 290 being sheathed in first support bar 200, is horizontally arranged with adjusting screw rod on mobile guide sleeve 290 292 and 292 one end of adjusting screw rod pass through mobile guide sleeve 290 and be resisted against in first support bar 200, the side diameter of mobile guide sleeve 290 To interconnecting piece 291 is extended, vertical articulation has the second rotating basis 293 on interconnecting piece 291, and 280 rear end face of the first display is set It is equipped with the second installation pedestal 294,293 vertical articulation of the second installation pedestal 294 and the second rotating basis.

Mobile guide sleeve 290 is sheathed in first support bar 200 and can adjust by adjusting screw rod 292 height, and movement is led The second rotating basis 293 is connected between set 290 and the second installation pedestal 294, the first display 280 passes through the second rotating basis 293 can carry out level circumferentially rotate with tilt angle adjust so that the first display 280 is adjustable to rationally in the course of surgery Height and suitable angle, comfort level when surgical is increased, so that real-time imaging is combined closely with surgical procedure.

As shown in Figure 1 and Figure 2, in second support bar 300 fixing sleeve be equipped with stop collar 310, the one of the second rotating bracket 320 End cap is set in second support bar 300 and is resisted against 310 upper end of stop collar, and the other end of second rotating bracket 320 is vertical It is hinged with third rotating basis 330,340 lower end of the second lever arm is connect with third rotating basis 330, on the second lever arm 340 End is provided with third installation pedestal 350, and the third installation pedestal 350 and second display 360 are horizontally hinged.

Second rotating bracket 320 can with second support bar 300 be basic point level circumferentially rotate, third rotating basis 330 with Second rotating bracket, 320 vertical articulation, thus third rotating basis 330 can also level circumferentially rotate, fixed plate and third are installed Pedestal 350 is horizontally hinged, so that 360 adjustable tilt angle of second display, equally increases comfort level when surgical, So that real-time imaging is combined closely with surgical procedure.

As shown in Figure 1 and Figure 2, it is additionally provided with adjusting rod 271 in the center bottom of optronic tracker 270, the adjusting rod 271 Be fixedly connected with optronic tracker 270, by the adjusting rod 271, doctor in the course of surgery can by stir adjusting rod 271 come Position and the direction for adjusting optronic tracker 270, avoid doctor's hand from directly exerting a force to optronic tracker 270, not only prevent Radiation of the optronic tracker 270 to human body, protects the safety of doctor, and makes the stress when adjusting of optronic tracker 270 It is more uniform, effectively protect the service life of optronic tracker 270.

As shown in Figure 1 and Figure 2, which is keyboard 420, and the calculating in the keyboard 420 and mobile box 100 is electromechanical Connection, is provided with mounting platform 110 in the front end face of cabinet, station 400 is tiltedly installed on mounting platform 110, the operation Connection is fixedly connected by support base 410 between 400 bottom surface of platform and mounting platform 110, in the 420 embedding operation platform 400 of keyboard And 420 plane of keyboard is equal with 400 plane of station；By installing keyboard 420 on mobile box 100 and being electrically connected with computer It connects, so that doctor can be operated and be adjusted with surgical instrument to optronic tracker 270 at any time by keyboard 420 in the course of surgery It is whole, to meet real-time operation demand, and enable keyboard 420 to be stable in station in 420 embedding operation platform 400 of keyboard On 400, and it is mobile with mobile box 100 while also increase the soundness of keyboard 420.

As shown in Figure 1 and Figure 2, first control section 120,100 rear end of the mobile box setting are provided on station 400 There is the second control section 430 connecting with mobile box 100, first control section 120 and second control section 430 are set up separately and mobile box 100 rear and front end is moved easily cabinet 100 and pushes or pulls in moving process, effectively protects mobile box 100.

Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.

Claims

1. a kind of positioning device, including first support bar are connect with the first display by rotating fixing machine, the rotation is solid Determining mechanism includes the mobile guide sleeve being sheathed in first support bar, is horizontally arranged with adjusting screw rod and adjusting screw rod on mobile guide sleeve One end passes through mobile guide sleeve and is resisted against in first support bar, and mobile guide sleeve side extends radially outward interconnecting piece, the interconnecting piece Upper vertical articulation has the second rotating basis, and the first display rear end face is provided with the second installation pedestal, the second installation pedestal With the second rotating basis vertical articulation, control mechanism is keyboard, and the front end face of the cabinet is provided with a mounting platform, and installation is flat Station is tiltedly installed on platform, the keyboard is installed on station.

2. a kind of positioning device according to claim 1, it is characterised in that: the first support bar and the first lever arm it Between be provided with the first rotating basis, the first rotating basis and first support bar vertical articulation, first rotating bracket and first The first connection pedestal, the first connection pedestal and the first rotating bracket vertical articulation, first installation are provided between lever arm It is provided with connecting shaft between pedestal and the first rotating bracket, the connecting shaft and the first rotating bracket vertical articulation, connecting shaft and the One installation pedestal is horizontally hinged.