CN115300303A - Fixing device for knee joint surgical robot and surgical robot system - Google Patents
Fixing device for knee joint surgical robot and surgical robot system Download PDFInfo
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- CN115300303A CN115300303A CN202210927776.2A CN202210927776A CN115300303A CN 115300303 A CN115300303 A CN 115300303A CN 202210927776 A CN202210927776 A CN 202210927776A CN 115300303 A CN115300303 A CN 115300303A
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- foot
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- 230000007246 mechanism Effects 0.000 claims abstract description 129
- 238000000034 method Methods 0.000 claims abstract description 16
- 210000002683 foot Anatomy 0.000 claims description 141
- 238000001356 surgical procedure Methods 0.000 claims description 19
- 229920001971 elastomer Polymers 0.000 claims description 18
- 210000002303 tibia Anatomy 0.000 claims description 14
- 210000002414 leg Anatomy 0.000 claims description 12
- 210000000689 upper leg Anatomy 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 210000003127 knee Anatomy 0.000 claims description 2
- 230000005012 migration Effects 0.000 claims description 2
- 238000013508 migration Methods 0.000 claims description 2
- 210000001699 lower leg Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000001954 sterilising effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 229920001821 foam rubber Polymers 0.000 description 2
- 238000013150 knee replacement Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
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- 238000011883 total knee arthroplasty Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000012659 Joint disease Diseases 0.000 description 1
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- 208000035965 Postoperative Complications Diseases 0.000 description 1
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/1245—Knees, upper or lower legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/142—Surgical saws ; Accessories therefor with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1675—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/10—Devices for specific treatment or diagnosis for orthopedics
Abstract
The invention discloses a fixing device for a knee joint surgical robot and a surgical robot system, which comprise a foot support mechanism, a sliding mechanism and a supporting mechanism, wherein the sliding mechanism has linear horizontal direction movement freedom, the foot support mechanism is arranged at the sliding end of the sliding mechanism, the supporting mechanism is arranged at the end part of the sliding mechanism, and the foot support mechanism has horizontal direction rotation freedom relative to the sliding end of the sliding mechanism. The device has simple structure, light weight, small volume and convenient operation; the fixing device of the knee joint surgical robot is used together with the surgical robot, so that the labor amount of doctors and assistants is reduced, and the physical strength is saved; the fixing support can be fixed on a guide rail of the operating table, so that the stability of the device is improved; the mounting position of the supporting part is arranged on the side surface of the operating bed, so that the spongy cushion on the operating bed is not required to be taken off, and the labor amount in the operation process is reduced.
Description
Technical Field
The invention relates to the field of special holders, in particular to a fixing device for a knee joint operation robot.
Background
With the aging population, the incidence of knee joint lesions tends to increase year by year. The Total Knee Arthroplasty (TKA) is a new technology for treating Knee joint diseases, can effectively eradicate Knee joint pathological changes of patients, can quickly recover normal life after operation of the patients, and greatly improves the life quality of the operated objects.
In the context of knee replacement surgery, it is often desirable to keep the patient's limb stationary to facilitate the surgical procedure. In knee replacement surgery, for example, the leg of the patient needs to be held stationary during the osteotomy procedure. The traditional knee joint replacement operation is to hold the leg of the patient by hands of an assistant to keep the leg still. The fixing mode of the hand-held leg part increases the labor intensity of an assistant, the accuracy and the normative seriously depend on the operation experience of a doctor, the stability and the repeatability are poor, the effect of the knee joint replacement operation is seriously restricted, and the higher postoperative complication incidence is caused.
In recent years, with the advancement of science and technology, an orthopedic surgery robot is an auxiliary robot system capable of assisting an orthopedic surgeon in performing precise surgery, and has the advantages of high surgery precision, small wound on a patient, quick postoperative recovery, capability of reducing the operation intensity of the surgeon and the like. With the development of technology, more and more bone surgery operations are beginning to employ auxiliary robotic systems to improve the success rate of the operation. A complete surgical robotic platform is typically comprised of a robotic system, a master control system, an NDI positioning, tracking, and navigation system, and the like.
The leg support device that current patent application number is CN202010884487.X, the technological means that this patent provided, in clinical application process, and rely on the frictional force location that the dead weight produced between the operation table, and do not fix between the operation table, wholly belong to free state and cut the easy rock of bone operation in-process device to need take off the foam-rubber cushion on the operation table before the use, the doctor operates too complicatedly. If rely on the dead weight to produce the frictional force location, main part spare probably needs to use the metal material that density is big to process among the device, can lead to the whole weight of device great like this, and the doctor needs the transport in the use, consumes physical power. In addition, the leg support device needs to be sterilized at high temperature after being used, needs to be placed into a sterilization box, needs to be manually carried and placed into a corresponding area for sterilization, and is heavy in weight and high in physical strength.
In order to solve the above problems, a fixing device for a knee joint surgical robot is required.
Disclosure of Invention
The invention aims to solve the problems that the prior device and an operating bed are positioned by virtue of friction force generated by self weight and are not fixed with the operating bed, the device is easy to shake in the process of free osteotomy operation, a spongy cushion on the operating bed needs to be removed before use, the operation of a doctor is too complicated, the device is positioned by virtue of friction force generated by self weight, main parts in the device possibly need to be processed by using a metal material with high density, so that the whole weight of the device is larger, the doctor needs to carry and consume physical power in the use process, in addition, a leg support device needs to be sterilized at high temperature after use, needs to be put into a sterilizing box, needs to be carried manually and put into a corresponding area for sterilization, and the device has large weight and consumes physical power. The invention provides a fixing device for a knee joint operation robot, which is connected with a sickbed guide rail through a light structure, and solves the problems.
The invention provides a fixing device for a knee joint surgical robot, which comprises a foot rest mechanism, a sliding mechanism and a supporting mechanism, wherein one end of the sliding mechanism is connected with the supporting mechanism in a sliding manner along the length direction of the supporting mechanism, and the other end of the sliding mechanism is connected with the bottom of the foot rest mechanism in a rotating manner;
the supporting mechanism comprises at least two supporting locking blocks, and the at least two supporting locking blocks are respectively connected with the supporting mechanism and a slide rail of the sickbed;
the foot support mechanism is used for fixing and maintaining the position and the posture of the foot of the patient;
the sliding mechanism is used for adjusting and fixing the position and the direction of the foot support mechanism along the length direction of the sickbed;
the supporting mechanism is used for fixing the sliding mechanism in an adjustable mode along the length direction of the sickbed and transmitting stress of the foot support mechanism, the sliding mechanism and the feet of the patient to the sickbed.
The invention relates to a fixing device for a knee joint operation robot, which is characterized in that as a preferred mode, a foot support mechanism comprises an L-shaped foot support body, a support base support, a locking mechanism, a plurality of supports with the same number, hooks with the same number, rubber bands with the same number and locking blocks, wherein the support base support is fixed at one side close to a sliding mechanism, the support base support is positioned at two sides of the foot support body and is provided with mutually parallel sliding groove structures, the support is of a rod-shaped structure, the top end of the support is provided with an arc-shaped mounting block, the arc-shaped mounting block is provided with a plurality of concave positioning holes along the arc edge, the support is movably arranged in the sliding groove at one side of the support base support, the support is fastened in the sliding groove at one side of the support base support through the locking mechanism, one end of the rubber band is mounted on the arc-shaped mounting block of the support, the free end of the rubber band is connected with the hook, the top end of the locking block is movably arranged on the outer side surface of the bending part of the foot support body, the top end of the locking block and between the foot support body, the horizontal position of the axis of the locking block is provided with the horizontal position, the locking block, the bottom of the locking block is provided with the horizontal position structure, and the locking block structure, and the horizontal position is used for connecting the sliding mechanism.
The invention relates to a fixing device for a knee joint operation robot, which is characterized in that as an optimal mode, supports arranged on two sides of a support base are respectively a first support and a second support, the first support is movably arranged on one side close to a sliding rail, the radian of an arc-shaped positioning block at the top end of the first support is larger than that of an arc-shaped positioning block at the top end of the second support, and the shortest distance between the second support and the inner side of a sickbed is smaller than that between the first support and the inner side of the sickbed.
As a preferred mode, the support collet comprises sliding grooves and a collet body, the collet body is of a plate-shaped structure closely attached to the outer side surface of a shank part of a patient, which is attached to the foot support body, a mounting hole connected with the foot support body is formed in the middle of the collet body, the collet body is mounted on the foot support body through the mounting hole, two end parts of the collet body are respectively arranged in the directions of two sides of the foot support body, sliding grooves are respectively fixedly formed in the corresponding positions of the two end parts of the collet body, the axes of the sliding grooves are parallel to each other, mounting holes which are perpendicular to the axes and used for mounting a locking mechanism are formed in the two side surfaces of each sliding groove, and the mounting holes of the sliding grooves on the two sides are coaxial.
The spout is provided with at least one set ofly on the collet body, can also set up the multiunit to realize the regulation of different positions, perhaps set up the mounting hole in other positions of collet body both sides, according to the different situations, realize the regulation of the same group of spout in different positions.
The locking mechanism comprises a locking wrench, a locking wrench reset spring and a support limiting shaft, wherein an axial positioning plate is arranged in the middle of the support limiting shaft, positioning columns and limiting columns are arranged at two ends of the axial positioning plate respectively, the axial positioning plate of the support limiting shaft, the positioning columns and the limiting columns share the same axis, the positioning columns of the support limiting shaft penetrate through a chute inner side mounting hole, the diameter of the axis positioning plate of the support limiting shaft is larger than that of the chute inner side mounting hole, the axis positioning plate of the support limiting shaft contacts with the periphery of the chute inner side mounting hole, the limiting columns of the support limiting shaft are arranged in the chute, the locking wrench reset spring is embedded in the outer side of the limiting columns of the support limiting shaft, the diameter of the locking wrench reset spring is smaller than that of the axial positioning plate of the support limiting shaft, two ends of the locking wrench reset spring respectively contact with the outer side plate surface of the axial positioning plate of the support limiting shaft and the inner side of the rod portion of the support, the rod portion of the support is provided with a positioning hole used for matching with the locking mechanism, the diameter of the positioning hole of the rod portion of the support limiting shaft is larger than or equal to the diameter of the limiting column, and the locking wrench penetrates through the chute outer side mounting hole and is fastened with the top end of the support limiting column of the support limiting shaft.
The invention relates to a fixing device for a knee joint operation robot, which is characterized in that as an optimal mode, a sliding mechanism comprises a combined sliding rail consisting of a plurality of sliding rail sections which are connected in sequence and a platform sliding block arranged on the combined sliding rail;
the platform slider includes the slider, the platform body, the foot holds in the palm the adjusting block, foot holds in the palm adjusting block locking mechanism and slider lock, the slider sets up on the combination slide rail, platform body level sets up in slider one side top, foot holds in the palm adjusting block top be provided with locking block form complex counter bore structure, the activity of foot support adjusting block is partly buried to platform body upper surface, platform body inside and foot support adjusting block at least two point contacts, foot holds in the palm adjusting block top counter bore and sets up outside the platform body, foot holds in the palm adjusting block locking mechanism and is ejecting structure, foot holds in the palm adjusting block locking mechanism and sets up in platform body inside, foot holds in the palm adjusting block locking mechanism top and acts on foot and holds in the palm the adjusting block surface, foot holds in the palm adjusting block locking mechanism input and passes platform body upper surface activity and sets up in platform body top, the slider lock sets up and acts on the combination slide rail on the slider, the slider lock is used for fixing the position of slider on the combination slide rail.
The invention relates to a fixing device for a knee joint operation robot, which is characterized in that as a preferred mode, a foot rest adjusting block locking mechanism comprises a locking handle, a locking gear and a locking rack, one end of the locking handle is perpendicular to the end part of the locking handle and penetrates through a platform body to be fixedly connected with the center of the locking gear, the surface of the locking gear is parallel to a reference surface and is used for locking a handle force arm, the locking gear can be horizontally and rotatably fixed in the platform body, the locking gear is meshed with the locking rack, the locking rack has the horizontal movement freedom degree on a straight line passing through the centroid of the foot rest adjusting block, and one end of the locking rack is in contact with the foot rest adjusting block.
According to the fixing device for the knee joint operation robot, as a preferred mode, the foot support adjusting block is of a ball-segment structure and is in point contact with two ends of the platform body and in point contact with the locking rack, and a connecting line of a contact point of the locking rack and the foot support adjusting block and a side contact point of the platform body and the foot support adjusting block passes through the ball-segment ball center of the foot support adjusting block.
According to the fixing device for the knee joint operation robot, as an optimal mode, the block structure at the bottom of the locking block is of an inverted conical structure, the plane of the foot support adjusting block is provided with the inverted conical counter bore matched with the locking block, and the axis of the inverted conical counter bore is perpendicular to the plane of the ball gap of the foot support adjusting block.
According to the fixing device for the knee joint operation robot, as an optimal mode, the horizontal position positioning structure at the bottom end of the locking block is a horizontal cylindrical pin, the plane of the foot support adjusting block is provided with a horizontal matching groove, and the matching groove is matched with the cylindrical pin.
The fixing device for the knee joint surgical robot is characterized in that the supporting mechanism comprises a plurality of supporting locking blocks, and the supporting locking blocks are fixed on the lower surface of a sliding rail;
support the latch segment and include that the latch segment slide rail supports, the spacing post of toper, G word latch segment, guide rail lock spanner, reset spring, supporting pedestal and compact heap, supporting pedestal is the U-shaped structure, supporting pedestal passes through the bolt and installs in the slide rail bottom, the vertical reset spring that sets up in supporting pedestal bottom surface middle part, reset spring bottom mounting sets up the spacing post of toper, supporting pedestal bottom surface bilateral symmetry sets up the latch segment slide rail and supports, the latch segment slide rail supports for falling T shape rigid structure, G word latch segment is the channel-section steel structure, G word latch segment opening is to the inboard direction of sick bed, G word latch segment top is provided with the taper hole that cooperates the spacing post of toper, G word latch segment side upper edge inboard is provided with the side of a pair of inversion that uses the central line as the symmetry axis and opens T type recess, the latch segment slide rail supports in the lower extreme embedding T type recess, guide rail lock spanner runs through G word latch segment side middle part, guide rail lock spanner runs through the perpendicular through-axis of force, guide rail lock spanner runs through the arm of force G word latch segment one end at the inside swing joint of guide rail lock spanner compact heap, the clamp segment, guide rail lock spanner is the internal thread spanner, guide rail spanner, the internal thread spanner is the internal thread spanner.
Preferably, the block structure at the bottom of the locking block (1 a) is an inverted conical structure, the plane of the foot rest adjusting block (223) is arranged in an inverted conical counter bore matched with the locking block (1 a), and the axis of the inverted conical counter bore is vertical to the plane of the spherical segment of the foot rest adjusting block (223);
the horizontal position location structure of the bottom end of the locking block (1 a) is a horizontal cylindrical pin, a horizontal matching groove is formed in the plane of the foot support adjusting block (223), and the matching groove is matched with the cylindrical pin.
Preferably, the combined slide rail of the device is formed by combining a first slide rail and a second slide rail, a first slide rail nut is arranged on the first slide rail, a second slide rail bolt is arranged on the second slide rail, and the first slide rail and the second slide rail can be quickly connected together through threads.
Further, the using method of the device comprises the following steps:
s1, binding the foot of a patient on a foot support by using gauze;
s2, sliding the two G-shaped locking blocks into the sickbed guide rail, adjusting the positions, and rotating the first guide rail locking wrench and the second guide rail locking wrench clockwise to ensure that the pressing blocks are attached to the sickbed guide rail and fixed together;
s3, sleeving the sliding block module into the end sliding rail sections, and combining the sliding rail sections into a combined sliding rail;
s4, compressing the conical limiting columns on the sliding rail supporting locking blocks to contract, respectively inserting the two sliding rail supporting locking blocks on the sliding rail into the T-shaped grooves on the G-shaped locking blocks, and releasing the conical limiting columns to extend out and insert the conical limiting columns into the round holes of the G-shaped locking blocks;
s5, inserting the tapered locking block on the foot support into the tapered groove on the sliding module, and after the sliding foot support enables the femur and the tibia of a patient to form an angle of 90 degrees, clockwise rotating the sliding block locking wrench to lock the sliding module onto the sliding rail.
S6, inserting the first support and the second support into a support base, and respectively locking the first support and the second support on the support base by using a first locking wrench and a second locking wrench;
s7, connecting the first hook and the second hook to the first support and the second support respectively by using the first rubber band and the second rubber band.
Further, a system constituted by the present apparatus includes: the robot comprises a mechanical arm trolley, a master control trolley, an NDI trolley, a fixing device for a knee joint operation robot, a tibia calibration frame and a femur positioning frame.
The mechanical arm trolley is used for executing an instruction sent by the main control trolley and assisting a doctor in finishing knee joint osteotomy work, and a mechanical arm and a swing saw are arranged on the mechanical arm trolley;
the main control trolley is used for sending a control command to the mechanical arm trolley according to a control command input by a doctor;
the NDI trolley is used for identifying the positions of the femur positioning frame and the tibia positioning frame and sending the position information to the main control trolley;
the fixing device for the knee joint surgical robot is used for fixing feet and shanks of a patient and ensuring the stability of the legs of the patient in the osteotomy process of the total knee joint replacement surgical robot;
the tibia calibration frame is used for calibrating the position of the tibia of the patient;
and the femur positioning frame is used for calibrating the position of the femur of the patient.
The invention has the following beneficial effects:
(1) The device has simple structure, light weight, small volume and convenient operation;
(2) The fixing device for the knee joint surgical robot is used together with the surgical robot, so that the labor amount of doctors and assistants is reduced, and the physical strength is saved;
(3) The fixing support can be fixed on a guide rail of the operating table, so that the stability of the device is improved, and various problems caused by the stable design of the device through self weight are avoided;
(4) The mounted position of this device support part is in the side of operation table, consequently need not take off the foam-rubber cushion on the operation table, alleviates the amount of labour among the operation process.
Drawings
FIG. 1 is a schematic view of a fixation device for a knee joint surgical robot;
FIG. 2 is a schematic view of a foot rest mechanism of a fixation device for a knee joint surgical robot;
FIG. 3 is a schematic view of a holder shoe of a fixing device for a knee joint surgery robot;
FIG. 4 is a schematic view of a first locking mechanism of a fixation device for a knee joint surgical robot;
FIG. 5 is a schematic view of a second locking mechanism of a fixation device for a knee joint surgical robot;
FIG. 6 is a schematic view of a sliding mechanism of a fixture for a knee joint surgical robot;
FIG. 7 is a schematic view of a platform slide for a fixation device of a knee joint surgical robot;
FIG. 8 is a schematic view of a foot rest adjustment block locking mechanism for a fixation device of a knee joint surgical robot;
FIG. 9 is a schematic view of a support mechanism for a fixation device of a knee joint surgical robot;
FIG. 10a is a schematic view of a first supporting locking block of a fixing device for a knee joint surgical robot;
FIG. 10b is a second view of the first supporting locking block of the fixing device for the knee joint operation robot;
FIG. 11a is a schematic view of a second supporting locking block of the fixing device for a knee joint surgical robot;
FIG. 11b is a second schematic view of a second supporting locking block of the fixing device for a knee joint surgical robot;
FIG. 12 is a schematic view of a combination slide rail for a fixation device of a knee joint surgical robot;
FIG. 13 is a flow chart of a method of using a fixation device for a knee surgery robot;
fig. 14 is a schematic view of a surgical robotic system.
Reference numerals are as follows:
1. a foot rest mechanism; 11. a foot rest body; 12. a bracket bottom support; 121. a first chute; 122. a second chute; 123. a collet body; 13. a first locking mechanism; 131. a first locking wrench; 132. a first locking wrench return spring; 133. a first bracket limiting shaft; 14. a second locking mechanism; 141. a second locking wrench; 142. a second locking wrench return spring; 143. a second bracket limiting shaft; 15. a first bracket; 16. a first hook; 17. a first rubber band; 18. a second bracket; 19. a second hook; 10. a second rubber band; 1a, a locking block; 2. a sliding mechanism; 21. combining the slide rails; 211. a first slide rail; 212. a second slide rail; 213. a first slide rail nut; 214. a second slide bolt; 22. a platform slide block; 221. a sliding body; 222. a platform body; 223. a foot rest adjusting block; 224. a foot rest adjusting block locking mechanism; 2241. locking the handle; 2242. a lock gear; 2243. locking the rack; 225. a slider lock; 3. a support mechanism; 31. a first supporting locking block; 311. the first locking block is supported by the first sliding rail; 312. the first locking block is supported by the second sliding rail; 313. a first tapered limiting column; 314. a first G-shaped locking block; 315. a first rail lock wrench; 316. a first return spring; 317. a first support base; 318. a first compact block; 32. a second supporting locking block; 321. the second locking block is supported by the first sliding rail; 322. the second locking block is supported by a second sliding rail; 323. a second tapered limiting column; 324. a second G-shaped locking block; 325. a second rail locking wrench; 326. a second return spring; 327. a second support base; 328. a second compact block; 01. a mechanical arm trolley; 02. a main control trolley; 03. an NDI trolley; 04. a fixing device of the knee joint operation robot; 05. a tibial calibration stand; 06. a femoral positioning frame; 07. a mechanical arm; 08. and (5) swinging the saw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
As shown in fig. 1, a fixing device for a knee joint surgery robot comprises a foot rest mechanism 1, a sliding mechanism 2 and a supporting mechanism 3, wherein one end of the sliding mechanism (2) is connected with the supporting mechanism (3) in a sliding manner along the length direction of the supporting mechanism (3), and the other end of the sliding mechanism (2) is connected with the bottom of the foot rest mechanism (1) in a rotating manner;
the supporting mechanism (3) comprises at least two supporting locking blocks, and the at least two supporting locking blocks are respectively connected with the supporting mechanism (3) and a slide rail of a sickbed;
the foot support mechanism 1 is used for fixing and maintaining the position and the posture of the foot of a patient;
the sliding mechanism 2 is used for adjusting and fixing the position and the direction of the foot support mechanism 1 along the length direction of the sickbed;
the supporting mechanism 3 is used for fixing the sliding mechanism 2 in an adjustable manner along the length direction of the sickbed and transmitting stress of the foot support mechanism 1, the sliding mechanism 2 and the feet of the patient to the sickbed.
This device adopts the mode securing device who fixes at the operation table, combines device and operation table, makes the patient's dead weight as steady power, avoids adopting big dead weight design to the device, causes the service problem that big dead weight design led to the fact. For solving the problem that the modularization installation is difficult to position once, the device adopts multiple dimensions to adjust the position so as to meet the requirement that the diseased limb of the patient is positioned at a suitable position.
The foot support mechanism 1 enables the foot and the lower leg of the patient to keep a 90-degree included angle in the knee joint operation process.
As shown in fig. 2, the foot rest mechanism 1 comprises a foot rest body 11, a bracket bottom support 12, a first locking mechanism 13, a second locking mechanism 14 and a first bracket 15, the first hook 16, the first rubber band 17, the second bracket 18, the second hook 19, the second rubber band 10 and the locking block 1a, the foot rest body 11 is L-shaped, the inner side surface of the foot rest body 11 is attached to the sole and the rear side of the lower leg of a patient and is attached to the ankle joint of the patient through the folding part of the L-shaped structure, the bracket bottom support 12 is fixed on the outer side surface of the part of the foot rest body 11 attached to the rear side of the lower leg of the patient, the bracket bottom support 12 is provided with sliding groove structures which are parallel to each other at two sides of the foot rest body 11, the first bracket 15 and the second bracket 18 are both rod-shaped structures with arc-shaped mounting blocks at the top ends, arc-shaped edges of the arc-shaped mounting blocks are provided with a plurality of concave positioning holes, the first bracket 15 is movably arranged in the sliding groove at one side of the bracket bottom support 12, the second bracket 18 is movably arranged in the sliding groove at the other side of the bracket bottom support 12, first support 15 fastens in the one side spout of support collet 12 through first locking mechanism 13, second support 18 fastens in the opposite side spout of support collet 12 through second locking mechanism 14, the first rubber band 17 one end of arc installation piece installation of first support 15, first couple 16 is connected to first rubber band 17 free end, the second rubber band 10 one end of arc installation piece installation of second support 18, second couple 19 is connected to second rubber band 10 free end, the activity of latch segment 1a top sets up in the outside surface of foot support body 11 department of buckling, latch segment 1a top has the planar rotatory degree of freedom of perpendicular foot support body 11 axis place between the foot support body 11, latch segment 1a middle part is provided with horizontal position location structure, latch segment 1a bottom is the block structure, the block structure is used for connecting slide mechanism 2.
Heel brace body medial surface laminating patient sole and shank rear side and through L shape structure folding department laminating patient ankle joint, first couple and second couple, during knee joint operation, patient knee joint position has the operation incision, shows out the knee joint, uses first couple and second couple to draw the incision skin meat of knee joint department to both sides this moment. Both supports are vertical adjustable structures and are matched with the height of the diseased limb of the patient.
The radian of the arc-shaped positioning block at the top end of the first support 15 is larger than that of the arc-shaped positioning block at the top end of the second support 18, and the shortest distance between the second support 18 and the inner side of the sickbed is smaller than that between the first support 15 and the inner side of the sickbed.
The arc-shaped positioning block at the top of the second support is short in length, so that the shin bone calibration frame can be prevented from being shielded, and the NDI trolley can be ensured to completely identify the appearance of the shin bone calibration frame.
As shown in fig. 3, the bracket shoe 12 includes a first sliding slot 121, a second sliding slot 122 and a shoe body 123, the shoe body 123 is a plate-shaped structure closely attached to the outer side surface of the lower leg part of the patient attached to the shoe body 11, a mounting hole connected to the shoe body 11 is provided in the middle of the shoe body 123, the shoe body 123 is mounted on the shoe body 11 through the mounting hole, two ends of the shoe body 123 are respectively disposed in the directions of two sides of the shoe body 11, the two ends of the shoe body 123 are respectively and fixedly provided with the first sliding slot 121 and the second sliding slot 122, the axes of the first sliding slot 121 and the second sliding slot 122 are parallel to each other, two side surfaces of the first sliding slot 121 are provided with mounting holes for mounting the first locking mechanism 13, which are perpendicular to the axis, two side surfaces of the second sliding slot 122 are provided with mounting holes for mounting the second locking mechanism, the mounting holes of the first locking mechanism 13 of the first sliding slot 121 and the mounting holes of the second locking mechanism 14 of the second sliding slot 122 are coaxial;
as shown in fig. 4, the first locking mechanism 13 includes a first locking wrench 131, a first locking wrench return spring 132 and a first bracket limiting shaft 133, an axial positioning plate is disposed in the middle of the first bracket limiting shaft 133, a positioning post and a limiting post are disposed at two ends of the axial positioning plate respectively, the axial positioning plate, the positioning post and the limiting post of the first bracket limiting shaft 133 share a common axis, the positioning post of the first bracket limiting shaft 133 passes through an inner side mounting hole of the first sliding groove 121, the diameter of the axial positioning plate of the first bracket limiting shaft 133 is greater than the diameter of the inner side mounting hole of the first sliding groove 121, the axial positioning plate of the first bracket limiting shaft 133 contacts the periphery of the inner side mounting hole of the first sliding groove 121, the limiting post of the first bracket limiting shaft 133 is disposed inside the first sliding groove 121, the first locking wrench return spring 132 is nested outside the limiting post of the rod portion of the first bracket limiting shaft 133, the diameter of the first locking wrench return spring 132 is smaller than the diameter of the axial positioning plate of the first bracket limiting shaft 133, two ends of the axial positioning plate of the first locking wrench return spring 132 contact the axial positioning plate of the axial positioning hole of the first bracket limiting shaft 133 and the inner side of the first bracket limiting shaft 121, two ends of the axial positioning plate of the first bracket limiting shaft 133 are respectively, the axial positioning plate are greater than the diameter of the first bracket limiting shaft 121, the first bracket 15, the axial positioning plate, the first bracket 15 is disposed along the axial positioning plate, the first bracket 15 is greater than the diameter of the axial positioning plate, the axial positioning plate 131, the first bracket limiting shaft 133, the first bracket 15 is equal to the first bracket limiting shaft 15;
as shown in fig. 5, the second locking mechanism 14 includes a second locking wrench 141, a second locking wrench return spring 142 and a second support limiting shaft 143, an axial positioning plate is disposed in the middle of the second support limiting shaft 143, positioning columns and limiting columns are disposed at two ends of the axial positioning plate respectively, the axial positioning plate, the positioning columns and the limiting columns of the second support limiting shaft 143 share a common axis, the positioning column of the second support limiting shaft 143 passes through the inner side mounting hole of the second sliding chute 122, the diameter of the axial positioning plate of the second support limiting shaft 143 is greater than the diameter of the inner side mounting hole of the second sliding chute 122, the axial positioning plate of the second support limiting shaft 143 contacts the periphery of the inner side mounting hole of the second sliding chute 122, the limiting columns of the second support limiting shaft 143 are disposed inside the second sliding chute 122, the second locking wrench return spring 142 is nested outside the rod of the second support limiting shaft 143, the diameter of the second locking wrench return spring 142 is smaller than the diameter of the axial positioning hole of the second support limiting shaft 143, two ends of the second locking wrench return spring 142 contact the axial positioning plate of the second support limiting shaft 143 and the axial positioning plate of the second support limiting shaft 143, the axial positioning plate and the diameter of the second support limiting shaft 143 is greater than the diameter of the top of the second support limiting shaft 143.
In the embodiment, the positioning is realized by fastening after passing through the positioning hole of the bracket, and the fastening mode can be any stable fastening means such as threaded connection or pin connection.
As shown in fig. 6, the sliding mechanism 2 includes a combined slide rail 21 composed of a plurality of slide rail segments connected in series, and a platform slide block 22 movably disposed on the combined slide rail 21;
as shown in fig. 7, the platform slider 22 includes a sliding body 221, a platform body 222, a foot support adjusting block 223, a foot support adjusting block locking mechanism 224 and a sliding body lock 225, the sliding body 221 is disposed on the combined slide rail 21, the platform body 222 is horizontally disposed on the top end of one side of the sliding body 221, a counter bore structure matched with the locking block 1a in shape is disposed at the top of the foot support adjusting block 223, the foot support adjusting block 223 is movably half-buried on the upper surface of the platform body 222, at least two points of contact between the inside of the platform body 222 and the foot support adjusting block 223 are disposed outside the platform body 222, the foot support adjusting block locking mechanism 224 is an ejection structure, the foot support adjusting block locking mechanism 224 is disposed inside the platform body 222, the ejection end of the foot support adjusting block locking mechanism 224 acts on the outer surface of the foot support adjusting block 223, the input end of the foot support adjusting block locking mechanism 224 passes through the upper surface of the platform body 222 and is movably disposed above the platform body 222, the sliding body lock 225 is disposed on the combined slide rail 21 and the sliding body lock 225 is used for fixing the position of the sliding body 221 on the combined slide rail 21.
The foot holds in the palm the adjusting block and carries out the foot and hold in the palm the direction adjustment as universal adjusting shaft to satisfy the position demand in the work, the slide can provide the horizontal migration of a direction simultaneously and satisfy the various height circumstances of patient.
As shown in fig. 8, the foot rest adjusting block locking mechanism 224 includes a locking handle 2241, a locking gear 2242 and a locking rack 2243, one end of the locking handle 2241 is perpendicular to the end of the locking handle 2241 and passes through the platform body 222 to be fixedly connected with the center of the locking gear 2242, the locking gear 2242 is parallel to the arm of force of the locking handle 2241 on the reference surface, the locking gear 2242 is horizontally and rotatably fixed in the platform body 222, the locking gear 2242 is meshed with the locking rack 2243, the locking rack 2243 has a horizontal moving freedom degree on the straight line passing through the centroid of the foot rest adjusting block 223, and one end of the locking rack 2243 is contacted with the foot rest adjusting block 223.
In this embodiment, the foot rest adjusting block 223 is a segment structure and contacts the platform body 222 at two points and contacts the locking rack 2243 at one point, and the contact point between the locking rack 2243 and the foot rest adjusting block 223 and the connection line of the side contact point between the platform body 222 and the foot rest adjusting block 223 pass through the segment center of the foot rest adjusting block 223.
The spherical surface of the foot support adjusting block contacts with the sliding block and can rotate relative to the sliding block, and the foot support adjusting block is tightly propped against the foot support adjusting block through the foot support adjusting block locking mechanism to limit the rotation of the foot support adjusting block.
The block structure at the bottom of the locking block 1a is an inverted cone-shaped structure, an inverted cone-shaped counter bore matched with the locking block 1a is arranged on the plane of the foot support adjusting block 223, and the axis of the inverted cone-shaped counter bore is vertical to the plane of a spherical segment of the foot support adjusting block 223. The horizontal position location structure of latch segment 1a bottom is horizontal cylindric lock, and the plane of foot support adjusting block 223 is provided with horizontal cooperation groove, cooperation groove cooperation cylindric lock.
The locking block and the foot support are connected together through a screw, a cylindrical pin is arranged, and the cylindrical pin and the tapered locking block are in interference connection; the cylindrical pin can prevent the foot rest from rotating relative to the sliding module.
As shown in fig. 9, the supporting mechanism 3 includes a first supporting locking block 31 and a second supporting locking block 32, and the first supporting locking block 31 and the second supporting locking block 32 are respectively fixed on the lower surface of the slide rail of the sliding mechanism 2;
as shown in fig. 10a and 10b, the first support locking block 31 comprises a first locking block first slide rail support 311, a first locking block second slide rail support 312, a first tapered limiting column 313, a first G-shaped locking block 314, the locking device comprises a first guide rail locking wrench 315, a first reset spring 316, a first support base 317 and a first pressing block 318, wherein the first support base 317 is of a U-shaped structure, the first support base 317 is installed at the bottom of a slide rail through a bolt, the first reset spring 316 is vertically arranged in the middle of the bottom surface of the first support base 317, a first conical limiting column 313 is fixedly arranged at the bottom end of the first reset spring 316, first locking block first slide rail supports 311 and first locking block second slide rail supports 312 are symmetrically arranged on two sides of the bottom surface of the first support base 317, the first locking block first slide rail supports 311 and the first locking block second slide rail supports 312 are both of inverted T-shaped rigid structures, a G-shaped locking block 1a is of a channel steel structure, the opening of the first G-shaped locking block 314 faces the inner side direction of a sickbed, the top of the first G-shaped locking block 314 is provided with a taper hole matched with the first conical limiting column 313, the inner side of the upper edge line of the side surface of the first G-shaped locking block 314 is provided with a pair of inverted side-opened T-shaped grooves which take a central line as a symmetrical axis, the lower end of the first locking block first slide rail support 311 and the lower end of the first locking block second slide rail support 312 are both embedded into the T-shaped grooves, a first guide rail locking wrench 315 penetrates through the middle part of the side surface of the first G-shaped locking block 314, the force arm of the first guide rail locking wrench 315 vertically penetrates through the shaft, the end part of one end of the first guide rail locking wrench 315 penetrating through the first G-shaped locking block 314 is movably connected with the first pressing block 318 inside the first guide rail locking wrench 315, the contact hole of the first guide rail locking wrench 315 is an internal thread hole, and the penetrating end of the first guide rail locking wrench 315 is of an external thread structure;
as shown in fig. 11a and 11b, the second support locking block 32 comprises a second locking block first slide rail support 321, a second locking block second slide rail support 322, a second conical limiting column 323, a second G-shaped locking block 324, a second guide rail locking wrench 325, a second reset spring 326, a second support base 327 and a second pressing block 328, wherein the second support base 327 is a U-shaped structure, the second support base 327 is installed at the bottom of the slide rail through a bolt, the second reset spring 326 is vertically arranged at the middle part of the bottom surface of the second support base 327, a second conical limiting column 323 is fixedly arranged at the bottom end of the second reset spring 326, a first slide rail support 321 of the second locking block and a second slide rail support 322 of the second locking block are symmetrically arranged at two sides of the bottom surface of the second support base 327, the first slide rail support 321 of the second locking block and the second slide rail support 322 of the second locking block are both inverted T-shaped rigid structures, the second G-shaped locking block 324 is a channel steel structure, and the opening of the second G-shaped locking block 324 faces the inner side direction of the hospital bed, the top of the second G-shaped locking block 324 is provided with a taper hole matched with the second tapered limiting column 323, the inner side of the upper edge line of the side surface of the second G-shaped locking block 324 is provided with a pair of inverted side-opened T-shaped grooves which take a central line as a symmetry axis, the lower end of the first sliding rail support 321 of the second locking block and the lower end of the second sliding rail support 322 of the second locking block are both embedded into the T-shaped grooves, the second guide rail locking wrench 325 penetrates through the middle part of the side surface of the second G-shaped locking block 324, the force arm of the second guide rail locking wrench 325 vertically penetrates through the shaft, the second guide rail locking wrench 325 penetrates through one end part of the G-shaped locking block 1a and is movably connected with the second pressing block 328 inside the second guide rail locking wrench 325, the contact hole of the second guide rail locking wrench 325 is an internal threaded hole, and the penetrating end of the second guide rail locking wrench 325 is of an external threaded structure.
The G word locking piece can be locked to the sick bed guide rail on, is provided with compact heap and guide rail locking spanner on the G word locking piece, guide rail locking spanner passes through threaded connection with G word locking piece, uses the screw to connect the compact heap on locking spanner, and clockwise rotation locking spanner can promote the compact heap and move forward, can lock G word locking piece to the sick bed guide rail on.
In this embodiment, the foot holds in the palm and adopts aluminum alloy material, and the slide rail in the support part adopts carbon fiber material. The carbon fiber material has the characteristics of light weight and good mechanical property, so that the whole weight of the fixing brace is light, and the burden of a doctor in the using process is reduced.
As shown in fig. 12, the combined slide rail 21 is formed by combining a first slide rail 211 and a second slide rail 212, a first slide rail nut 213 is disposed on the first slide rail 211, a second slide rail bolt 214 is disposed on the second slide rail 212, and the first slide rail 211 and the second slide rail 212 can be quickly connected together through a thread.
As shown in fig. 13, the method of using the device includes the following steps:
s1, binding the foot of a patient on a foot support by using gauze;
s2, sliding the two G-shaped locking blocks into the sickbed guide rail, adjusting the positions, and rotating the first guide rail locking wrench and the second guide rail locking wrench clockwise to ensure that the pressing blocks are attached to the sickbed guide rail and fixed together;
s3, sleeving the sliding block module into the end sliding rail sections, and combining the sliding rail sections into a combined sliding rail;
s4, compressing the conical limiting columns on the sliding rail supporting locking blocks to contract, respectively inserting the two sliding rail supporting locking blocks on the sliding rail into the T-shaped grooves on the G-shaped locking blocks, and releasing the conical limiting columns to extend out and insert the conical limiting columns into the round holes of the G-shaped locking blocks;
s5, inserting the tapered locking block on the foot support into the tapered groove on the sliding module, and after the foot support is slid to enable the femur and the tibia of a patient to form an angle of 90 degrees, clockwise rotating the sliding block locking wrench to lock the sliding module on the sliding rail;
s6, inserting the first support and the second support into a support base, and respectively locking the first support and the second support on the support base by using a first locking wrench and a second locking wrench;
and S7, connecting the first hook and the second hook to the first support and the second support respectively by using the first rubber band and the second rubber band.
As shown in fig. 14, the system constituted by the present apparatus includes: the robot comprises a mechanical arm trolley 01, a master control trolley 02, an NDI trolley 03, a fixing device 04 of a knee joint operation robot, a tibia calibration frame 05 and a femur positioning frame 06.
The mechanical arm trolley 01 is used for executing an instruction sent by the main control trolley and assisting a doctor in finishing knee joint osteotomy work, and a mechanical arm 07 and a swing saw 08 are arranged on the mechanical arm trolley 01;
the main control trolley 02 is used for sending a control command to the mechanical arm trolley according to a control command input by a doctor;
the NDI trolley 03 is used for identifying the positions of the femur positioning frame and the tibia positioning frame and sending the position information to the main control trolley;
the fixing device 04 of the knee joint surgical robot is used for fixing the feet and the lower legs of the patient and ensuring the stability of the legs of the patient in the osteotomy process of the total knee joint replacement surgical robot;
a tibia calibration frame 05 for calibrating the position of the tibia of the patient;
and the femur positioning frame 06 is used for calibrating the position of the femur of the patient.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A fixation device for a knee joint surgical robot, comprising: the foot support mechanism (1), the sliding mechanism (2) and the supporting mechanism (3);
one end of the sliding mechanism (2) is connected with the supporting mechanism (3) in a sliding mode along the length direction of the supporting mechanism (3), and the other end of the sliding mechanism (2) is connected with the bottom of the foot support mechanism (1) in a rotating mode;
the supporting mechanism (3) comprises at least two supporting locking blocks, and the at least two supporting locking blocks are respectively connected with the supporting mechanism (3) and a slide rail of a sickbed;
wherein the foot rest mechanism (1) is used for fixing and maintaining the position and the posture of the foot of a patient;
the sliding mechanism (2) is used for adjusting and fixing the position and the direction of the foot support mechanism (1) along the length direction of the sickbed;
the supporting mechanism (3) is used for fixing the sliding mechanism (2) in a length direction of the sickbed in an adjustable mode and transmitting stress of the foot support mechanism (1), the sliding mechanism (2) and the feet of the patient to the sickbed.
2. A fixation device for a knee joint surgery robot according to claim 1, characterized in that: the foot support mechanism (1) comprises an L-shaped foot support body, a support base (12), locking blocks (1 a), the same number of locking mechanisms, the same number of supports, the same number of hooks, the same number of rubber bands and the same number of locking blocks;
the bracket bottom support (12) is fixed on one side, close to the sliding mechanism (2), of the foot support body (11), and sliding groove structures which are parallel to each other are arranged on two sides, located on the foot support body (11), of the bracket bottom support (12);
the support is of a rod-shaped structure, the top end of the support is provided with an arc-shaped mounting block, the arc edge of the arc-shaped mounting block is provided with a plurality of concave positioning holes, and the support is fastened in the sliding groove of the support base through the locking mechanism;
the arc-shaped mounting block of the bracket is mounted at one end of the rubber band, and the free end of the rubber band is connected with the hook;
the locking mechanism is characterized in that the top end of the locking block (1 a) is movably arranged on the outer side surface of a bending part of the foot support body (11), the top end of the locking block and the foot support body are perpendicular to each other, the rotation freedom degree of the plane where the axis of the foot support body is located is planar, a horizontal position positioning structure is arranged in the middle of the locking block (1 a), the bottom of the locking block (1 a) is of a block structure, and the block structure is used for being connected with the sliding mechanism (2).
3. A fixation device for a knee joint surgery robot according to claim 2, characterized in that: the bracket bottom support (12) comprises a sliding groove and a bottom support body (123), wherein the sliding groove is respectively arranged at the corresponding position of the two sides of the bracket bottom support, wherein,
the middle part of the bottom support body (123) is provided with a mounting hole connected with the foot support body (11), and the bottom support body (123) is mounted on the foot support body (11) through the mounting hole;
the two end parts of the collet body (123) are respectively arranged in the directions of two sides of the foot collet body (11), the corresponding positions of the two end parts of the collet body (123) are respectively fixedly arranged in the sliding grooves, the axes of the sliding grooves are mutually parallel, the two side surfaces of the sliding grooves are provided with mounting holes which are perpendicular to the axes and are used for mounting the locking mechanisms, and the sliding grooves in the corresponding positions share the axis among the mounting holes of the locking mechanisms.
4. A fixation device for a knee joint surgery robot according to claim 3, characterized in that:
each locking mechanism comprises a locking wrench, a locking wrench return spring and a support limiting shaft;
the middle part of the support limiting shaft is an axial positioning plate, two ends of the axial positioning plate are respectively provided with a positioning column and a limiting column, the axial positioning plate, the positioning column and the limiting column of the support limiting shaft share an axial line, the positioning column of the support limiting shaft penetrates through the mounting hole at the inner side of the chute, the diameter of the axis positioning plate of the support limiting shaft is larger than that of the mounting hole at the inner side of the chute, the axis positioning plate of the support limiting shaft contacts the periphery of the mounting hole at the inner side of the chute, and the limiting column of the support limiting shaft is arranged inside the chute;
the locking spanner reset spring is nested in the outer side of the limiting column of the support limiting shaft, the diameter of the locking spanner reset spring is smaller than that of the axial positioning plate of the support limiting shaft, the diameter and the two ends of the axial positioning plate of the support limiting shaft are respectively in contact with the outer side plate surface of the axial positioning plate of the support limiting shaft and the inner side of the rod part of the support, the rod part of the support is provided with a positioning hole used for being matched with the locking mechanism along the rod, the diameter of the positioning hole in the rod part of the support is larger than or equal to the diameter of the limiting column of the support limiting shaft, and the locking spanner penetrates through the installation hole in the outer side of the sliding groove and is fastened to the top end of the limiting column of the support limiting shaft.
5. A fixation device for a knee joint surgery robot according to claim 2, characterized in that: the sliding mechanism (2) comprises a combined sliding rail (21) consisting of a plurality of sequentially connected sliding rail sections and a platform sliding block (22) movably arranged on the combined sliding rail (21);
the platform sliding block (22) comprises a sliding body (221), a platform body (222), a foot support adjusting block (223), a foot support adjusting block locking mechanism (224) and a sliding body lock (225), the sliding body (221) is arranged on the combined sliding rail (21), the platform body (222) is horizontally arranged at the top end of one side of the sliding body (221), a counter bore structure matched with the locking block (1 a) in shape is arranged at the top of the foot support adjusting block (223), the foot support adjusting block (223) is movably and semi-buried in the upper surface of the platform body (222), the interior of the platform body (222) is in contact with the foot support adjusting block (223) at least at two points, the counter bore at the top of the foot support adjusting block (223) is arranged outside the platform body (222), the foot support adjusting block locking mechanism (224) is of an ejection structure, the foot support adjusting block locking mechanism (224) is arranged inside the platform body (222), the ejection end of the foot support adjusting block locking mechanism (224) acts on the outer surface of the foot support adjusting block (221), the sliding body (221) is arranged above the sliding rail (21) and the sliding body (225) is used for fixing the position of the combined sliding body (21).
6. A fixation device for a knee joint surgery robot according to claim 5, characterized in that: foot holds in palm adjusting block locking mechanism (224) including locking handle (2241), locking gear (2242) and locking rack (2243), locking handle (2241) one end is perpendicular locking handle (2241) tip passes platform body (222) fixed connection locking gear (2242) center just locking gear (2242) table is parallel to the reference surface locking handle (2241) arm of force, locking gear (2242) level can be fixed in platform body (222), locking gear (2242) meshing locking rack (2243), locking rack (2243) has and is crossing the horizontal migration degree of freedom on foot holds in the palm adjusting block (223) centroid straight line, locking rack (2243) one end contact foot holds in the palm adjusting block (223).
7. A fixation device for a knee joint surgery robot according to claim 6, characterized in that:
foot holds in palm adjusting block (223) for the segment of a sphere structure and with platform body (222) two point contact with locking rack (2243) one point contact, locking rack (2243) with the contact point of foot support adjusting block (223) with platform body (222) with the side connection of contact of foot support adjusting block (223) is crossed the segment of a sphere centre of foot support adjusting block (223).
8. A fixation device for a knee joint surgery robot according to claim 1, characterized in that:
the supporting mechanism (3) comprises a plurality of supporting locking blocks, and the supporting locking blocks (31) are fixed on the lower surface of the sliding rail;
the support latch segment includes spacing post of toper, G word latch segment, guide rail lock spanner, reset spring, supporting pedestal, corresponds to set up and supports and the compact heap at supporting pedestal bottom surface both sides latch segment slide rail, the supporting pedestal is the U-shaped structure, the supporting pedestal pass through the bolt install in the slide rail bottom, the vertical setting in supporting pedestal bottom surface middle part reset spring, reset spring bottom mounting sets up spacing post of toper, the latch segment slide rail supports to fall T shape rigid structure, G word latch segment is the channel-section steel structure, G word latch segment opening is to sick bed inboard direction, G word latch segment top is provided with the cooperation the taper hole of spacing post of toper, the last sideline inboard of G word latch segment side is provided with the side of using the central line to open T type recess as a pair of inversion of symmetry axis and opens T type recess, the latch segment slide rail supports in the lower extreme embedding T type recess, guide rail lock spanner runs through G word latch segment side middle part, guide rail lock spanner passes through the axle perpendicularly, guide rail lock runs through the end of G word latch segment one end is in the guide rail lock spanner internal thread structure.
9. A fixation device for a knee joint surgery robot according to claim 5, characterized in that:
the block structure at the bottom of the locking block (1 a) is an inverted conical structure, the plane of the foot support adjusting block (223) is arranged in an inverted conical counter bore matched with the locking block (1 a), and the axis of the inverted conical counter bore is vertical to the plane of a spherical segment of the foot support adjusting block (223);
the horizontal position locating structure at the bottom end of the locking block (1 a) is a horizontal cylindrical pin, a horizontal matching groove is formed in the plane of the foot support adjusting block (223), and the matching groove is matched with the cylindrical pin.
10. A surgical robotic system, comprising: -a robotic arm trolley (01), a master trolley (02), an NDI trolley (03), a tibial calibration stand (05), a femoral positioning stand (06) and a fixation device (04) for a knee surgery robot according to any of claims 1-9;
the mechanical arm trolley (01) is used for executing an instruction sent by the main control trolley and assisting a doctor in finishing knee joint osteotomy work, and a mechanical arm (07) and a swinging saw (08) are arranged on the mechanical arm trolley;
the main control trolley (02) is used for sending a control command to the mechanical arm trolley according to a control command input by a doctor;
the NDI trolley (03) is used for identifying the positions of the femur positioning frame and the tibia positioning frame and sending the position information to the main control trolley;
the fixing device (04) of the knee joint surgical robot is used for fixing the feet and the lower legs of the patient and ensuring the stability of the legs of the patient in the osteotomy process of the total knee joint replacement surgical robot;
a tibial calibration stand (05) for calibrating the position of the tibia of the patient;
a femoral positioning frame (06) for calibrating the position of the femur of the patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210927776.2A CN115300303A (en) | 2022-08-03 | 2022-08-03 | Fixing device for knee joint surgical robot and surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210927776.2A CN115300303A (en) | 2022-08-03 | 2022-08-03 | Fixing device for knee joint surgical robot and surgical robot system |
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| CN115300303A true CN115300303A (en) | 2022-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210927776.2A Pending CN115300303A (en) | 2022-08-03 | 2022-08-03 | Fixing device for knee joint surgical robot and surgical robot system |
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| US20050278851A1 (en) * | 2004-06-21 | 2005-12-22 | Demayo Edward N | Operating table support clamp |
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Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Beijing Changmugu Medical Technology Co.,Ltd. Applicant after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Applicant before: Zhang Yiling |