CN116407277A

CN116407277A - Passive operation support positioning system and positioning method

Info

Publication number: CN116407277A
Application number: CN202310394642.3A
Authority: CN
Inventors: 王勇; 吴天驰
Original assignee: Bone's Biological Technology Shenzhen Co ltd
Current assignee: Bone's Biological Technology Shenzhen Co ltd
Priority date: 2023-04-13
Filing date: 2023-04-13
Publication date: 2023-07-11
Anticipated expiration: 2043-04-13
Also published as: CN116407277B

Abstract

The invention relates to the field of medical instruments and discloses a passive operation support positioning system and a positioning method, wherein a support system and a guide system are arranged in the passive operation support positioning system; the support system comprises a macro adjustment device and a micro adjustment device, and is used for realizing adjustment and fixation of positions and directions; the fine adjustment device is provided with a plurality of adjustment mechanisms for linear adjustment of X, Y, Z shafts, rotation adjustment around Z shafts and horizontal adjustment on XY planes; the guiding system comprises a guiding body, wherein the guiding body comprises at least one guiding hole, and the axial direction of the guiding hole coincides with the placement direction of the surgical instrument. The device has low setting cost and convenient operation, and meanwhile, the device is passive equipment, does not have electromagnetic interference, and greatly improves the reliability and the accuracy.

Description

Passive operation support positioning system and positioning method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a passive operation support positioning system and a positioning method.

Background

When the bone surgery such as the vertebral bone surgery is performed, a Kirschner wire and screw implant is needed to be placed on the vertebral pedicle, and the accuracy of the position and the direction when the Kirschner wire and the screw implant are placed is important to the safety of a patient.

In order to ensure the accuracy of the position and direction of the insertion of the kirschner wire and the screw implant, a guide cylinder is usually arranged at the tail end of the robot, the robot is positioned to a focus under the control of navigation equipment and software, and the guide cylinder provides a guide channel for doctors; or the guide cylinder is replaced by an electric end effector to automatically insert the Kirschner wire and insert the screw implant. However, the method of clamping the guiding tool by the robot is naturally convenient, and has the following defects: on one hand, the orthopedic operation robot has high manufacturing cost and brings heavy economic burden to patients and families; on the other hand, robots are active devices, which have problems such as electromagnetic interference and system reliability, and even if the related tests are passed, risks are always present and cannot be eradicated from the source.

Disclosure of Invention

The invention aims to provide a passive operation support positioning system and a passive operation support positioning method, and aims to solve the problems of high cost and low reliability in the prior art.

The invention is realized in that a passive surgical stand positioning system comprises a support system and a guide system, wherein the guide system is connected to the support system, the support system is used for providing stable support, and the guide system is used for quickly placing surgical instruments; the supporting system comprises a macro-tuning device and a fine-tuning device, and the macro-tuning device is connected with the fine-tuning device;

the macro-adjustment device comprises a first arm structure and a second arm structure, the first arm structure is connected with the second arm structure through a connecting part, and the first arm structure and the second arm structure are used for realizing adjustment and fixation of the position and the direction of the surgical instrument;

the fine adjustment device is provided with a plurality of adjustment mechanisms for linear displacement adjustment of X, Y, Z shafts, rotary displacement adjustment around Z shafts and horizontal adjustment of XY planes, the guide system comprises a guide body and a plurality of metal balls, the metal balls are arranged on the guide body, a three-dimensional space coordinate system formed by the metal balls can be formed, the guide body comprises at least one guide hole, and the axial direction of the guide hole coincides with the placement direction of the surgical instrument.

Optionally, the first arm structure comprises a first ball stud and a first ball seat, the first ball seat is connected with the first connecting rod, and the first connecting rod is sleeved outside the first locking rod;

the other end of the first connecting rod is connected with the connecting part, the connecting part further comprises a first locking column, a second locking column and a first locking nut, and the locking bolt penetrates through the first locking column and the second locking column and is in threaded connection with the first locking nut;

the second arm structure comprises a second connecting rod, a second ball seat and a second ball stud, wherein the second connecting rod is connected with the second ball seat, the second ball stud is clamped with the second ball seat, and the second connecting rod is sleeved outside the second locking rod.

Optionally, the axes of the first locking post and the second locking post are coincident with the axis of the locking bolt, the contact surface of the first locking post and the first locking rod comprises a first locking inclined surface, and the first locking post compresses the first locking rod through the first locking inclined surface;

the contact surface between the second locking column and the second locking rod comprises a second locking inclined surface, and the second locking column compresses the second locking rod through the second locking inclined surface.

Optionally, the fine tuning device is provided with an outer frame and a base, and the base is connected with the outer frame and is positioned at one side of the outer frame; the Z-axis adjusting mechanism comprises a Z-axis adjusting screw rod and a Z-axis adjusting nut which are in spiral fit, the Z-axis adjusting nut is connected with the chute, and the Z-axis adjusting screw rod is connected with the base; the base is connected with the second ball stud through a sliding groove, the contact surface between the sliding groove and the base comprises a first bottom surface and a first inclined surface, and the first bottom surface and the first inclined surface form V-shaped surface matching for linear guiding.

Optionally, the fine tuning device further comprises a fixing seat and a first cover plate, the fixing seat is located inside the outer frame, and the first cover plate is fixedly connected to the upper surface of the outer frame; the Y-axis adjusting mechanism comprises a Y-axis adjusting screw rod and a Y-axis adjusting nut which are in spiral fit, the Y-axis adjusting nut is rigidly and fixedly connected with the outer frame, and the Y-axis adjusting screw rod is connected with the fixed seat; the contact surface between the first cover plate and the fixed seat comprises a second inclined surface, the contact surface between the outer frame and the fixed seat comprises a second bottom surface, and the second inclined surface and the second bottom surface form V-shaped surface matching for linear guiding.

Optionally, the fine adjustment device further comprises a worm wheel, a mounting seat, a pressing block and a pressing ring, wherein the worm wheel is positioned in the outer frame, the mounting seat is rotationally connected with the worm wheel, the pressing ring is sleeved outside the worm wheel and fixedly connected with the mounting seat, and the pressing block is fixedly connected to the upper surface of the fixing seat; the X-axis adjusting mechanism comprises an X-axis adjusting screw rod and an X-axis adjusting nut which are in spiral fit, the X-axis adjusting nut is rigidly and fixedly connected with the fixed seat, and the X-axis adjusting screw rod is connected with the mounting seat; the pressing block and pressing ring contact surface comprises a third bottom surface, the mounting seat and fixing seat contact surface comprises a third inclined surface, and a V-shaped surface is formed between the third inclined surface and the third bottom surface for matching so as to conduct linear guide.

Optionally, the fine tuning device is further provided with a worm, and the worm is installed on the installation seat; the clamping ring is fixedly connected with the mounting seat, the contact surface between the clamping ring and the worm wheel comprises a fourth annular inclined surface, the contact surface between the worm wheel and the mounting seat is a fourth bottom surface, and the fourth bottom surface and the fourth annular inclined surface can limit the worm wheel axially and radially.

Optionally, the adjusting mechanism further comprises a plurality of horizontal adjusting mechanisms, a first water bubble and a second water bubble, the horizontal adjusting mechanisms comprise horizontal adjusting screws and horizontal adjusting nuts, the axes of the first water bubble and the second water bubble are vertical and are all installed on the upper surface of the outer frame, the horizontal adjusting nuts are rigidly and fixedly connected with the base, the horizontal adjusting screws are connected with fish-eye bearings, and the fish-eye bearings are rigidly and fixedly connected with the outer frame.

Optionally, the bottom of the guiding body is provided with a plurality of fixing features, and the fixing features are installed in one-to-one correspondence with the installation interfaces on the worm wheel.

A passive operation support positioning method is applied to the passive operation support positioning system, and comprises the following specific steps:

moving the macro-adjustment device to perform coarse positioning; the fine adjustment device is adjusted to realize the linear positioning of the X, Y, Z axis and the rotary positioning of the Z axis and the horizontal positioning of the XY plane; utilizing a three-dimensional determined space coordinate system O-X1Y1Z1 formed by at least four metal balls, and calculating the difference value between the bracket space coordinate system O-X1Y1Z1 and a control system preset space coordinate system O0-X0Y0Z0 in displacement and direction through shooting CT; the adjustment fine adjustment device returns the difference value to zero, so that the superposition of the channel of the surgical instrument and the preset route is realized, and the final positioning is realized.

The other passive operation support positioning method is applied to the passive operation support positioning system and comprises the following specific steps:

moving the macro-adjustment device to perform coarse positioning; the fine adjustment device is adjusted to realize the linear positioning of the X, Y, Z axis and the rotary positioning of the Z axis; the macro-adjustment device is in an adjustable state, the end of the micro-adjustment device is flat, the macro-adjustment device is locked after the first water bubble and the second water bubble are observed to be positioned between two middle lines, and the macro-adjustment device is in a locking state, so that the horizontal positioning of an XY plane is realized; utilizing a three-dimensional determined space coordinate system O-X1Y1Z1 formed by at least four metal balls, and calculating the difference value between the bracket space coordinate system O-X1Y1Z1 and a control system preset space coordinate system O0-X0Y0Z0 in displacement and direction through shooting CT; the adjustment fine adjustment device returns the difference value to zero, so that the superposition of the channel of the surgical instrument and the preset route is realized, and the final positioning is realized.

Compared with the prior art, the surgical instrument is provided with the support system and the guide system, the guide system is connected to the support system, the support system is used for providing stable support, and the guide system is used for quickly placing the surgical instrument; the supporting system comprises a macro-adjustment device and a fine-adjustment device, and the macro-adjustment device is connected with the fine-adjustment device through a chute; the macro adjustment device comprises a first arm structure and a second arm structure, the first arm structure is connected with the second arm structure through a connecting part, and the first arm structure and the second arm structure are used for realizing adjustment and fixation of positions and directions; the fine adjustment device is provided with a plurality of adjustment mechanisms for linear adjustment of X, Y, Z shafts, rotation adjustment around Z shafts and horizontal adjustment on XY planes; the guiding system comprises a guiding body and a metal ball, wherein the metal ball is arranged on the guiding body, the guiding body comprises at least one guiding hole, and the axial direction of the guiding hole coincides with the placement direction of the surgical instrument. The device has low setting cost and convenient operation, and meanwhile, the device is passive equipment, does not have electromagnetic interference, greatly improves the reliability and greatly improves the accuracy.

Drawings

FIG. 1 is an overall schematic view of a passive surgical stand positioning system provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a support system provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of a support system according to an embodiment of the present invention;

FIG. 4 is another schematic view of a portion of a support system according to an embodiment of the present invention;

FIG. 5 is a schematic cross-sectional view of "A-A" in FIG. 4;

FIG. 6 is an enlarged fragmentary pictorial view of portion "C" of FIG. 5;

FIG. 7 is a schematic view in section "B-B" of FIG. 4;

FIG. 8 is an enlarged fragmentary pictorial view of the portion "D" of FIG. 7;

FIG. 9 is a schematic diagram of a fine tuning device according to an embodiment of the present invention;

FIG. 10 is a schematic top view of a fine tuning device according to an embodiment of the present invention;

FIG. 11 is a schematic view in section "E-E" of FIG. 10;

FIG. 12 is an enlarged fragmentary pictorial view of the portion "I" of FIG. 11;

FIG. 13 is a schematic cross-sectional view of "F-F" in FIG. 10;

FIG. 14 is a schematic view of section "G-G" of FIG. 10;

FIG. 15 is a schematic view of section "H-H" of FIG. 11;

fig. 16 is a schematic view of a guiding system according to an embodiment of the present invention.

Reference numerals illustrate:

1-a support system; 101-a first arm structure; 10101-a first link; 10102-first tee; 10103-a first ball stud; 10104-C plate; 10105-a movable plate; 10106-clamping bolt; 10107-first limit notch; 10108-first locking lever; 10109-first via; 102-a connection; 10201-a first locking post; 10202-locking bolt; 10203-a first lock nut; 10204-a second locking post; 10205-first locking ramp; 10206-a second locking ramp; 103-a second arm structure; 10301-a second link; 10302-a second tee; 10303-a second ball stud; 10304-second limit gap; 10305-a second locking bar; 10306-a second via; 2-guiding system; 201-a guide body; 202-a guide hole; 203-metal balls; 204-a fixed feature; 3-a fine tuning device; 301-sliding grooves; 3011-an extension; 302-screw holes; 303-an adjustment mechanism; 3031-X axis adjusting mechanism; 30311-X axis adjusting screw; 30312-X axis adjusting nut; 3032-Y axis adjusting mechanism; 30321-Y axis adjusting screw; 30322-Y axis adjusting nut; 3033-Z axis adjusting mechanism; 30331-Z axis adjusting screw; 30332-Z axis adjusting nut; 3034-a horizontal adjustment mechanism; 30341-horizontal adjusting screw; 30342-horizontal adjustment nut; 304-an outer frame; 305-a base; 306-a fixed seat; 307-a first cover plate; 308-worm gear; 309-circlips; 310-briquetting; 311-pressing ring; 312-worm; 3121-worm knob; 313-pole mount; 314-mounting base; 315-fish eye bearing; 316-first blister; 317-second blister; 318-mount interface; 319-locking member; 320-a second cover plate; 321-a second lock nut; 322-guiding structure; 3221-a first bottom surface; 3222-a first ramp; 3223-a second bottom surface; 3224-a second ramp; 3225-a third bottom surface; 3226-a third ramp; 3227-fourth bottom surface; 3228-fourth ring chamfer.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.

The implementation of the present invention will be described in detail below with reference to specific embodiments.

Referring to fig. 1 to 16, a preferred embodiment of the present invention is provided.

A passive surgical stand positioning system comprising a support system 1 for providing stable support and a guiding system 2 for quick placement of surgical instruments, the support system 1 being adapted for providing stable support. More specifically, the guiding system 2 is rigidly attached to the support system 1.

Further, the supporting system 1 comprises a macro-adjustment device and a fine adjustment device 3, the macro-adjustment device is enabled to follow the movement through moving the fine adjustment device 3, coarse positioning of the position and the direction of the surgical instrument can be achieved rapidly, and accurate positioning can be achieved through adjusting the fine adjustment device 3. The macro adjustment device comprises a first arm structure 101 and a second arm structure 103, the first arm structure 101 and the second arm structure 103 are connected through a connecting part 102, and the first arm structure 101 and the second arm structure 103 can adjust and fix the position and the direction of an end load (namely, a surgical instrument). In other embodiments, the macro-tone device may be comprised of more arm structures to achieve more position or orientation requirements.

In this embodiment, the macro-adjustment device has two states, where the first state is an adjustable state, specifically: the torque wrench is adjusted to a first threshold value, the locking bolt 10202 of the connecting part 102 is pulled until slipping occurs, at the moment, the locking bolt 10202 is in a first locking state, an operator can adjust the fine adjustment device 3 to any position in a working range in the state, the macro adjustment structure carries out following motion, rapid coarse positioning is realized, the supporting system 1 can keep a real-time position, and at the moment, the load cannot be born; the second state is a locking state, specifically: the torque wrench is adjusted to a second threshold value, and the locking bolt 10202 is pulled until slipping occurs, at which time the locking bolt 10202 is in a second locked state in which the support system 1 not only can maintain this position, but also can withstand the forces or moments generated during normal implantation of the surgical instrument. It is noted that the first threshold range is less than the second threshold range, so that the locking force generated by the first locking state of the locking bolt 10202 is less than the locking force generated by the second locking state.

In this embodiment, one end of the first arm structure 101 is provided with a clamping bolt 10106, a movable plate 10105 and a C-shaped plate 10104, and the clamping bolt 10106 is in spiral fit with the lower end of the C-shaped plate 10104; the lower end surface of the movable plate 10105 is movably connected with the clamping bolt 10106, the distance between the movable plate 10105 and the other end of the C-shaped plate 10104 can be adjusted by rotating the clamping bolt 10106, when the movable plate 10105 is in a critical clamping state, the movable plate 10105 and the mounting base surface are kept static, the clamping bolt 10106 can rotate relative to the movable plate 10105, and therefore the mounting base surface (such as a frame of an operating table) can be clamped between the movable plate 10105 and the C-shaped plate 10104.

Further, the first arm structure 101 further includes a first ball stud 10103, and the c-shaped plate 10104 is movably connected with the first ball seat 10102 through the first ball stud 10103. Wherein the first ball stud 10103 is threaded with the C-plate 10104.

Further, the first ball seat 10102 is connected to one end of the first link 10101, and a first locking rod 10108 is disposed inside the first link 10101, and the first link 10101 is sleeved outside the first locking rod 10108. When the support system 1 is in an adjustable state, the first ball stud 10103, the first ball seat 10102 and the first locking lever 10108 form spherical constraint, and under the condition of no external interference, the first connecting lever 10101 can swing in any direction around the first ball stud 10103 and can rotate around the axis of the first connecting lever 10101, so that multi-directional position adjustment is realized.

Further, the other end of the first link 10101 is connected to the connection portion 102. The connection 102 further comprises a first locking post 10201, a second locking post 10204 and a first locking nut 10203, whereby the support system 1 is transformed from the adjustable state into the locked state by rotating the first locking nut 10203.

Specifically, the locking bolt 10202 penetrates the first locking post 10201 and the second locking post 10204, and is in threaded connection with the first locking nut 10203. Meanwhile, the locking bolt 10202 penetrates through a first through hole 10109 of the end portion of the first link 10101, wherein an axis of the first through hole 10109 is perpendicular to an axis of the first locking lever 10108.

When a locking moment is applied to the first locking nut 10203, the first locking post 10201 and the second locking post 10204 are mutually close under the pressure of the first locking nut 10203, the contact surface of the first locking post 10201 and the first locking rod 10108 comprises a first locking inclined surface 10205, the first locking post 10201 presses the first locking rod 10108 through the first locking inclined surface 10205, the locking force has a component force F1z on the first locking inclined surface 10205, the component force F1z enables the first locking rod 10108 to move towards the ball head of the first ball stud 10103, and therefore the ball head of the first ball stud 10103 is tightly pressed between the first locking rod 10108 and the partial spherical surface of the first ball seat 10102, and the purpose of completely locking the first connecting rod 10101 and the C10104 is achieved.

Further, the second arm structure 103 includes a second connecting rod 10301, a second ball seat 10302 and a second ball stud 10303, the second connecting rod 10301 is connected with the second ball seat 10302, preferably in a threaded connection, and the second ball stud 10303 is clamped with the second ball seat 10302, so that the second ball seat 10302 and the second connecting rod 10301 are movably connected with the second ball stud 10303.

Further, a second locking bar 10305 is disposed in the second connecting bar 10301, and the second connecting bar 10301 is sleeved outside the second locking bar 10305. When the support system 1 is in an adjustable state, the second ball stud 10303, the second ball seat 10302 and the second locking bar 10305 form spherical constraint, and under the condition of no external interference, the second connecting rod 10301 can swing around the ball of the second ball stud 10303 in any direction and can rotate around the axis of the second connecting rod 10301.

Meanwhile, the locking bolt 10202 penetrates through a second through hole 10306 at the end of the second connecting rod 10301, and the axis of the second through hole 10306 is perpendicular to the axis of the second locking bar 10305.

The axes of the first locking post 10201 and the second locking post 10204 are coincident with the axis of the locking bolt 10202, the first link 10101 can rotate around the first locking post 10201 axis, and the second link 10301 can rotate around the second locking post 10204 axis.

Specifically, when a locking torque is applied to the first locking nut 10203, the contact surface between the second locking post 10204 and the second locking bar 10308 includes a second locking inclined surface 10206, the second locking post 10204 presses the second locking bar 10305 through the second locking inclined surface 10206, the locking force has a component force F2z on the second locking inclined surface 10206, and the component force F2z makes the second locking bar 10305 move toward the ball of the second ball stud 10303, so that the ball of the second ball stud 10303 is tightly pressed against the second locking bar 10305 and a part of the spherical surface of the second ball seat 10302, thereby achieving the purpose of completely locking the second connecting rod 10301 and the second ball stud 10303.

It is noted that, the locking force further has a component force F1c on the first locking inclined plane 10205, the component force F1c is perpendicular to the component force F1z, the component force F1c is transmitted to the inner hole of the first link 10101 through the outer circle of the first locking lever 10108, the component force F2c received by the inclined plane of the second locking lever 10305 is transmitted to the inner hole of the second link 10301 through the outer circle of the second locking lever 10305, so that the end surfaces of the first link 10101 and the second link 10301 are subjected to pressure, when there is a tendency of generating mutual movement between the first link 10101 and the second link 10301, the end surface pressure can be converted into friction force, and the occurrence of the mutual movement is prevented, thereby realizing the mutual locking of the first link 10101 and the second link 10301.

Preferably, in this embodiment, the first ball seat 10102 is provided with a first limit notch 10107, the second ball seat 10302 is provided with a second limit notch 10304, and by setting the first limit notch 10107 and the second limit notch 10304, the movable range of the first connecting rod 10101 and the second ball stud 10303 can be enlarged, and the application range is wider.

Referring to fig. 9 to 16, in the present embodiment, the fine adjustment device 3 includes a sliding groove 301, and the second ball stud 10303 is connected to the fine adjustment device 3 through a screw hole 302 on the sliding groove 301, so as to connect the second arm structure 103 to the fine adjustment device 3. Preferably, the chute 301 is provided with an extension 3011, and the screw hole 302 penetrates the upper and lower sides of the extension 3011.

Further, the fine adjustment device 3 is provided with a plurality of adjustment mechanisms 303, including an X-axis adjustment mechanism 3031, a Y-axis adjustment mechanism 3032, a Z-axis adjustment mechanism 3033, and a horizontal adjustment mechanism 3034, so as to implement adjustment in six degrees of freedom directions. The leveling mechanism 3034 is used for adjusting the levelness of the fine adjustment device 3.

Referring to fig. 9 to 15, specifically, the Z-axis adjusting mechanism 3033 includes a Z-axis adjusting screw 30331 and a Z-axis adjusting nut 30332, the Z-axis adjusting screw 30331 and the Z-axis adjusting nut 30332 are in self-locking screw fit, and the Z-axis adjusting nut 30332 is rigidly connected to the chute 301, in this embodiment, embedded inside the chute 301.

The fine adjustment device 3 is provided with an outer frame 304, a base 305 and a guiding structure 322, wherein the base 305 is located at one side of the outer frame 304 along the Z-axis direction, and is connected with the outer frame 304 through a bubble adjusting screw 30341. Referring to fig. 11, the Z-axis adjustment screw 30331 is engaged with the base 305 by a hole shaft having a gap, the shoulder of the Z-axis adjustment screw 30331 abuts the right side of the base 305, and the circlip 309 abuts the left side of the base 305. The contact surface between the chute 301 and the base 305 includes a first bottom surface 3221 and a first inclined surface 3222, the first inclined surface 3222 is standing on two sides of the first bottom surface 3221, the first bottom surface 3221 and the first inclined surface 3222 form a V-shaped surface fit, displacement in the X, Y axial direction is limited, and a Z-axis linear guiding structure, that is, a guiding structure 322, is formed. Rotating the Z-axis adjustment screw 30331 may effect linear reciprocation of the base 305 and its load in the Z-axis direction. The Z-axis adjustment is a preferred embodiment of the present application, and in other embodiments, other linear drives (e.g., rack and pinion drives or wire pulls) and linear guide structures (e.g., optical axis, linear guide, etc.) may be used in conjunction, without limitation.

Referring to fig. 9 to 14, the fine tuning device 3 further includes a fixing base 306 and a first cover 307, the fixing base 306 is located inside the outer frame 304, and the first cover 307 is fixedly connected to the upper surface of the outer frame 304. Referring to fig. 14, the Y-axis adjusting mechanism 3032 includes a Y-axis adjusting screw 30321 and a Y-axis adjusting nut 30322, the Y-axis adjusting screw 30321 and the Y-axis adjusting nut 30322 are in self-locking screw fit, the Y-axis adjusting nut 30322 is rigidly and fixedly connected to the outer frame 304, and the Y-axis adjusting screw 30321 is in clearance hole shaft fit with the fixing base 306. The shoulder of the Y-axis adjusting screw 30321 abuts the lower side of the fixed base 306, and the circlip 309 abuts the upper side of the fixed base 306. The contact surface between the first cover plate 307 and the fixing base 306 includes a second inclined surface 3224, the contact surface between the outer frame 304 and the fixing base 306 includes a second bottom surface 3223, the second inclined surface 3224 and the second bottom surface 3223 form a V-shaped surface fit, displacement in the X, Z axial direction is limited, and further a Y-axis linear guiding structure, that is, the guiding structure 322 forms a content. Rotating the Y-axis adjusting screw 30321 can realize linear reciprocation of the fixing base 306 and the load thereof in the Y-axis direction. The Y-axis adjustment is a preferred embodiment of the present application, and in other embodiments, other linear drives (e.g., rack and pinion drives or wire pulls) and linear guide structures (e.g., optical axis, linear guide, etc.) may be used in conjunction, without limitation.

Referring to fig. 9 to 14, the fine tuning device 3 is further provided with a worm wheel 308, a pressing block 310, a mounting seat 314 and a pressing ring 311, wherein the worm wheel 308 is located inside the outer frame 304, the pressing ring 311 is sleeved outside the worm wheel 308 and fixedly connected with the mounting seat 314, and the pressing block 310 is fixedly connected to the upper surface of the fixing seat 306. The X-axis adjusting mechanism 3031 comprises an X-axis adjusting screw 30311 and an X-axis adjusting nut 30312, the X-axis adjusting screw 30311 and the X-axis adjusting nut 30312 are in self-locking spiral fit, the X-axis adjusting nut 30312 is rigidly and fixedly connected with the fixing seat 306, the X-axis adjusting screw 30311 is in clearance hole shaft fit with the mounting seat 314, a shaft shoulder of the X-axis adjusting screw 30311 abuts against the outer side surface of the mounting seat 314, and the elastic retainer ring 309 abuts against the inner side surface of the mounting seat 314. The contact surface of the pressing block 310 and the pressing ring 311 comprises a third bottom surface 3225, the contact surface of the mounting seat 314 and the fixing seat 306 comprises a third inclined surface 3226, a V-shaped surface matching is formed between the third inclined surface 3226 and the third bottom surface 3225, and then a linear guide structure is formed, namely, the guide structure 322 forms content. Rotating the X-axis adjustment screw 30311 can realize linear reciprocation of the worm wheel 308 and its load in the X-axis direction. The X-axis adjustment is a preferred embodiment of the present application, and in other embodiments, other linear drives (e.g., rack and pinion drives or wire pulls) and linear guide structures (e.g., optical axis, linear guide, etc.) may be used, without limitation.

Referring to fig. 9 to 14, the mount 314 is rotatably connected to the worm wheel 308, and specifically, the bottom surface of the worm wheel 308 abuts against the top surface of the mount 314. The worm 312 is mounted on the mounting seat 314 through two rod seats 313, the worm 312 and the rod seats 313 are in hole shaft fit, and the shaft shoulders of the worm 312 are abutted on the end surfaces of the rod seats 313 to prevent axial displacement. The compression ring 311 is fixedly connected with the mounting seat 314, the contact surface between the compression ring 311 and the worm wheel 308 comprises a fourth ring inclined surface 3228, the contact surface between the worm wheel 308 and the mounting seat 314 comprises a fourth bottom surface 3227, the fourth bottom surface 3227 and the fourth ring inclined surface 3228 can limit the worm wheel 308 axially and radially, the deflection of the worm wheel 308 on the Z axis is limited, and the worm wheel 308 can rotate around the Z axis. Rotating the worm knob coupled to the worm 312 drives the worm gear 308 to rotate, thereby enabling the worm gear 308 to rotate about the Z-axis to achieve fine rotational adjustment in the Z-axis. The lead angle of the worm 312 is designed to be self-locking. In other embodiments, gears, timing belts, wires, etc. may be used in place of worm gear mechanisms in conjunction with the brakes.

Referring to fig. 9 to 14, the adjustment mechanism 303 further includes a plurality of horizontal adjustment mechanisms 3034 for performing adjustment of levelness. The horizontal adjustment mechanism 3034 includes a horizontal adjustment screw 30341 and a horizontal adjustment nut 30342. The first water bubble 316 and the second water bubble 317 are perpendicular in axis and are both installed on the upper surface of the outer frame 304. The horizontal adjustment screw 30341 is in interchangeable screw engagement with the second lock nut 321, and the horizontal adjustment nut 30342 is rigidly secured to the base 305. After the second lock nut 321 is locked, the engagement with the base 305 is planar engagement or spherical engagement. The horizontal adjusting screw 30341 is matched with the inner hole of the fish-eye bearing 315 by a hole shaft, the elastic collar 309 and the shaft shoulder of the horizontal adjusting screw 30341 clamp and limit the two ends of the inner ring of the fish-eye bearing 315, and meanwhile, the outer ring of the fish-eye bearing 315 is rigidly and fixedly connected with the outer frame 304. During adjustment, the second locking nuts 321 are loosened, the horizontal adjusting screw 30341 is rotated, the positions of the bubbles are observed, and when the first bubbles 316 and the second bubbles 317 are centered, the second locking nuts 321 are locked, and the outer frame 304 is in a horizontal state.

In other embodiments, the manner in which the level adjustment is achieved is: when the macro-adjustment device is in an adjustable state, the end of the micro-adjustment device 3 is flat, the first water bubble 316 and the second water bubble 317 are observed, and when the first water bubble 316 and the second water bubble 317 are positioned between two middle lines, the macro-adjustment device is locked, so that the level of the micro-adjustment device 3 can be realized, and the micro-adjustment device can be applied to a working environment with lower precision.

Optionally, a second cover 320 is further installed on the upper surface of the base 305, the z-axis adjusting screw 30331 penetrates through the second cover 320, and the base 305 is connected with the second cover 320 through a locking member 319.

Each of the adjusting mechanisms 303 is a self-locking structure, so that the fine adjusting device 3 can realize integral self-locking after being adjusted to an exact position.

Further, the surfaces of the first cover 307, the pressing block 310, the pressing ring 311 and the worm gear 308 are engraved with vernier scales, so that the adjustment amount, such as displacement in the linear direction or the rotation direction, can be read, and the precision of the adjustment amount can be designed according to the number of scales and the interval value of the vernier scales.

It is noted that if the driving mode of the fine adjustment device 3 is changed from manual to motor driving, a partially active semi-automatic manipulator device can be formed.

Specifically, the guide system 2 includes a guide body 201 and a metal ball 203, the metal ball 203 being mounted on the guide body 201. The bottom of the guiding body 201 is provided with a plurality of fixing features 204, and the fixing features 204 are installed in one-to-one correspondence with the installation interfaces 318 on the inner side of the worm wheel 308, so that the guiding system 2 is accurately fixed on the worm wheel 308.

Further, the guiding body 201 comprises at least one guiding hole 202, and the axial direction of the guiding hole 202 coincides with the preset nail placing direction on the control system. In other embodiments, the guide holes 202 may be replaced by guide slots.

Further, there are at least four metal balls 203 to form a tetrahedron (or more than four metal balls 203 form more than five solid), from which a spatial coordinate system O1-X1Y1Z1 of a real object can be determined. Since the guide body 201 is a rigid member, the position and direction of the guide hole 202 in O1-X1Y1Z1 are fixed. The difference P (vector) between the spatial coordinate system O-X1Y1Z1 of the object and the spatial coordinate system O0-X0Y0Z0 preset by the control system in displacement and direction can be calculated through the shot CT, and the difference P is zeroed through the fine adjustment device, so that the superposition of the object placement surgical instrument channel and the placement surgical instrument channel calculated by the control system is realized, and the function of assisting the surgical instrument is realized.

In particular, the metal ball 203 may be replaced by a reflective ball, which is installed in a place that can be identified by the device, and the working principle is similar to that of the above embodiment, and will not be described herein. The position and posture of the guiding system 2 can be monitored by optical navigation equipment and software, and can also be replaced by a positioning medium adopting other navigation positioning principles.

The operation positioning bracket system is passive equipment, has low cost, reduces the operation cost of patients and is applicable to a wide range of people; electromagnetic interference is fundamentally eliminated, and the safety of equipment is greatly improved; the adjustment quantity is realized to the displacement and angle change quantity, and is implemented in a mechanical adjustment mode, and the adjustment result is fed back through the reading of the vernier, so that the reliability is high; meanwhile, the accuracy of the mechanical adjusting mechanism can be calibrated regularly in a metering mode, so that closed-loop management is formed, and the accuracy is improved.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. A passive surgical stand positioning system comprising a support system and a guide system, the guide system being coupled to the support system, the support system being configured to provide stable support, the guide system being configured to rapidly deploy a surgical instrument; the supporting system comprises a macro-adjustment device and a fine adjustment device, and the macro-adjustment device is connected with the fine adjustment device;

the macro-adjustment device comprises a first arm structure and a second arm structure, wherein the first arm structure is connected with the second arm structure through a connecting part, and the first arm structure and the second arm structure are used for realizing adjustment and fixation of the position and the direction of a surgical instrument;

the fine adjustment device is provided with a plurality of adjustment mechanisms, is used for adjusting linear displacement of a X, Y, Z shaft, is also used for adjusting rotary displacement around a Z shaft and horizontally adjusting an XY plane, the guide system comprises a guide body and a plurality of metal balls, the metal balls are arranged on the guide body, a plurality of three-dimensional space coordinate systems formed by the metal balls can be formed, the guide body comprises at least one guide hole, and the axial direction of the guide hole coincides with the placement direction of the surgical instrument.

2. The passive surgical stand positioning system of claim 1, wherein the first arm structure comprises a first ball stud, a first ball seat, the first ball seat being connected to a first link, and a first locking bar being disposed within the first link;

the other end of the first connecting rod is connected with the connecting part, the connecting part further comprises a first locking column, a second locking column and a first locking nut, and a locking bolt penetrates through the first locking column and the second locking column and is in threaded connection with the first locking nut;

the second arm structure comprises a second connecting rod, a second ball seat and a second ball stud, wherein the second connecting rod is connected with the second ball seat, the second ball stud is clamped with the second ball seat, and a second locking rod is arranged in the second connecting rod.

3. The passive surgical stand positioning system of claim 2, wherein the axes of the first locking post and the second locking post are coincident with the locking bolt axis, the first locking post and the first locking bar contact surface comprising a first locking ramp through which the first locking post compresses the first locking bar;

the contact surface between the second locking column and the second locking rod comprises a second locking inclined surface, and the second locking column tightly presses the second locking rod through the second locking inclined surface.

4. The passive surgical rack positioning system according to claim 2, wherein the fine adjustment device is provided with an outer frame and a base, the base being connected to the outer frame and located on one side of the outer frame; the adjusting mechanism comprises a Z-axis adjusting mechanism, the Z-axis adjusting mechanism comprises a Z-axis adjusting screw rod and a Z-axis adjusting nut which are in spiral fit, the Z-axis adjusting nut is connected with the chute, and the Z-axis adjusting screw rod is connected with the base; the base is connected with the second ball stud through the sliding groove, the contact surface between the sliding groove and the base comprises a first bottom surface and a first inclined surface, and the first bottom surface and the first inclined surface form V-shaped surface matching for linear guiding.

5. The passive surgical stand positioning system of claim 4, wherein the fine adjustment device further comprises a fixed seat and a first cover plate, the fixed seat being positioned inside the outer frame, the first cover plate being fixedly connected to the upper surface of the outer frame; the Y-axis adjusting mechanism comprises a Y-axis adjusting screw rod and a Y-axis adjusting nut which are in spiral fit, the Y-axis adjusting nut is rigidly and fixedly connected with the outer frame, and the Y-axis adjusting screw rod is connected with the fixing seat; the contact surface between the first cover plate and the fixed seat comprises a second inclined surface, the contact surface between the outer frame and the fixed seat comprises a second bottom surface, and the second inclined surface and the second bottom surface form V-shaped surface matching for linear guiding.

6. The passive surgical stand positioning system of claim 5, wherein the fine adjustment device further comprises a worm wheel, a mounting seat, a pressing block and a pressing ring, wherein the worm wheel is positioned inside the outer frame, the mounting seat is rotationally connected with the worm wheel, the pressing ring is sleeved outside the worm wheel and fixedly connected with the mounting seat, and the pressing block is fixedly connected to the upper surface of the fixing seat; the X-axis adjusting mechanism comprises an X-axis adjusting screw rod and an X-axis adjusting nut which are in spiral fit, the X-axis adjusting nut is rigidly and fixedly connected with the fixed seat, and the X-axis adjusting screw rod is connected with the mounting seat; the pressing block and the pressing ring contact surface comprise a third bottom surface, the mounting seat and the fixing seat contact surface comprise a third inclined surface, and a V-shaped surface is formed between the third inclined surface and the third bottom surface for matching so as to conduct linear guide.

7. The passive surgical stand positioning system of claim 6, wherein the fine adjustment device is further provided with a worm, the worm being mounted on the mount; the clamping ring is fixedly connected with the mounting seat, the contact surface between the clamping ring and the worm wheel comprises a fourth annular inclined surface, the contact surface between the worm wheel and the mounting seat is a fourth bottom surface, and the fourth bottom surface and the fourth annular inclined surface can axially limit the worm wheel.

8. The passive surgical stand positioning system of claim 7, wherein the adjustment mechanism further comprises a plurality of horizontal adjustment mechanisms, a first blister and a second blister, wherein the horizontal adjustment mechanisms comprise horizontal adjustment screws and horizontal adjustment nuts, wherein the axes of the first blister and the second blister are perpendicular and are mounted on the upper surface of the outer frame, the horizontal adjustment nuts are rigidly and fixedly connected with the base, the horizontal adjustment screws are connected with fisheye bearings, and the fisheye bearings are rigidly and fixedly connected with the outer frame.

9. The passive surgical stand positioning system of claim 8, wherein the guide body bottom has a plurality of securing features that mount in one-to-one correspondence with mounting interfaces on the worm gear.

10. A passive surgical stand positioning method applied to the passive surgical stand positioning system as claimed in any one of claims 1 to 9, comprising the specific steps of:

moving the macro-adjustment device to perform coarse positioning; the fine adjustment device is adjusted to realize the linear positioning of the X, Y, Z axis and the rotary positioning of the Z axis and the horizontal positioning of the XY plane; utilizing a three-dimensional determined space coordinate system O-X1Y1Z1 formed by at least four metal balls, and calculating the difference value between the bracket space coordinate system O-X1Y1Z1 and a control system preset space coordinate system O0-X0Y0Z0 in displacement and direction through shooting CT; and adjusting the fine adjustment device to zero the difference value, so as to realize the superposition of the channel of the surgical instrument and the preset route and realize the final positioning.

11. A passive surgical stand positioning method applied to the passive surgical stand positioning system as claimed in claim 9, comprising the specific steps of:

moving the macro-adjustment device to perform coarse positioning; the fine adjustment device is adjusted to realize the linear positioning of the X, Y, Z axis and the rotary positioning of the Z axis; the macro-adjustment device is in an adjustable state, the fine adjustment device is flattened, the macro-adjustment device is locked after the first water bubble and the second water bubble are observed to be positioned between two middle lines, and the macro-adjustment device is in a locking state, so that the horizontal positioning of an XY plane is realized; utilizing a three-dimensional determined space coordinate system O-X1Y1Z1 formed by at least four metal balls, and calculating the difference value between the bracket space coordinate system O-X1Y1Z1 and a control system preset space coordinate system O0-X0Y0Z0 in displacement and direction through shooting CT; and adjusting the fine adjustment device to zero the difference value, so as to realize the superposition of the channel of the surgical instrument and the preset route and realize the final positioning.